Method for the synchronous operation of two simultaneously actuated body elements of a vehicle

Abstract

A method is provided for the synchronous operation of two simultaneously actuated body elements of a vehicle. At least in the event of a request for actuation of the body elements, predefined environmental conditions relevant to the actuation of the body elements are detected in a first step, and a synchronicity of the movement of the body elements is detected in a second step. If the synchronicity is not within a predefined tolerance, an adjustment of the movement of one of the body elements is calculated in order to bring its movement back within the tolerance upon the next actuation under the same or similar environmental conditions.

Description

[0001] The invention relates to a method for the synchronous operation of two body elements of a vehicle that are to be actuated simultaneously.

[0002] Vehicles feature a multitude of body elements, such as hatches or doors, some of which are now also automatically controllable, meaning they can be opened and closed automatically. This typically involves at least one actuator, which is coupled to the body element to be driven. In addition, there is at least one control electronics unit, which is coupled to the actuator to control it.

[0003] Some vehicles have body elements that need to be operated simultaneously. In these cases, the goal is to ensure operation as synchronously as possible. However, this is not easy, as synchronous operation can be highly dependent on external influences, to which the control system must be adapted. Currently, synchronization is achieved using PWM control or based on the speed. Since this can result in discontinuous movements, such as visual or acoustic oscillations, there is a need for improvement in the control system.

[0004] Therefore, it is an object of this invention to provide a method that provides improved synchronization of the movement of two body elements to be operated simultaneously. This object is achieved according to the invention by the features of the independent patent claims. Advantageous embodiments are the subject of the dependent claims.

[0005] A method is provided for the synchronous operation of two simultaneously actuated body elements of a vehicle. At least in the event of a request for actuation of the body elements, predefined environmental conditions relevant to the actuation of the body elements are detected in a first step, and a synchronicity of the movement of the body elements is detected in a second step. If the synchronicity is not within a predefined tolerance, an adjustment of the movement of one of the body elements is calculated in order to bring its movement back within the tolerance upon the next actuation under the same or similar environmental conditions.

[0006] Furthermore, it is provided that environmental conditions relevant for the actuation of the body elements include at least one or a combination of the current outside temperature, the current position of the vehicle, including slope and / or inclination, and the interior pressure of a space that the body elements close off.

[0007] Furthermore, it is intended that the movement of the body element which has the shortest movement time is adjusted.

[0008] Furthermore, it is provided that the required travel time of the body elements from a starting position to a final position is stored for a variety of environmental conditions and made available for retrieval when a request for actuation of the body elements is made.

[0009] Furthermore, it is provided that in the event that a request for actuation of the body elements occurs under ambient conditions which have not yet been stored, an interpolation of a travel time of the body elements from known values ​​is carried out.

[0010] Furthermore, it is provided that if, during operation with already known and stored parameters, it is determined that the movement of the body elements is outside the tolerance range, this process is saved and new, optimized parameters are determined, which are only used after at least one further operation in which it is determined that the movement is outside the tolerance range and are saved as new parameters for the recorded environmental conditions.

[0011] Furthermore, a computer program product with program code for carrying out the method is provided when it is executed on at least one control unit of the vehicle.

[0012] Furthermore, a vehicle is provided, comprising an interior and / or a storage space, as well as two body elements that can be actuated simultaneously, each of which allows access to the interior or the storage space of the vehicle, as well as a control unit that is operatively connected to the body elements and on which the computer program product is implemented.

[0013] Furthermore, it is provided that the body elements are two doors which provide access to an interior of the vehicle or two flaps which provide access to a storage space of the vehicle.

[0014] Further features and advantages of the invention will become apparent from the following description of exemplary embodiments of the invention, with reference to the figures of the drawing, which illustrate details of the invention, and from the claims. The individual features can be implemented individually or in combination in a variant of the invention.

[0015] Preferred embodiments of the invention are explained in more detail below with reference to the accompanying drawings. Fig. 1 shows a schematic representation of the method according to an embodiment of the present invention. Fig. 2 shows a schematic representation of important components for carrying out the method according to an embodiment of the present invention.

[0016] In the following descriptions of the figures, the same elements or functions are provided with the same reference symbols.

[0017] The basic concept of the invention is to provide the most synchronous operation possible of two body elements 2, 3 to be operated simultaneously. The term body element 2, 3 is to be understood as a door, e.g. a side or rear door, or a flap, e.g. a front or rear flap covering a storage space, of a vehicle 1. In the case that two body elements 2, 3 are provided which are to be operated simultaneously, i.e. opened or closed, e.g. two front flaps (as in Fig. 2 shown as an example) or two side doors that are to be opened like wings, one of the body elements 2, 3 generally serves as the master and the other as the slave, i.e., one body element 2, 3 specifies the movement and the other is adjusted accordingly. To protect the mechatronic system, as well as for aesthetic reasons, the movement of the two body elements 2, 3 is required to be as synchronous as possible.

