Method for operating an electric motor door drive of a motor vehicle

Abstract

The invention relates to a method (32) for operating an electric motor door drive (14) of a motor vehicle (2), which has a door (10) driven by an electric motor (16). The door (10) is held in a holding position (48) if, during adjustment of the door (10) by means of a collision protection sensor (18), an object (22) is detected within an adjustment range (38). The holding position (48) is selected such that the door (10) has a predetermined distance (50) to the object (22), which is selected depending on a measure (44) of the accuracy of determining the position (42) of the object (22). The invention further relates to an electric motor door drive (14) of a motor vehicle (2).

Description

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

[0002] Motor vehicles, such as passenger cars, typically have several doors that cover an opening in the vehicle's body. The door is usually mounted on the vehicle's body by means of a hinge, allowing the opening to be opened by adjusting the door. If the door is a side door, this allows access to the vehicle's interior and / or loading items into the interior.

[0003] To increase comfort, the door is usually driven by an electric motor in an electric door opener, which also encompasses the door. When the electric motor is operating, the door is moved along an adjustment path defined by the bearing that attaches the door to the vehicle body. It is possible that a user of the electric door opener may not have a complete view of the door's travel path and, for example, activate the opener even though an object is present within that path. The travel path is the area traversed by the door when it moves along its full travel path and is defined by the door's outer contour. The shape of this travel path is at least implicitly stored in the electric door opener's memory during manufacturing.

[0004] To prevent the door from colliding with an object, which could damage the object and / or the door, the electric door drive usually includes a collision protection sensor that monitors the adjustment range. If the object is within this range, the electric motor is cut off, preventing the door from moving. An audible signal is usually also emitted to inform the user that adjustment is currently blocked due to the object. In a further development, the door continues to move until the distance to the object reaches a predetermined minimum. At this point, the electric motor stops, preventing a collision. To ensure collision prevention even under adverse conditions, the system is designed by the vehicle manufacturer or...The minimum distance specified by the electric door opener is usually relatively large. When the door is opened using the electric motor, the opening of the vehicle body is at least partially cleared, allowing entry and exit, even if comfort is reduced.

[0005] The invention is based on the objective of providing a particularly suitable method for operating an electric motor door drive of a motor vehicle and a particularly suitable electric motor door drive of a motor vehicle, advantageously increasing comfort and / or safety.

[0006] With regard to the method, this problem is solved according to the invention by the features of claim 1, and with regard to the electromechanical door drive by the features of claim 9. Advantageous further developments and embodiments are the subject of the respective dependent claims.

[0007] The method serves to operate an electric motor door drive of a motor vehicle. The motor vehicle is primarily land-based and preferably multi-track. It is suitably possible to position the motor vehicle essentially freely, particularly on a roadway. For this purpose, the motor vehicle expediently has appropriate wheels. In summary, it is preferably possible to position the motor vehicle on land essentially independently of other conditions. In other words, the motor vehicle is suitably not rail-guided. Preferably, the motor vehicle is a passenger car or a commercial vehicle, such as a truck or bus.

[0008] The electric door drive comprises a door driven by an electric motor, preferably along an adjustment path. In its installed state, the door is suitably movably mounted to the vehicle body by means of a bearing. For example, the bearing is designed as a hinge, and the door is pivotally mounted relative to the body. Alternatively, the bearing can be used to at least partially enable longitudinal displacement of the door, making it a sliding door. Preferably, the door is a side door.

[0009] The bearing defines, in particular, the shape of the door's adjustment range. The door traverses this adjustment range during its full range of motion. In other words, the adjustment range corresponds to the area within which the door can be positioned, at least under certain conditions. One end of the adjustment range is preferably defined by the vehicle body, which, for example, acts as a stop for the door. When the door is at this end of the adjustment range, it is advantageously abutted against the vehicle body, and any opening in the body is closed by the door. Moving the door along its adjustment path to the other end of the adjustment range releases the opening.

[0010] Advantageously, a further component of the electric door drive, such as a variable-length component, in particular a spindle, is arranged mechanically between the electric motor and the door. Alternatively or in combination with this, a cable drum is arranged between them. Preferably, a gearbox, such as a worm gear, is driven first by the electric motor, and the door is advantageously driven by means of this gearbox, preferably via the spindle.

