Method for operating an electromotive door drive of a motor vehicle

Abstract

The invention relates to a method (34) for operating an electromotive door drive (16) of a motor vehicle (2) which has a door (10) driven by means of an electric motor (18). The door (10) is left in a holding position (52) if an object (24) is detected in an adjustment region (42) by means of a collision-prevention sensor (20) during adjustment of the door (10) in an adjustment direction (38). In the process, a holding function (60) of the door (10) is activated in the holding position (52) depending on a current situation (50). The invention also relates to an electromotive door drive (16) of a motor vehicle (2).

Description

[0001] Description

[0002] Method for operating an electric motor door drive of a motor vehicle

[0003] The invention relates to 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. Furthermore, the invention relates to an electric motor door drive of a motor vehicle.

[0004] Motor vehicles, such as passenger cars, usually have a number of doors, by means of which an opening in the body of the vehicle is covered. The door is usually movably mounted on the body of the vehicle by means of a bearing, so that the opening in the body can be released by adjusting the door. If the door is a side door, this allows entry into the interior of the vehicle and / or loading the interior with objects. To increase comfort, the door is usually driven by an electric motor of an electromotive door drive, which also includes the door. When the electric motor is operating, the door is moved in an adjustment direction along an adjustment path that is predetermined by the bearing by means of which the door is mounted on the body.It is possible that a user of the electric motor door drive cannot fully see the adjustment path of the door formed around the adjustment path and, for example, activates the electric motor door drive even though there is an object in the adjustment range. The adjustment range is the area that the door moves through when adjusting it along the entire adjustment path and is defined by the outer contour of the door. The shape of the adjustment range is stored at least implicitly in a memory of the electric motor door drive during production. To prevent a collision between the door and the object, which could lead to damage to the object and / or the door, the electric motor door drive usually includes a collision protection sensor that monitors the adjustment range.If the object is located in the adjustment range, for example, the electric motor is no longer energized, preventing the door from being adjusted. An acoustic signal is usually also emitted to alert the user that adjustment is currently not possible due to the object. In a further development, the door is adjusted until the distance to the object reaches a predetermined minimum. When this is the case, the electric motor is stopped, preventing a collision. If the door was opened using the electric motor, the body opening is at least partially unlocked, allowing entry and exit from the vehicle, even if comfort is reduced.

[0005] This can lead to the user leaning against the door when entering or exiting, or at least unintentionally adjusting it, especially since the space between the door and the body is relatively small. This can cause the door to collide with an object, potentially causing damage. To prevent this, the distance from the object at which the door is stopped is chosen to be relatively large. This further reduces the space between the door and the body, making entry and exit more difficult from the outset.

[0006] The invention is based on the object of specifying a particularly suitable method for operating an electromotive door drive of a motor vehicle and a particularly suitable electromotive door drive of a motor vehicle, wherein comfort and / or safety are advantageously increased.

[0007] With regard to the method, this object is achieved according to the invention by the features of claim 1 and with regard to the electromotive door drive by the features of claim 10. Advantageous further developments and refinements are the subject of the respective subclaims.

[0008] The method serves to operate an electric motor door drive of a motor vehicle. The motor vehicle is, in particular, land-based and preferably multi-track. In this case, it is suitably possible to position the motor vehicle essentially freely, in particular on a roadway. For this purpose, the motor vehicle expediently has corresponding wheels. In summary, it is preferably possible to position the motor vehicle essentially independently of other conditions on land. In other words, the motor vehicle is suitably not rail-guided. The motor vehicle is preferably a passenger car (car) or a commercial vehicle, such as a lorry (truck) or bus.

[0009] The electromotive door drive comprises a door driven by an electric motor, preferably along an adjustment path. In the assembled state, the door is suitably movably mounted on a body of the motor vehicle by means of a bearing. For example, the bearing is designed like a hinge, and the door is pivotably mounted relative to the body. Alternatively, the bearing can be used to at least partially enable longitudinal displacement of the door, so that the door is a sliding door. The door is preferably a side door.

[0010] The bearing is used to predetermine, in particular, the shape of the door's adjustment range. The door moves through the adjustment range along its entire adjustment path during adjustment. In other words, the adjustment range corresponds in particular to the spatial area within which the door can be located, at least under certain conditions. One end of the adjustment range is preferably predetermined by the body, which, for example, forms a stop for the door. When the door is at this end of the adjustment range, the door expediently rests against the body, and any opening in the body is closed by the door. The opening is released by moving the door along the adjustment path to the other end of the adjustment range.