[0018] The control of mechatronic systems such as automatically controllable body elements 2, 3 for opening and closing them is carried out via a corresponding control unit 10 of the vehicle 1.

[0019] The speed of movement of each body element 2, 3 depends on many factors, e.g. the manufacturing tolerance of the body elements 2, 3 and also the body, as well as the connection points. In addition, ambient conditions influence the speed of movement of each body element 2, 3. The term ambient conditions refers to influences on the body element 2, 3 which can influence its movement, e.g. the speed of the movement. Such environmental conditions include, in particular, the current outside temperature. In addition, or alternatively, the position of the vehicle 1, i.e. the slope and / or incline at which the movement is to be carried out, can be a relevant ambient condition. The interior pressure within the vehicle 1 (particularly in the case of doors and tailgates or rear doors) or the storage space (particularly in the case of hoods) can also be a relevant ambient condition.

[0020] The ambient conditions must therefore be recorded at the latest when the actuation of the body elements 2, 3 is requested, i.e. before the actual actuation, which is described as step S1 in Fig. 1. Since many vehicles 1 already have environmental sensors required to determine the parameters for carrying out the method, these parameters can already be present and used when the actuation of the body elements 2, 3 is requested.

[0021] The aim of the invention is to automatically compensate for vehicle-specific tolerances when moving the body elements 2, 3. Therefore, after the ambient conditions have been detected in the first step S1, the synchronicity of the movement of the body elements 2, 3 is detected in a second step S2 of the method. If the synchronicity of the movement is not within a predetermined tolerance, the movement of the body element 2, 3 with the shortest movement time (i.e., the fastest) is adjusted in order to bring its movement back within the tolerance. The movement is not adjusted during its execution. Rather, new parameters for the said body element 2, 3 are calculated for the next actuation under the same or similar ambient conditions and are then used for the next actuation.Which environmental conditions are included in the adjustment calculation is determined in advance by the specialist and can vary depending on the available computing power and the desired accuracy of synchronization. Preferably, at least the outside temperature is considered as an environmental condition.

[0022] If the synchronization still does not fall within the specified tolerance after a correction and upon the next actuation, the process is repeated. Prioritizing the travel time of body element 2, 3, which has the shortest travel time, as already mentioned, is adjusted.

[0023] The number of revolutions per unit of time (usually milliseconds) provided by the actuator is known from its specification or from previous control cycles. This information can and is used to calculate the required revolutions, or more precisely, to calculate the adjustment of the revolutions, to restore the synchronization of the movement of body elements 2, 3.

[0024] The procedure is explained below using the example of synchronously opening front flaps (flaps as access to a storage space in the front of the vehicle, in Fig.2 with reference numerals 2, 3). The input variables used here are the ambient conditions, current outside temperature and the inclination of the vehicle 1, as well as the control time (travel time) parameter of the mechanics (in particular the servomotors 20, 30 of the body elements 2, 3). As soon as the flaps (i.e. the body elements 2, 3) are actuated, the opening times of both flaps are measured and compared with each other. This also happens for the closing times. If the differences between the measured values ​​are within a specified tolerance, the movement is not adjusted. The tolerance can, for example, be a detection threshold for optical synchronicity.

[0025] The body element 2, 3 with the longest movement time is used as the dynamic master. If this changes due to external influences, the master is changed. If the defined synchronicity is not present, the travel time of the faster body element 2, 3 is slowed down by a parameterizable control value before the next movement, preferably during the next actuation under the same or similar environmental conditions. This value is calculated, as already described, using the known number of revolutions per unit of time in the control unit 10, which is responsible for operating the body elements 2, 3. This process continues until the travel time of the faster body element 2, 3 lies between the master time and the specified tolerance limit.

[0026] The data (parameters and associated travel time) are saved for each recorded condition, in particular each mechanical extreme position, and interpolation can take place between the extremes. This means that if a movement is carried out at, for example, -15°C, the value thus determined (travel time) is saved for the extreme position of low temperature at -15°C. The next time the movement takes place in this condition (ambient condition), this value (or an interpolated value) is used as the starting value. If, for example, a movement is carried out at -25°C, the maximum known value (in this case -15°C) should be used as the starting value. After the movement and possible adjustment by the algorithm, the new extreme position (-25°C) should replace the current extreme position (-15°C). A limitation of the maximum possible extreme positions at which actuation of body elements 2, 3 is even possible or permitted is determined by the function requirement, e.g.Functional availability between -30°C and +80°C. The requirement is determined by the specialist.