[0011] In particular, the electric motor is permanently attached to the vehicle body during installation, which simplifies assembly. The electric motor is suitable, specifically designed and configured for this purpose. Alternatively, the electric motor can be attached to the door. The electric motor is, for example, a brushed commutator motor or, more preferably, a brushless DC motor (BLDC). The electric door drive suitably includes a control unit or other control device by which an electric current is supplied and / or regulated to power the electric motor, so that the electric motor operates according to a specific setting. The electric motor expediently includes a sensor for detecting the adjustment position and speed, such as a speed sensor, which allows the rotational speed of the electric motor to be determined during operation.Due to the mechanical coupling between the electric motor and the door, it is possible to determine the speed at which the door moves. Furthermore, this also allows for determining the door's position. Preferably, the door's position is also determined during operation using the speed sensor.

[0012] The door preferably comprises a door body. In particular, the door body is at least partially rigid and is suitably mounted to the vehicle body by means of a bearing. The electric motor preferably acts on the door body. The shape of the door body is, in particular, not modifiable, and it comprises, for example, a door module and / or a part of the vehicle's outer skin. A window pane of the door is, for example, held in place by the door body and preferably adjustable there.

[0013] The electric door drive also includes a collision protection sensor. The collision protection sensor prevents the door from colliding with an object or obstacle when the door is being moved. It is specifically designed and configured for this purpose. For example, the collision protection sensor monitors the adjustment range. In one scenario, the entire adjustment range is monitored by the collision protection sensor, meaning its monitoring area covers the entire range. Alternatively, the monitoring area of ​​the collision protection sensor can be reduced or at least partially reoriented, so that only a portion of the adjustment range is monitored.However, the monitoring area of ​​the collision protection sensor is relatively close to the door and, in particular, has a maximum distance of only 20 cm, 15 cm or 10 cm.

[0014] In particular, the collision protection sensor makes it possible to detect an object located within the adjustment range. This object could be, for example, a physical item or a living being, such as an animal or a person. The object is detected without physical contact, and the collision protection sensor may, for example, use a radar sensor. Alternatively, the collision protection sensor may use an optical sensor, such as a camera, an ultrasonic sensor, or a capacitive sensor. Alternatively, or in combination with these, the collision protection sensor may include a lidar sensor. For example, the collision protection sensor may consist of one or more of these sensors, which may be identical or different in design.Preferably, the collision protection sensor also includes an evaluation unit by which the measurement data generated by the respective sensor are evaluated so that the object is detected. This involves, in particular, a fusion of the respective measurement data provided, which are also referred to as sensor data or signal data. In summary, the collision protection sensor serves to monitor the adjustment range. Contactless detection of the object is possible at least temporarily and / or within a portion of the adjustment range using the collision protection sensor, and the collision protection sensor is suitable, specifically designed and configured for this purpose.

[0015] The monitoring range of the collision protection sensor corresponds in particular to the area within which the object, if present, can be detected by the collision protection sensor. In other words, the monitoring range is specifically the detection range of the collision protection sensor. If the object is outside the detection / monitoring range, detection by the collision protection sensor is not possible. The monitoring range is defined / specified, for example, by the functionality, design, mounting method, and / or the environment of the collision protection sensor. The monitoring range is expediently offset outwards from the door.

[0016] The procedure stipulates that the door is held in a holding position if, during door adjustment, the collision protection sensor detects an object within the adjustment range. The door is expediently moved in an adjustment direction, such as an opening direction. Alternatively, the adjustment direction can be a closing direction. Specifically, the procedure is used for both possible door adjustment directions. The holding position does not correspond to the end of the adjustment path, but is located in between. In other words, the door adjustment is prematurely terminated, so that the door is in the holding position situated between the ends of its adjustment path.

[0017] In summary, the process primarily involves capturing, as received, a request to adjust the door, also referred to as an adjustment request. This adjustment request is generated, for example, by user input, such as by operating a control element like a door handle. Alternatively, or in combination with this, a corresponding adjustment request can be generated, for example, by the vehicle's on-board computer. The adjustment request specifies, at least implicitly, the direction in which the door is to be adjusted.

[0018] Following the detection of the adjustment request, the electric motor is energized, causing the door to move, i.e., be adjusted, particularly in the direction of adjustment. Preferably, the door adjusts itself automatically, so that no additional manual force is required from the user. Alternatively, the electric motor merely assists the user in manually adjusting the door.

[0019] If the door is left in the holding position, the electric motor is deactivated, so no force is applied to the door. Alternatively, the electric motor can be energized in such a way that it does not rotate. In other words, the electric motor is held in place so that the door will not be moved, even if a force is applied to it. The door will remain in the holding position if the object is in front of the door in the direction of movement, i.e., if the door is being moved or is intended to be moved towards the object. For example, the door will not remain in the holding position if the object is behind the door in the direction of movement.If the object is not detected, especially if it is not present, the door will not be left in the holding position, but will be appropriately adjusted according to the adjustment request, and in particular moved to the end of the adjustment path or at least to a position specified by the adjustment request.