[0011] Advantageously, another component of the electric motor-driven door drive, such as a length-adjustable component, in particular a spindle, is mechanically arranged between the electric motor and the door. Alternatively or in combination with this, a cable drum is arranged between them. Preferably, a gear, such as a worm gear, is initially driven by the electric motor, by means of which the door is advantageously driven, preferably via the spindle.

[0012] In particular, the electric motor is fixedly attached to the body in the assembled state, which facilitates installation. The electric motor is suitable, in particular provided and configured, for this purpose. Alternatively, the electric motor is attached to the door. The electric motor is, for example, a brushed commutator motor or, particularly preferably, a brushless direct current (BLDC) motor. The electric motor-driven door drive suitably comprises a control device or other control unit by means of which an electric current is provided and / or regulated to energize the electric motor, such that the electric motor is operated according to a specific specification. The electric motor expediently comprises a sensor for detecting an adjustment position and speed, such as a speed sensor, by means of which a speed of the electric motor can be detected 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 is moved. Furthermore, the position of the door can also be determined. Preferably, the position of the door is also determined during operation using the speed sensor.

[0013] The door preferably has a door body. In particular, the door body is at least partially rigid and is suitably mounted on the body by means of any bearing. The electric motor preferably acts on the door body. The shape of the door body is, in particular, non-modifiable, and it comprises, for example, a door module and / or part of an outer skin of the motor vehicle. A window pane of the door, for example, is held on the door body and is preferably adjustably mounted there.

[0014] The electromotive door drive further comprises a collision protection sensor. The collision protection sensor serves to prevent the door from colliding with an object / obstacle when the door is adjusted. The collision protection sensor is suitable, in particular provided and configured, for this purpose. For example, the collision protection sensor serves to monitor the adjustment range. For example, the collision protection sensor monitors the entire adjustment range, so that the monitoring range of the collision protection sensor encompasses the adjustment range. Alternatively, the monitoring range of the collision protection sensor is reduced or at least partially reoriented, so that only part of the adjustment range can be monitored by the collision protection sensor.However, the monitoring area of ​​the collision protection sensor is comparatively close to the door and in particular has a maximum distance of only 20 cm, 15 cm or 10 cm.

[0015] In particular, the collision protection sensor makes it possible to detect an object located within the adjustment range. The object can be, for example, an object or a living being, such as an animal or a person. In particular, the object is detected without contact, and the collision protection sensor comprises, for example, a radar sensor. Alternatively, the collision protection sensor comprises an optical sensor, such as a camera, an ultrasonic sensor, or a capacitive sensor. Alternatively, or in combination, the collision protection sensor comprises a lidar sensor. For example, the collision protection sensor is formed by one of these sensors or comprises several of these sensors, which are, for example, identical or different from one another.Particularly preferably, the collision protection sensor also comprises an evaluation unit, by means of which the measurement data generated by the respective sensor is evaluated so that the object is detected. In particular, the sensor data provided are fused. In summary, the collision protection sensor serves to monitor the adjustment range. Contactless detection of the object in the adjustment range is possible using the collision protection sensor, and the collision protection sensor is suitable, in particular provided and configured, for this purpose.

[0016] The method provides that the door is left in a holding position if, during an adjustment of the door in an adjustment direction by means of the collision protection sensor, the object is detected in the adjustment range. The adjustment direction is, in particular, an opening direction. Alternatively, the adjustment direction is a closing direction. In particular, the method is used for both possible adjustment directions of the door. In particular, the holding position does not correspond to the end of the adjustment path, but is located in between. In other words, the electric motor is, in particular, stopped prematurely, so that the door is in the holding position, which is located between the ends of the adjustment path.

[0017] In summary, the method initially records, as received, a request to adjust the door, also referred to as an adjustment request. The adjustment request is generated, for example, by a user input, for example, by operating a control element such as a door handle or the like. Alternatively, or in combination with this, a corresponding adjustment request is generated, for example, by an on-board computer of the motor vehicle.

[0018] The adjustment request also specifies, at least implicitly, the adjustment direction of the door. Following detection, the electric motor is energized so that the door is moved in the adjustment direction, i.e. adjusted. The door is preferably adjusted automatically, so that the user does not need to apply additional manual force to the door. Alternatively, the electric motor can merely assist the user in manually adjusting the door. The object is detected, for example, before the electric motor is energized, or at least during the adjustment of the door. In this case, the door is left in the hold position if the object is in front of the door in the adjustment direction.For example, the door will not be left in the hold position if the object is located behind the door in the direction of travel. If the object is not detected, particularly because it is not present, the door will not be left in the hold position. Instead, the door will be 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.