[0027] Since the associated parameters, in particular the ambient conditions, as well as the travel time of both body elements 2, 3 from a starting position to a final position are saved for each operation of the body elements 2, 3, a matrix with a large amount of data is created during use. This matrix contains both extreme values ​​and intermediate values. To determine parameters for moving the body elements 2, 3 that are not yet present in the matrix, a travel time can be interpolated from the existing values. This allows a parameter set for control to be determined, which is used as a starting point to further refine the control based on this.

[0028] If, during operation with already known and saved parameters optimized for specific environmental conditions, it is determined that the movement of the two body elements 2, 3 is no longer synchronized enough, i.e. lies outside the tolerance range, one embodiment provides for this process to be saved and new, optimized parameters to be determined (calculated). However, the saved, optimized parameters are not directly replaced by the new control parameters. Instead, one or more movement cycles (due to a request for actuation) are waited for and checked. If the one or more checks reveal a need for adjustment, only then is a correction made and the saved parameters overwritten with the new, optimized parameters.The reason for performing one or more checks is that it may happen that the movement, which is otherwise within tolerance, is disrupted due to random, isolated environmental conditions. For example, this can happen if a user intervenes in the automatic opening and thereby touches one of the body elements 2, 3 or even moves them manually.

[0029] By using the actuation time, i.e., the travel time, of body elements 2, 3, dependencies on additional sensors such as Hall sensors or angle sensors can be reduced. Furthermore, the control system implemented in each vehicle allows for vehicle-specific correction of the travel time of both body elements 2, 3.

[0030] The described method is implemented as a computer program product with associated program code, preferably on a control unit 10 of the vehicle 1, and is executed there. The control unit 10 is connected to the two body elements, more precisely their actuators, i.e., the servomotors 20, 30, in such a way that it can control them. List of reference symbols S1, S2 process steps 1 vehicle 10 Control unit 2 body element 20 actuator 3 body element 30 actuator

Claims

[1] Method for the synchronous operation of two body elements (2, 3) of a vehicle (1) to be actuated simultaneously, wherein at least in the case of a request for actuation of the body elements (2, 3) - in a first step (S1), predetermined environmental conditions relevant for the actuation of the body elements (2, 3) are recorded, and - in a second step (S2), a synchronicity of the movement of the body elements (2, 3) is detected, and in the event that the synchronicity is not within a predetermined tolerance, an adjustment of the movement of one of the body elements (2, 3) is calculated in order to bring its movement back within the tolerance during a next actuation under the same or similar ambient conditions. [2] Method according to claim 1, wherein environmental conditions relevant for the actuation of the body elements (2, 3) comprise at least one or a combination of the current outside temperature, the current position of the vehicle (1), including slope and / or inclination, and the interior pressure of a space which the body elements (2, 3) close off. [3] Method according to claim 1 or 2, wherein the movement of the body element (2, 3) which has the shortest movement time is adjusted. [4] Method according to one of the preceding claims, wherein the required travel time of the body elements (2, 3) from a starting position to a final position is stored for a plurality of environmental conditions and made available for retrieval when a request for actuation of the body elements (2, 3) is made. [5] Method according to claim 4, wherein in the event that a request for actuation of the body elements (2, 3) occurs under ambient conditions which have not yet been stored, an interpolation of a travel time of the body elements (2, 3) is carried out from known values. [6] Method according to claim 4, wherein in the event that during operation with already known and stored parameters it is determined that the movement of the body elements (2, 3) is outside the tolerance range, this process is stored and new, optimized parameters are determined, which are only used after at least one new operation in which it is determined that the movement is outside the tolerance range and are stored as new parameters for the detected ambient conditions. [7] Computer program product with program code for carrying out the method according to one of the preceding claims, when it is executed on at least one control unit (10) of the vehicle (1). [8] Vehicle (1) comprising an interior and / or a storage space, as well as two body elements (2, 3) which can be actuated simultaneously and which each allow access to the interior or the storage space of the vehicle (1), as well as a control unit (10) which is operatively connected to the body elements (2, 3) and on which the computer program product according to claim 7 is implemented. [9] Vehicle according to claim 8, wherein the body elements (2, 3) are two doors allowing access to an interior of the vehicle (1) or two flaps allowing access to a storage space of the vehicle (1).

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