[0020] The object is detected, for example, before the electric motor is energized, or at least also during the door's adjustment. Preferably, the collision protection sensor is activated and the monitoring area is checked for the object's presence before the door is adjusted or before the electric motor is energized. When the object is detected, its position is also determined. This is done, for example, relative to a component of the electric door drive, such as the door itself, or to another component that remains stationary, particularly during door adjustment. For instance, determining the position might simply involve measuring the object's distance to the door or other component, or specifically, determining the angle at which it is positioned relative to that component of the electric door drive.

[0021] In addition to determining the position, its measurement uncertainty is also determined. In other words, the accuracy of the position determination is recorded / determined, and a measure is derived from it. Preferably, this measure is functionally related to the accuracy of the position determination and, in particular, denotes an uncertainty that describes whether the determined position corresponds to the actual position. The measure of accuracy is dependent on the current situation, so that the measure changes, for example, with repeated / subsequent execution of the procedure. If several objects are detected by the collision protection sensor, each of the objects is subsequently used for the procedure. However, it is particularly preferred that only the nearest object is subsequently used.

[0022] The holding position in which the door is left is chosen such that the door maintains a predetermined distance from the object, meaning that the door is not in contact with the object. When the door is in the holding position, it maintains this predetermined distance from the determined position of the object. The position of the door, specifically whether it is in the holding position, is determined primarily by means of any speed sensor.

[0023] The predetermined distance is specifically between 0.1 cm and 20 cm. In other words, when the electric motor is switched off, the door to the object is at the predetermined distance, for example, 20 cm. The predetermined distance is chosen, at least in part, depending on the degree of accuracy required to determine the object's position. A smaller predetermined distance is chosen for relatively high accuracy, whereas a larger predetermined distance is used for a degree of inaccuracy that corresponds to a relatively imprecise determination of the position. For example, only discrete values ​​of the predetermined distance exist, such as 2, 3, or more. In particular, the number is less than 10.Alternatively, for example, the predetermined distance can be continuously changed with the measure, so that a functional relationship between the predetermined distance and the measure is, in particular, continuously differentiable.

[0024] If the object's position is uncertain, the predetermined distance is advantageously greater than 5 cm, 7.5 cm, or 10 cm. At the very least, the increased predetermined distance ensures that the door will not collide with the object, thus increasing safety. Conversely, if the object's position can be determined with relatively high accuracy, the predetermined distance is reduced, for example, to less than 10 cm, 7.5 cm, 5 cm, or 1 cm. This allows the door to be adjusted relatively far, even if the object is present. Once the door has been moved in the opening direction, a relatively large area of ​​the vehicle's opening is exposed, facilitating entry and exit. This increases comfort. Furthermore, no additional components are required, so manufacturing costs are not increased.Alternatively, or in combination with this, the predetermined distance is increased by more than 1 cm, 5 cm, or 10 cm if the object's position is uncertain, compared to the predetermined distance if the position can be determined with relatively high accuracy or absolute certainty. For example, the predetermined distance is decreased by less than 10 cm, 5 cm, or 1 cm if the object's position can be determined with relatively high accuracy, or increased by less than 1 cm if the position can be determined with absolute certainty.

[0025] For example, the measurement is determined based on the signal quality of the measurement data generated by the collision protection sensor. Specifically, the signal-to-noise ratio (SNR) is calculated, and the measurement is determined based on this ratio. A high degree of inaccuracy corresponds to a low SNR. Therefore, if interference is present that disrupts the operation of the collision protection sensor, such as external (electromagnetic) fields, the signal-to-noise ratio, and consequently the signal quality, is reduced. If several or a relatively large number of objects are present, and / or if they are moving relatively quickly, the signal quality may also be reduced. If the signal quality is reduced, this is taken into account, and a larger, predetermined distance is used.This only occurs if the signal quality is poor, so that otherwise, i.e., if the accuracy is comparatively high, a comparatively small predetermined distance can be chosen.

[0026] Alternatively, or in combination with this, the measurement is determined depending on environmental conditions. For example, the environmental conditions are determined using a suitable sensor, which is, for instance, a component of the electric door drive or at least connected to it via signal transmission. Alternatively, the environmental conditions are determined, for example, using the collision protection sensor itself.