[0019] Furthermore, depending on the current situation, a holding function for the door is activated in the holding position. By means of the holding function, the door is held in the holding position, so that even if the door is subjected to additional force, the door will not be adjusted. In other words, even if an additional force acts on the door, in particular due to manual operation, the door will remain in the holding position due to the activation of the holding function. In particular, the electric motor door drive has a brake for this purpose, which acts on the door or, for example, the electric motor, and which is actuated to activate the holding function. For example, the brake is designed as a friction brake, or by means of this, a moving part of the electric motor door drive that is operatively connected to the door is inhibited. However, it is particularly preferred that the electric motor is energized to activate the holding function.In other words, the door is held in the holding position by controlling the electric motor. In particular, any electromagnets in the electric motor do not generate a rotating magnetic field, but rather a static magnetic field that interacts with the magnetic field of the electric motor's rotor, thus keeping its position fixed.

[0020] Due to the method, depending on the current situation, the door is left in the hold position so that it cannot be moved against the object, for example if the user leans on it to get in or out of the vehicle. In other words, if the hold function is activated, manual adjustment of the door is not possible or only possible with the application of a comparatively large amount of force. This increases safety. However, it is still possible to lean on the door, which increases comfort. If, however, the current situation allows it, the hold function is not activated so that the user can, for example, manually adjust the door. For example, depending on the current situation, it may be desirable to move the door against the object and lean it against it, for example, or to use the door to move the object at least slightly.This makes it possible to adjust the area between the door and the body according to the user's wishes, thus increasing comfort. However, since this does not always occur, but rather depends on the current situation, it is only permitted if there is no reduction in safety, which is why the increase in comfort does not result in a loss of safety.

[0021] For example, the current situation is determined based on a classification of the object. In other words, the hold function is activated depending on the classification of the object. For example, the classification involves recognizing the shape of the object and / or recognizing its outline and / or recognizing its surface. Preferably, the recognized values ​​are compared with stored data, or the corresponding classification is carried out using an artificial intelligence algorithm, such as a neural network. To determine the values, i.e. for classification, the collision protection sensor or other sensors of the vehicle, such as a camera or sensors of a parking aid, are used. In particular, a classification is made as to whether the object is an animate or inanimate object.Alternatively, or in combination with this, the position of the object is recorded over a longer period of time. If this changes, the object is classified as an animate object. Alternatively, or in combination with this, the surface texture of the object is determined and used for classification. In particular, it is checked whether the object has comparatively hard / clear boundaries or whether these are diffuse. If the object is inanimate, the hold function is activated so that the door cannot be adjusted any further, even manually. Since the object is inanimate, its position will not change, which is why damage may occur if force is applied to the door and the object collides with it. Alternatively, or in combination with this, the hold function is activated if the object has comparatively hard or clear boundaries.Otherwise, if the door were to be moved against the object, the damage to it would be comparatively high.

[0022] In particular, the hold function is not activated if the object is occupied and / or if the object has a relatively diffuse surface. In this case, it is possible, for example, that the object moves out of the adjustment area after the door has been moved into the hold position. If the object was an animal or similar, it is possible that it has moved out of the hold position due to the movement of the door. It is also possible, for example, if the object has a relatively diffuse surface, such as bushes or grass, that the door can be adjusted against the object without damaging the door and / or the object. Because the hold function is not activated, the user can adjust the door further and thus, in particular, change the area formed between the door and the bodywork, thus increasing comfort.

[0023] Alternatively, or in combination with this, the current situation is determined based on the position of the motor vehicle. In other words, the position of the motor vehicle is first determined and this is used in particular as the current situation. In other words, the hold function is activated depending on the position of the motor vehicle. The position is determined, for example, using the collision protection sensor, or the position is queried in particular by an on-board computer of the motor vehicle, expediently via a bus system. In particular, the current position of the motor vehicle is determined based on further sensors of the electric motor door drive or at least of the motor vehicle. The sensor used can be, for example, a position sensor, such as a GPS sensor, or sensors of a parking aid, for example.

[0024] In particular, a user assigns a specific position to determine whether the hold position should be activated there. Alternatively, the manufacturer specifies whether the hold function should be activated or not, particularly for different positions, especially different environments. In particular, the positions of the motor vehicle correspond to specific environments. In particular, if the position of the motor vehicle corresponds to a parking space for the motor vehicle, such as a garage or other parking space, the hold position is activated. If this always involves the same parking space for the motor vehicle, expediently the user's garage, the hold function is activated.

[0025] For example, the current situation is determined solely based on the position of the motor vehicle. Alternatively, the current situation is also determined based on the orientation of the motor vehicle. In other words, the hold function is also activated depending on the orientation of the motor vehicle. If, for example, the motor vehicle is oriented to the parking space in such a way that a wall or the like is located within the adjustment range, the hold function is activated. If, on the other hand, the motor vehicle has a different orientation, the hold function is not activated because the detected object is therefore not the wall, but merely a parked object, for example. If the door is moved, in particular, no damage occurs, which is why the door can be swung further manually. This further increases comfort without reducing safety.

[0026] For example, the holding position is the position in which the door is located when the object is detected. In other words, as soon as the object is detected, the electric motor is stopped. However, the holding position is particularly preferably selected such that the door is at a predetermined distance from the object. In other words, the electric motor is operated for at least a certain period of time, and the door is thus moved into the holding position. Consequently, the area already formed between the door and any body of the motor vehicle is at least partially adjusted in accordance with any adjustment request, which increases comfort without compromising safety.

[0027] For example, the position of the object is determined when the object is detected. In particular, the position is saved. In particular, the object is detected as long as the door is adjusted and / or when the door is in the hold position. If the position of the object changes and is no longer within the adjustment range when the door reaches the hold position, the adjustment of the door is in particular continued. In other words, when the door is in the hold position, the object is preferably detected. However, if the object is outside the monitoring range of the collision protection sensor when the door is in the hold position, i.e. the object can no longer be directly detected, the door, for example, will not be adjusted any further.However, in this case, it is particularly preferred that the door be adjusted in the opposite direction to the adjustment direction until the specific position of the object is again within the monitoring area. In other words, the monitoring area of ​​the collision protection sensor is changed again, in particular, enlarged. During this process, it is checked again whether the object is still in the same position. Adjusting in the opposite direction to the adjustment direction is independent of, for example, the activation of the hold function and depends on the current situation and is considered an independent invention.

[0028] Before moving the object against the direction of travel, the object is first classified, preferably once its position has been determined. In particular, the door is expediently only moved against the direction of travel if the object has been classified as occupied. For example, the door is moved against the direction of travel until the entire object would once again be within the surveillance area if it continued to be in the specific position. Alternatively, the door is only moved back until the center of gravity of the object or a specific part of the object, such as part of the outline, would be detectable if the object continued to be in the predetermined position. For example, the door is adjusted by a specific angle, which is expediently greater than 5°.Alternatively, the door is stimulated to swing, so that the specific position is at least temporarily within the monitoring range of the collision protection sensor.

[0029] For example, after adjustment against the adjustment direction, the door is left in the position in which the object lies in the surveillance area. This makes it possible, in particular, to determine the further behavior of the object in the same way. However, the door is preferably moved back to the hold position if the object is detected again after adjustment against the adjustment direction, i.e., in particular, if the specific position lies within the surveillance area. In this case, the position of the object has not changed and it is still present. The hold function is then suitably activated. Alternatively, for example, if the door has been moved back to the hold position, the hold function is not activated, but the specific position is saved.If the door is subsequently manually adjusted beyond the specified position, the saved specified position is deleted, so that subsequent adjustment beyond the specified position is also possible. If the object is no longer detected, the door is moved further in the adjustment direction, in particular to the end of the adjustment range. If, however, the object can no longer be detected after adjustment against the adjustment direction, the object has moved away due to the adjustment of the door, and preferably the door is moved further in the adjustment direction, in particular to the end of the adjustment range. The door is thus adjusted, in particular in accordance with the adjustment request. This further increases comfort.

[0030] For example, the predetermined distance is constant. However, the distance is particularly preferably selected depending on a classification of the object. In other words, the classification of the object is carried out. Expediently, any classification is used on the basis of which the current situation is determined. During the classification, the object is expediently classified as animate or inanimate. Alternatively or in combination, the classification is carried out depending on the surface of the object, in particular whether this is hard / clear or diffuse / soft. If the object is classified as an object with a comparatively hard / clear surface and / or as an inanimate object, the predetermined distance is selected to be smaller, and expediently the hold function is also activated in this context.With this type of classification, a change in the object's position is unlikely, and thanks to the activated hold function, the door will not move against the object even if additional force is applied. Due to the short distance, the door can be moved as far as possible in response to the adjustment request. However, if the object is classified as a living object and / or as an object with a diffuse surface, a larger predetermined distance is selected. In this case, it is possible that the object will approach the door further, potentially resulting in a collision if the predetermined distance is selected to be small, especially if the object's position is no longer within the detection range of the collision protection sensor.It's also possible, for example, with a relatively diffuse surface, such as vegetation, that it may move further due to the impact of an additional force, such as wind or the like, particularly toward the door. The increased distance thus prevents a collision between the object and the door.