[0027] Under certain environmental conditions, the functionality of the collision protection sensor may be limited, preventing the object from being detected and / or reducing the monitoring range. In other words, the maximum distance at which the object can be detected by the collision protection sensor may be reduced. However, the signal quality may still be relatively high, with only the maximum range of the collision protection sensor being reduced. If the corrosion protection sensor is an optical sensor, for example, the maximum range will be reduced in lower light conditions, although the signal quality may remain unchanged. It is also possible, however, that the signal quality may be reduced due to environmental conditions.For example, if the collision protection sensor is an optical sensor, a radar sensor, or a capacitive sensor, its accuracy is reduced in precipitation, which is reflected in the correspondingly lower measurement. In precipitation, the signal-to-noise ratio, and thus the signal quality, is also reduced. Because the measurement is determined based on environmental conditions, it dynamically adjusts to these conditions, allowing for a relatively short predetermined distance to be selected initially. Conversely, if environmental conditions make object detection more difficult, a larger predetermined distance is used.

[0028] Alternatively, or in combination with this, the measurement is determined based on the object's position within the collision avoidance sensor's detection range. The measurement is particularly higher, indicating comparatively high accuracy, when the object is located away from the edges of the detection range, especially in the middle section. Specifically, the object must be at least 5 cm, 8 cm, or 10 cm from the edge of the detection range. Conversely, if the object is close to the edge of the detection range but still detected by the collision avoidance sensor, the measurement is reduced, and lower accuracy is assumed. In this case, the edge might only be monitored by a portion of the collision avoidance sensor, resulting in reduced accuracy.Alternatively, or in combination with this, in a portion of the monitoring area where the angle used for triangulation / trilateration is relatively acute due to the geometric design of the collision protection sensor, a measurement is used that increases the inaccuracy in determining the position. This approach allows the collision protection system to be assigned a larger monitoring area, where, for example, due to the geometric design of the electric door drive, the monitoring area can only be partially covered by parts of the collision protection sensor. This increases safety. Furthermore, the requirements for the collision protection sensor are reduced, thus lowering manufacturing costs. Comfort is not compromised, and safety is enhanced.

[0029] For example, as the door approaches the holding position, the electric motor initially continues to operate unchanged until the door reaches the holding position. Then, the electric motor is abruptly stopped. This results in a relatively rapid movement of the door. Preferably, however, the door's movement speed is reduced according to a predefined profile as it approaches the holding position. This reduces the mechanical stress on the electric door drive. In particular, the speed reduction is essentially continuous, thus achieving a visually appealing appearance. If the electric motor only provides assistance, the counterforce applied to the door is preferably increased by the electric motor according to a profile adapted for this purpose as the door approaches the holding position.In this process, the supporting force of the electric motor is reduced, particularly to increase the counterforce. Alternatively, for example, a force is applied to the door against the direction of adjustment using the electric motor, so that the person adjusting the door manually requires more effort than if the door were adjusted without electric motor assistance.

[0030] For example, the profile is fixed. However, it is particularly preferred that the profile is selected depending on the dimension. For example, the profile determines the degree of reduction in the adjustment speed or the increase in force depending on the dimension. In this case, the adjustment speed is reduced or the force is increased immediately after the object is detected. Alternatively, this only occurs when the door is further away from the holding position, with the degree of reduction / increase being constant or also dependent on the dimension. The further distance is, for example, constant or preferably dependent on the dimension. In this case, especially with a small dimension, i.e., a comparatively high degree of inaccuracy, the further distance is chosen to be larger, so that the approach to the holding position is slowed down.If the electric motor only provides assistance, the counterforce is increased early on, especially if the measurement is relatively inaccurate. This means the user of the electric door opener is informed of the inaccuracy in determining the position relatively early, at least implicitly, allowing them to react accordingly. If the inaccuracy is relatively large, for example, the adjustment speed is reduced to a minimum after the object is detected, and a so-called creep speed is implemented. The adjustment speed is appropriately chosen so that any (unintentional) mechanical contact with the object before reaching the holding position prevents or at least minimizes damage to the door / object.Alternatively, the opposing force is comparatively large, so that, in the case of manual adjustment, this also occurs at a reduced speed against the object.

[0031] In particular, the object's direction of movement is determined, if present. The predetermined distance is then selected based on the object's direction of movement and / or its speed. If the object has no direction of movement, i.e., it is not moving, no further adjustments are made, and the predetermined distance is simply chosen based on its magnitude. Specifically, if the object is moving away, a smaller predetermined distance is selected. Conversely, if the object is moving closer, a larger predetermined distance is selected. The object's speed is also usefully determined. If the object is approaching at a relatively high speed, the predetermined distance is further increased to avoid a collision.

[0032] Determining the object's direction of movement / speed is achieved, for example, using a collision avoidance sensor appropriately designed for this purpose. If this is not the case, the object's position is expediently determined several times sequentially using the collision avoidance sensor, and the object's speed / direction of movement is derived from this. Alternatively, a separate sensor is used to determine the direction of movement / speed.