[0031] In particular, a direction of movement of the object is determined if it is present. In this case, an adjustment speed of the door is selected depending on the direction of movement of the object and / or a speed of the object. Alternatively or in combination with this, the predetermined distance is selected depending on the direction of movement. If the object has no direction of movement, i.e. it is not moving, expediently no adjustment is made or a specific value is used for the adjustment speed or the predetermined distance. In particular, the adjustment speed is selected which is also selected when no object is present. If the object moves away, in particular a reduced adjustment speed and / or a shorter distance is selected.

[0032] In particular, the adjustment speed is selected to be essentially constant. Consequently, the door moves essentially evenly through the adjustment range, and due to the direction of movement of the object, the object is at a greater distance from the door, thus eliminating any danger to the door. At the very least, however, the predetermined distance is selected to be smaller. Because the object moves away from the door, an unintentional impact of the object on the door is avoided, even if the object is outside the monitoring area when the door has reached the stop position. Preferably, the adjustment speed is selected such that, while maintaining the direction of movement and speed of the object, the object is outside the adjustment range when the door reaches the end of the adjustment path or at least in an originally determined stop position.If, however, the object's direction of movement is toward the door, a larger predetermined distance is selected. This ensures that the door will not collide with the object even if the object moves out of the detection range of the collision protection sensor. It is advisable to select a lower adjustment speed if the object's direction of movement is toward the door. This ensures that if the door does accidentally collide with the object, at least the relative speeds are reduced, thus mitigating the consequences of the collision.

[0033] The electromotive door drive, when assembled, is a component of a motor vehicle and is suitable, in particular intended, and configured for this purpose. The motor vehicle is, for example, land-based and, for example, a lorry, bus, or preferably a passenger car. The electromotive door drive comprises an electric motor and a door driven by it. In particular, the door is driven along an adjustment path that is predetermined by a bearing supporting the door. The electromotive door drive further comprises a collision protection sensor.The collision protection sensor is suitable, in particular intended and configured, for monitoring at least sections of the adjustment range or the entire adjustment range of the door, i.e., a spatial area that extends along the entire adjustment path and through which the door passes, so that the adjustment range is defined, in particular, 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, in the assembled state, the sensor is secured to the body side and expediently attached to a body of the motor vehicle.

[0034] The electric motor-driven door drive operates according to a method in which the door is left in a holding position if an object is detected in the adjustment range by the collision protection sensor during adjustment of the door in one direction. Depending on the current situation, a holding function for the door in the holding position is activated.

[0035] The electromotive door drive, in particular, has a control unit that is provided and configured to carry out the method. The control unit comprises, for example, an application-specific integrated circuit (ASIC) or, particularly preferably, a computer that is suitably designed to be programmable. In particular, the control unit comprises a storage medium on which a computer program product, also referred to as a computer program, is stored. Upon execution of this computer program product, i.e., the program, the computer is prompted to carry out the method. The electromotive door drive, or at least the motor vehicle, expediently has a plurality of operating elements by means of which the adjustment request can be generated. The operating elements are expediently connected to the control unit by means of signals, in particular via a bus system.The door is, for example, a side door, which, in the assembled state, is pivotably mounted on a body of the motor vehicle. The invention further relates to a motor vehicle with a corresponding electric motor door drive.

[0036] The invention further relates to a computer program product. The computer program product comprises a number of commands which, when the program (computer program product) is executed by a computer, cause the computer to carry out a method for operating an electromotive 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 left in a holding position if, during adjustment of the door in an adjustment direction by means of the collision protection sensor, an object is detected in the adjustment range. Depending on a current situation, a holding function of the door in the holding position is activated. The computer is expediently a component of a control unit or electronics of the electromotive door drive and is formed, for example, by means of this.The computer preferably comprises or is formed by a microprocessor. 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 method.

[0037] 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 stick or other storage device that is, for example, rewritable or only writable once. Such a storage device is, for example, a flash memory, a RAM, or a ROM.

[0038] The invention further relates to a control unit. The control unit is provided and configured to carry out a method for operating an electromotive 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 left in a holding position if, during adjustment of the door in an adjustment direction by means of the collision protection sensor, an object is detected in the adjustment range. Depending on a current situation, a holding function of the door in the holding position is activated. The control unit has, 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 comprises a computer program product stored in a memory, which, when executed by a computer, such as the microprocessor, causes the computer to perform the method. Preferably, the control unit, in the assembled state, is a component of the electromotive door drive and is suitable, in particular provided and configured, for this purpose. For example, the control unit is a door control unit. For example, any electromotive window lifter integrated into the door is also controlled by the control unit. The electromotive window lifter preferably comprises a further electric motor, by means of which the window pane is driven.