[0033] For example, the adjustment speed and / or the counterforce are also adapted based on the object's direction of movement and / or its speed. In particular, the profile used depends on the object's direction of movement and / or speed. If the object is approaching relatively quickly, a profile with a reduced adjustment speed and / or increased counterforce is used. Conversely, if the object is moving away relatively quickly, a profile with a reduced adjustment speed and / or counterforce is used.

[0034] For example, the holding position is determined only once, particularly immediately after the object is detected and its position and dimensions are determined. However, it is especially preferred that the holding position is adjusted during the door's movement. In other words, the holding position is determined multiple times while the door is still being moved, i.e., before the holding position has been reached. For example, the re-determination of the holding position, i.e., the adjustment, occurs only at relatively long intervals, such as every second or every two seconds. However, it is especially preferred that the holding position is determined essentially continuously, preferably at least every 10 ms to every 100 ms, and preferably every 40 ms. In particular, as soon as the collision protection sensor enables a re-determination of the position and dimensions, this is carried out and the holding position is adjusted accordingly.Consequently, the holding position may change while the door is being moved, especially if the door's proximity to the object improves position detection accuracy. This allows the door to be moved relatively close to the object, even if initial object detection was only possible with relatively low accuracy. This increases convenience and safety without increasing manufacturing costs. The holding position is conveniently adjusted as the door is moved.

[0035] The electric door drive, when installed, is a component of a motor vehicle and is suitable, specifically designed and configured for this purpose. The motor vehicle is, for example, a land-based vehicle such as a truck, bus, or preferably a passenger car. The electric door drive comprises an electric motor and a door driven by it. Specifically, the door is driven along an adjustment path defined by a bearing on which the door is mounted. The electric door drive also includes a collision protection sensor.The collision protection sensor is suitable, and in particular designed and configured, to monitor at least sections of the adjustment range or the entire adjustment range of the door, i.e., a spatial area extending along the complete adjustment path and traversed by the door, such that the adjustment range is defined by the outer contour of the door. The collision protection sensor is, for example, attached to the door or spaced apart from it. In particular, when installed, the collision protection sensor is fixed to the vehicle body and expediently attached to the body of the motor vehicle.

[0036] The electric door drive operates according to a method in which the door is held in a stop position if an object is detected within the adjustment range by the collision protection sensor during door movement. The stop position is selected such that the door maintains a predetermined distance from the object, a distance chosen based on the required accuracy of the object's position determination.

[0037] The electric door drive includes, in particular, a control unit designed and configured to carry out the method. The control unit comprises, for example, an application-specific integrated circuit (ASIC) or, more preferably, a computer, which is suitably programmable. In particular, the control unit includes a storage medium on which a computer program, also referred to as a computer program, is stored, and the execution of this computer program causes the computer to carry out the method. Advantageously, the electric door drive, or at least the motor vehicle, has several operating elements by means of which the adjustment request can be generated. The operating elements are advantageously connected to the control unit via a signal system, in particular via a bus system.The door is, for example, a side door which, in its installed state, is mounted in a pivotable manner on the body of a motor vehicle. The invention further relates to a motor vehicle with a corresponding electric motor door drive.

[0038] The invention further relates to a computer program product. The computer program product comprises a number of commands which, when executed by a computer, cause the computer to perform a method for operating an electric motor door drive of a motor vehicle. The method includes a door driven by an electric motor and a collision protection sensor, in particular for monitoring an adjustment range of the door. In the method, the door is held in a holding position if an object is detected within the adjustment range by the collision protection sensor during an adjustment of the door. The holding position is selected such that the door maintains a predetermined distance from the object, which is chosen depending on a degree of accuracy in determining the object's position.The computer is expediently a component of a control unit or electronics of the electric door drive and is, for example, formed by means of such a unit. The computer preferably comprises a microprocessor or is formed by means of one. The computer program product is, for example, a file or a data carrier containing an executable program that, when installed on a computer, automatically executes the process.

[0039] The invention further relates to a storage medium on which the computer program product is stored. Such a storage medium is, for example, a CD-ROM, a DVD, or a Blu-ray Disc. Alternatively, the storage medium is a USB flash drive or other storage medium that is, for example, rewritable or write-only. Such storage medium is, for example, flash memory, RAM, or ROM.

[0040] The invention further relates to a control unit. The control unit is designed and configured to carry out a method for operating an electric motor door drive of a motor vehicle, which comprises a door driven by an electric motor and a collision protection sensor, in particular for monitoring an adjustment range of the door. In the method, the door is held in a holding position if an object is detected within the adjustment range by the collision protection sensor during an adjustment of the door. The holding position is selected such that the door has a predetermined distance to the object, which is chosen depending on a degree of accuracy in determining the object's position.