[0039] The further developments and advantages explained in connection with the method are also to be transferred analogously to the electric motor door drive / the motor vehicle / the computer program product / the storage medium / the control unit as well as to each other and vice versa.

[0040] An embodiment of the invention is explained in more detail below with reference to a drawing. In the drawings:

[0041] Fig. 1 shows a schematic side view of a motor vehicle with an electric motor door drive,

[0042] Fig. 2 shows a method for operating the electric motor door drive, and

[0043] Fig. 3-6 in a top view the motor vehicle in different current

[0044] situations while the procedure is being performed.

[0045] Corresponding parts are provided with the same reference numerals in all figures.

[0046] Figure 1 shows a simplified schematic representation of a motor vehicle 2 in the form of a passenger car (car). The motor vehicle 2 comprises a plurality of wheels 4, by means of which contact with a roadway is established. The wheels 4 are connected by means of a chassis to a body 6 of the motor vehicle 2, which has an opening 8 through which a user can access an interior of the motor vehicle 2, which is surrounded 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. The opening 8 is covered or exposed by pivoting the door 10 relative to the body 6.

[0047] The door 10 is a side door of the motor vehicle 2, and the door 10 has a rigid door body that is fastened to the bearing 12. The door body 14 forms part of the outer skin of the motor vehicle 2. The door body 14 also has a door module (not shown in detail). The door 10 is a component of an electric motor door drive 16, which includes an electric motor 18, which is fixed, for example, to the body side. Mechanically arranged between the electric motor 18 and the door 10 is, for example, a gear and a spindle. At a minimum, when the electric motor 18 is operating, the door 10 is pivoted relative to the body 6. In summary, the door 10 is driven by the electric motor 18.

[0048] The electromotive door drive 16 also has a collision protection sensor 20, which in the example shown is attached to the door 10, namely the door body 14. In a variant not shown in detail, the collision protection sensor 20 is rigidly mounted on the body 6. The collision protection sensor 20 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 20 also includes an evaluation unit (not shown in detail), by means of which the measurement data generated by the (individual) sensors is evaluated. The collision protection sensor 20 has a monitoring area 22. If an object 24 is located in the monitoring area 22, it is detected by the collision protection sensor 20. If, however, the object 24 is outside the monitoring area 22, detection by the collision protection sensor 20 is not possible.

[0049] The electric motor-driven door drive 16 also has a control unit 26, which is, for example, held on the body side or fastened to the door body 14. The control unit 26 forms a door control unit, and by means of which the electric motor 18 of the electric motor-driven door drive 16 is controlled, for which purpose a current supply to the electric motor 18 is adjusted. In addition, the control unit 26 also operates the collision protection sensor 20. The control unit 26 has a computer 28 in the form of a programmable microprocessor and a storage medium in the form of a memory 30. A computer program product 32 is stored in the memory, which includes a plurality of instructions which, when the program is executed by the computer 28, cause it to execute a method 34, shown in Figure 2, for operating the electric motor-driven door drive 16.In other words, the electromotive door drive 16 is operated according to the method 34, and the control unit 26 is provided and configured to carry out the method 34.

[0050] In a first step 36, a request to adjust the door 10 is received via a bus system (not shown in detail), which is signal-linked to the control unit 26. This request, also referred to as an adjustment request, specifies an adjustment direction 38 (Figure 3), i.e., whether the door 10 should be opened or closed. The adjustment direction 38 also depends on the current position of the door 10.

[0051] In a subsequent second work step 40, the monitoring area 22 is monitored by means of the collision protection sensor 20 and it is checked whether the object 24 is located in an adjustment area 42 of the door 10, which is shown in Figure 3. In Figure 3, the motor vehicle 2 is shown from a bird's eye view. The adjustment area 42 corresponds to the spatial area through which the door 10 moves when pivoting the door 10 along an adjustment path 44, which is predetermined by the bearing 12, in the adjustment direction 38 in accordance with the adjustment request, unless this is prevented. Due to the arrangement of the collision protection sensor 20, the transition area 22 and the adjustment area 42 only partially overlap. In a subsequent third work step 46, the electric motor 18 is energized and the door 10 is thus moved along the adjustment path 44 in the adjustment direction 38 through the adjustment area 42.If no object 24 is located in the monitoring area 22 and no object 24 is detected during the adjustment of the door 10, the door 10 is moved to the end of the adjustment path 44. As soon as the door 10 has reached the end of the adjustment path 44, the electric motor 18 is stopped and the process is terminated in a fourth work step 48.

[0052] If, however, the object 24 is detected in the second work step 40, a current situation 50 is first determined. A position 51 of the object 24 is also determined. In Figure 3, the object 24 is shown in dashed lines. This is the interior wall of a garage, next to which the motor vehicle 2 is parked, with the door 10 being located comparatively close to the interior wall of the garage.

[0053] To determine the current situation 50, a classification of the detected object 24 is performed. During the classification, it is checked whether the object 24 is animate or inanimate, and whether the object 24 has a hard or diffuse boundary surface. In the example shown in Figure 3, the object 24 is a wall, so the object 24 is classified as inanimate and has a clear boundary surface. Furthermore, the object 24 is already located in the monitoring area 22 of the collision protection sensor 20 before the door 10 is moved.

[0054] Based on the classification of the object 24, a holding position 52 is determined which corresponds to a position of the door 10 at which it has a predetermined distance 54 from the object 24. The predetermined distance 54, and thus the holding position 52, is selected depending on the classification of the object 24. In the example, the predetermined distance 24 is selected to be 1 cm. If the object 24 is classified as an animate object and / or with a diffuse surface, however, a larger predetermined distance 24 is used, such as 10 cm. After determining the holding position 52, the third work step 46 is also carried out, wherein the electric motor 18 is only operated until the door 10 is in the holding position 52. Since the object 24 has been classified as inanimate, a constant, predetermined value is used as the adjustment speed of the door 10.A fifth work step 56 is then performed, in which the electric motor 18 is first stopped. A check is also performed to determine whether the object 24 is still within the monitoring area 22. Since the object 24 is inanimate, its position 51 has not changed, and in the example shown, it is still within the monitoring area 22.

[0055] Subsequently, a sixth work step 58 is therefore carried out. In this step, a holding function 60 of the door 10 is activated depending on the current situation 50. The holding function 60 is activated if the object 24 is classified as inanimate and / or if it has a comparatively hard surface. The holding function 60 is activated by appropriately energizing the electric motor 18, by means of which the door 10 is held in the holding position 52. Thus, even if a force is applied to the door 10, it cannot pivot. If the user therefore supports themselves against the door 10 when entering or exiting the motor vehicle 2, the door 10 will not be adjusted, so that despite the small predetermined distance 54, the door 10 will not hit the object 24, i.e., the interior wall. This prevents damage to the door 10.

[0056] The holding function 60, however, is not activated if the object 24 is occupied or has a diffuse surface. Thus, it is possible to move the door 10 by applying a force, for example, if the user pushes the door 10 further along the adjustment path 44. Therefore, it is possible to move the door 10 against the object 24 and, for example, to move it out of the adjustment range 42 in this way. After activating the holding function 60 depending on the current situation 50, the method 34 is also terminated here in the fourth work step 48. If, upon reaching the holding position 52, the object 24 can no longer be detected, even though the position 51 of the object 24 determined in the second work step 40 still lies within the monitoring area 22, the door 10 is moved further until it reaches the end of the adjustment path 44.Following this, the electric motor 18 is stopped and the method 34 in the fourth section 48 is terminated.

[0057] In summary, in the method 34, depending on the current situation 50, a holding function 60 of the door 10 in the holding position 52 is activated if, during the adjustment of the door 10, i.e. after the adjustment request has been detected, the object 24 is detected in the adjustment direction 38 by means of the collision protection sensor 20 in the adjustment range 42.

[0058] If the object 24 is classified as animate and its position 51 changes, a direction of movement of the object 24 is also determined in the second step 40. The subsequent adjustment speed of the door 10 is selected depending on the direction of movement of the object 24.

[0059] If the object 24 moves away from the door 10 or at least out of the adjustment range 42, the adjustment speed of the door 10 is reduced if necessary. For this purpose, a forecast is first made as to when the object 24 will no longer be within the adjustment range 42. Based on this forecast, the adjustment speed of the door 10 is selected such that the door 10 maintains at least the predetermined distance 54 during the adjustment.

[0060] If, however, the direction of movement of the object 24 is towards the door 10, a constant value is used for the adjustment speed, which is reduced compared to when the object 24 is not moving. The predetermined distance 54 is also selected to be larger. Thus, even in the event of a possible change in the movement of the object 24, the probability of a collision between the door 10 and the object 24 is reduced, and if a collision should nevertheless occur, at least the consequences are mitigated. In an alternative embodiment, the current situation 50 is determined alternatively or additionally based on a position 62 of the motor vehicle 2. In this case, an orientation 64 of the motor vehicle 2 is also used to determine the current situation 50. The position 62 and the orientation 64 are queried by an on-board computer via the bus system (not shown in detail).In the example shown in Figure 3, the interior of the garage is used as position 62, with the orientation 64 such that the door 10 is located on the side of the interior wall. Consequently, in this embodiment, the predetermined distance 54 is also selected to be 1 cm, and the holding function 60 is activated when the holding position 52 is reached.