[0041] The control unit comprises, for example, an application-specific integrated circuit (ASIC) and / or a microprocessor by means of which the method is at least partially carried out. In particular, the control unit includes a computer program stored in memory, which, when executed by a computer such as the microprocessor, causes the computer to carry out the method. Preferably, the control unit, when installed, is a component of the electric door drive and is suitable, in particular designed and configured, for this purpose. For example, the control unit is a door control unit. For example, the control unit also controls any electric window regulator integrated into the door. The electric window regulator preferably includes a further electric motor by means of which the window pane is driven.

[0042] The further training and advantages explained in connection with the procedure can also be applied analogously to the electromechanical door drive / the motor vehicle / the computer program product / the storage medium / the control unit, as well as to each other and vice versa.

[0043] An embodiment of the invention is explained in more detail below with reference to a drawing. In the drawings: Fig. 1. Schematic side view of a motor vehicle with an electric door drive, Fig. 2 a method for operating the electromechanical door drive, and Fig. 3-5 in a top view of the motor vehicle in different situations while the procedure is carried out.

[0044] Corresponding parts are provided with the same reference numerals in all figures.

[0045] In Fig. Figure 1 schematically simplifies the representation of a motor vehicle 2 in the form of a passenger car. The motor vehicle 2 comprises several wheels 4, which make contact with a road surface. The wheels 4 are connected to the body 6 of the motor vehicle 2 by means of a chassis. The body 6 has an opening 8 through which a user can enter the interior of the motor vehicle 2, which is enclosed by the body 6. The opening 8 is covered or can be covered by a door 10, which is pivotally mounted on the body 6 by means of a bearing 12. By pivoting the door 10 relative to the body 6, the opening 8 is covered or uncovered.

[0046] Door 10 is a side door of the motor vehicle 2, and it has a rigid door body that is attached to the bearing 12. Door 10 is a component of an electric door drive 14, which includes an electric motor 16 that is, for example, mounted on the body. A gearbox and a spindle are arranged mechanically between the electric motor 16 and door 10. At a minimum, when the electric motor 16 is operated, door 10 pivots relative to the body 6. In summary, door 10 is driven by the electric motor 16.

[0047] The electric door drive 14 also includes a collision protection sensor 18, which in the illustrated example is attached to the door 10. In a variant not shown, the collision protection sensor 18 is rigidly mounted to the vehicle body 6. The collision protection sensor 18 has one or more (individual) sensors, which are designed as optical sensors, namely as a camera, as ultrasonic sensors, and / or as radar sensors. The collision protection sensor 18 also includes an evaluation unit (not shown) by means of which the measurement data generated by the (individual) sensors are at least partially evaluated. The collision protection sensor 18 has a monitoring area 20. If an object 22 is located within the monitoring area 20, it is detected by the collision protection sensor 18. If, however, the object 22 is outside the monitoring area 20, detection by the collision protection sensor 18 is not possible.

[0048] The electric door drive 16 also includes a control unit 24, which is, for example, mounted to the vehicle body or attached to the door 10. The control unit 24 acts as a door control unit, and thus regulates the electric motor 16 of the electric door drive 14 by adjusting the current supplied to the electric motor 16. The control unit 24 also operates the collision protection sensor 18. The control unit 24 includes a computer 26 in the form of a programmable microprocessor and a storage medium in the form of a memory 28. A computer program 30 is stored in the memory 28, which comprises several instructions that, when executed by the computer 26, cause it to perform a specific action. Fig. 2. The method 32 shown is to be carried out for operating the electric motor door drive 14. In other words, the electric motor door drive 14 is operated according to method 32, and the control unit 24 is provided and configured to carry out method 32.

[0049] In procedure 32, a request to adjust the door 10 is received in a first step 34 via a bus system (not shown in detail), which is connected to the control unit 24 via signal technology. This request, also referred to as an adjustment request, specifies the direction of adjustment, i.e., whether the door 10 should be opened or closed.

[0050] In a subsequent second work step 36, the monitoring area 20 is monitored by means of the collision protection sensor 18 and it is checked whether the object 22, if present, is located in an adjustment range 38 of the door 10, which is in Fig. 3 is shown here. Fig. Figure 3 shows the motor vehicle 2 from a bird's-eye view. The adjustment range 38 corresponds to the area that would be traversed by the door 10 in the direction of adjustment, according to the adjustment request, when the door 10 pivots along an adjustment path defined by the bearing 12, provided this is not obstructed. Due to the arrangement of the collision protection sensor 18, the monitoring area 20 and the adjustment range 38 only partially overlap.

[0051] In a subsequent third step 40, the position 42 of object 22 is determined, as is a measure 44 for the accuracy of determining the position 42 of object 22. Measure 44 indicates how precise the determination of position 42 is, and it is increased the more precise it is or is assumed to be. In other words, measure 44 is increased the less uncertainty there is in the determination.

[0052] To determine dimension 44, the signal quality of the measurement data acquired by the collision protection sensor 18 is checked. If there is only a low signal-to-noise ratio, dimension 44 is reduced. Furthermore, environmental conditions are determined, for which, for example, the collision protection sensor 18 is used, so that the environmental conditions are determined based on the measurement data. Alternatively or in combination with this, the environmental conditions are queried via the bus system (not shown in detail). The environmental conditions are determined using a corresponding sensor of the vehicle 2 and transmitted, for example, to the on-board computer, which then makes them available. If environmental conditions exist that reduce the accuracy of the position determination, dimension 44 is reduced.Such environmental conditions include, for example, relatively heavy precipitation if the collision protection sensor 18 only has a radar sensor and / or a capacitive sensor. In such precipitation, the signal quality of the measurement data is also reduced. If the collision protection sensor 18 only has an optical sensor, the dimension 44 is reduced, especially in darkness.

[0053] Furthermore, dimension 44 is adjusted depending on the position 42 of object 22 within the monitoring area 20. If position 42 is located at the edge of the monitoring area 20, as in Fig. As shown in Figure 3, dimension 44 is reduced, particularly since the detection of object 22 is only possible using part of the collision protection sensor 18, and therefore not using all sensor units. In summary, the dimension is thus determined depending on the signal quality of the measurement data, the environmental conditions, and the position 42.

[0054] Furthermore, in the third step 40, it is checked whether the object 42 is moving. If this is the case, a direction of movement and a speed of the object 42 are determined.

[0055] A fourth work step 46 is then carried out. In this step, a holding position 48 is determined. For this purpose, a specific distance 50 is first selected, based on which the holding position 48 is derived. When the door 10 is in holding position 48, it has the predetermined distance 50 to the object 22. The predetermined distance 50 is selected depending on the dimension 44. The predetermined distance 50 is also selected depending on the direction of movement of the object 42 and, if applicable, the speed of the object 42.

[0056] At the in Fig. In the situation depicted in Figure 3, object 22 is stationary; however, precipitation is present as an environmental condition, which reduces the signal quality of the measurement data. Furthermore, position 42 is located at the edge of the monitoring area 20, resulting in a comparatively high degree of uncertainty in determining position 42. Therefore, dimension 44 is reduced. Consequently, a relatively large predetermined distance 50 is used. Thus, the holding position 48 is comparatively far from object 22.

[0057] Depending on the dimensions, a profile 52 is selected. The profile 52 specifies the adjustment speed of the door 10, by which it is to be moved through the adjustment range 38 to the holding position 48, if the door 10 can be adjusted solely by means of the electric motor 16. If, on the other hand, the electric motor 16 is only used to assist in manual adjustment of the door 10, the profile 52 specifies a counterforce to be provided to the door 10 by the electric motor 16, or a force to be applied to it, which, like the adjustment speed, depends on the position of the door 10. The counterforce can be provided, for example, solely by friction of the hinge 12 and other components of the electric door drive 14.To further increase the counterforce, the electric motor 16 can also be energized in such a way that a force acting against the direction of adjustment is applied to the door 10. In summary, profile 52 defines an adjustment speed or counterforce that depends on the position of the door 10, according to which the electric motor 16 is to be energized. Profile 42 is selected based on dimension 44.

[0058] If dimension 44 is at a minimum, the adjustment speed corresponds to a minimum speed, namely a creep speed. Otherwise, it is increased but decreases according to a ramp function as the holding position 48 is approached. The counterforce also increases according to a ramp function as the holding position 48 is approached.

[0059] If the door 10 has not yet reached the predetermined distance 50 to the object 22, i.e., if the door 10 is not yet in the holding position 48, the electric motor 16 is energized according to profile 52 in a subsequent fifth work step 54. As a result, the door 10 is moved towards the object 22.

[0060] The third work step 40 is then carried out again, and position 42 and dimension 44 are determined again. It is possible to proceed as described in... Fig. Figure 4 shows that the dimension 44 changes due to the movement of door 10. Because door 10 moves towards object 22, the object is no longer located merely at the edge of the monitoring area 20 in the example shown. Furthermore, the signal-to-noise ratio of the measurement data is improved due to the reduced distance. Consequently, dimension 44 is improved, even though the environmental conditions remain the same.

[0061] In the subsequent fourth work step 46, the profile 52 as well as the predetermined distance 50 and therefore also the holding position 48 are determined again.

[0062] Due to the improved dimension 44, the predetermined distance 50 is reduced, and the holding position 48 is moved towards object 22. If the door 10 is still not in the holding position 48, the fifth work step 54 is performed again, and the electric motor 16 is operated according to the adjusted profile 52. This is repeated until the door is in the holding position 48, with a time interval of 40 ms between successive third work steps 40. Consequently, the holding position 48 is adjusted while the door 10 is being moved.

[0063] If, in the fourth step 46, it is determined that the door 10 is in the holding position 48, a sixth step 56 is performed. In this step, the door 10 is left in the holding position 48, and in particular, the power supply to the electric motor 16 is terminated, at least if the door 10 is moved solely by means of the electric motor 16. If, however, the electric motor 16 only provides assistance, the counterforce applied by the electric motor 16 is expediently increased to a maximum value, so that manual adjustment of the door 10 is essentially no longer possible. Thus, moving the door 10 against the object 22 is prevented, and the procedure 32 is terminated.

[0064] In summary, in procedure 32, the door 10 is left in the holding position 48 if, during the adjustment of the door 10 by means of the collision protection sensor 18, the object 22 is detected within the adjustment range 38. The holding position 48 is selected such that, when the door 10 is in the holding position 48, it has the predetermined distance 50 to the object 22. The predetermined distance 22 is selected depending on the dimension 44 of the accuracy of determining the position 42 of the object 22. If, in the second step 36 or during the adjustment of the door 10, the object 22 is not detected, the door 10 is moved through the entire adjustment range 38, and only then is the electric motor 6 stopped.

[0065] If object 22 moves, the predetermined distance 50 is also adjusted accordingly. In the Fig. In the situation shown in Figure 5, object 22 moved towards the motor vehicle 2 when door 10 was in the same position as in Figure 5. Fig. 4. As a result, object 22 has moved further into monitoring area 20, so that dimension 44 is further improved. However, due to the movement of object 42 towards motor vehicle 2, the predetermined distance 50 is increased, so that compared to the one in Fig. 3 and the one in Fig. In the situation shown in Figure 4, the holding position 48 is moved further towards the motor vehicle 2. However, if the object 22 moves in the opposite direction, the predetermined distance 50 is reduced.

[0066] The invention is not limited to the embodiment described above. Rather, other variants of the invention can also be derived by a person skilled in the art without departing from the subject matter of the invention. In particular, all individual features described in connection with the embodiment can also be combined with one another in other ways without departing from the subject matter of the invention. List of reference symbols 2 motor vehicles 4-wheeler 6 Bodywork 8 Opening 10 Door 12 warehouses 14 electric door drive 16 Electric motor 18 Collision protection sensor 20 Monitoring area 22 objects 24 Control unit 26 computers 28 storage 30 Computer program product 32 procedures 34 first step 36 second step 38 adjustment range 40 third step 42nd position 44 measure 46 fourth step 48 Holding position 50 predetermined distance 52 Professional 54 fifth step 56 sixth step

Claims

[1] Method (32) for operating an electromotive door drive (14) of a motor vehicle (2) having a door (10) driven by an electric motor (16), in which method the door (10) is left in a holding position (48) if an object (22) is detected in an adjustment range (38) during an adjustment of the door (10) by means of a collision protection sensor (18), wherein the holding position (48) is selected such that the door (10) has a predetermined distance (50) from the object (22), which distance is selected as a function of a measure (44) of the accuracy of the determination of the position (42) of the object (22). [2] Method (32) according to claim 1, characterized by that the measure (44) is determined as a function of a signal quality of measurement data created by means of the collision protection sensor (18). [3] Method (32) according to claim 1 or 2, characterized by that the measure (44) is determined depending on environmental conditions. [4] Method (32) according to one of claims 1 to 3, characterized by that the dimension (44) is determined as a function of the position (42) within a monitoring area (20) of the collision protection sensor (18). [5] Method (32) according to one of claims 1 to 4, characterized by that when the door (10) approaches the holding position (48) according to a predetermined profile (52), an adjustment speed of the door (10) is reduced or a counterforce provided to the door (10) by means of the electric motor (16) is increased. [6] Method (32) according to claim 5, characterized by that the profile (52) is selected depending on the dimension (44). [7] Method (32) according to one of claims 1 to 6, characterized by that a direction of movement of the object (42) is determined, the predetermined distance (50) being selected as a function of this direction. [8] Method (32) according to one of claims 1 to 7, characterized bythat the holding position (48) is adjusted during the adjustment of the door (10). [9] Electromotive door drive (14) of a motor vehicle (2), which has a door (10) driven by means of the electric motor (16) and which is operated according to a method (32) according to one of claims 1 to 8.

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