[0061] With an opposite orientation 64 of the motor vehicle 2, as shown in Figure 4, the object 24 can also be detected, although it is known that it cannot be the interior wall. In the example shown, the object 24 is a cardboard box. This is also inanimate and has a hard surface. Thus, 1 cm is also used as the predetermined distance 54 here. However, in this embodiment, due to the current situation 50, the holding function 60 is not activated. Thus, after the user has reached the holding position 52 and the electric motor 18 is no longer operated, it is possible for the user to manually pivot the door 10 further and in this way move the object 24 out of the adjustment range 42 or at least increase the opening angle of the door 10 with respect to the body 6.

[0062] If, in the fifth work step 56, i.e., when the door 10 is in the holding position 52, the position 51 of the object 24 determined in the second work step 40 is outside the monitoring area 22, as shown in Figure 5 in a plan view of the motor vehicle 2, and if the object 24 is no longer detected, a seventh work step 66 is carried out. This is the case, for example, if the monitoring area 22 is comparatively small or only covers the area in front of the door 10 to a comparatively small extent. This also occurs if the object 24 is laterally offset with respect to the collision protection sensor 20 and a comparatively small predetermined distance 54 is selected. In the seventh work step 66, as shown in Figure 6, the door 10 is adjusted counter to the adjustment direction 38, until the position 51 is once again within the monitoring area 22.It can thus be determined again whether the object 24 is still located at position 51. If the object 24 is detected again, i.e. in particular if the object 24 is still located at the specific position 51, the fifth and sixth work steps 56, 58 are carried out again and the door 10 is moved to the holding position 52. There, the holding function 60 is activated depending on the current situation 50. The electric motor 18 is then stopped again and the method 48 is ended in the fourth work step 48. If, on the other hand, the object 24 is no longer detected, although position 51 lies in the monitoring area 22 due to the movement of the door 10, the door 10 is moved further in the adjustment direction 38 until it reaches the end of the adjustment path. The electric motor 18 is then stopped again and the method 48 is ended in the fourth work step 48.

[0063] The invention is not limited to the exemplary embodiment described above. Rather, other variants of the invention can also be derived therefrom by those skilled in the art without departing from the scope of the invention. In particular, all individual features described in connection with the exemplary embodiment can also be combined with one another in other ways without departing from the scope of the invention.

[0064] List of reference symbols

[0065] 2 motor vehicles

[0066] 4 wheel

[0067] 6 Body

[0068] 8 Opening

[0069] 10 Door

[0070] 12 camps

[0071] 14 door bodies

[0072] 16 electric door drive

[0073] 18 electric motor

[0074] 20 Collision protection sensor

[0075] 22 Surveillance area

[0076] 24 objects

[0077] 26 Control unit

[0078] 28 computers

[0079] 30 storage

[0080] 32 Computer program product

[0081] 34 procedures

[0082] 36 first step

[0083] 38 Adjustment direction

[0084] 40 second step

[0085] 42 adjustment range

[0086] 44 Adjustment range

[0087] 46 third step

[0088] 48 fourth step

[0089] 50 current situation

[0090] 51 Position of the object

[0091] 52 holding position

[0092] 54 predetermined distance

[0093] 56 fifth step

[0094] 58 sixth step

[0095] 60 Holding function position orientation seventh step

Claims

Claims 1. Method (34) for operating an electromotive door drive (16) of a motor vehicle (2) having a door (10) driven by an electric motor (18), in which method the door (10) is left in a holding position (52) if, during an adjustment of the door (10) in an adjustment direction (38), an object (24) is detected in an adjustment range (42) by means of a collision protection sensor (20), wherein a holding function (60) of the door (10) in the holding position (52) is activated depending on a current situation (50).

2. Method (34) according to claim 1, characterized in that the current situation (50) is determined based on a classification of the object (24).

3. Method (34) according to claim 1 or 2, characterized in that the current situation (50) is determined based on a position (62) of the motor vehicle (2).

4. Method (34) according to claim 3, characterized in that the current situation (50) is determined based on an orientation of the motor vehicle (2) 5. Method (34) according to one of claims 1 to 4, characterized in that the holding position (52) is selected such that the door (10) has a predetermined distance (54) from the object (24).

6. Method (34) according to claim 5, characterized in that when the object (24) is detected, its position (51) is determined, and that if the object (24) is outside a monitoring area (22) of the collision protection sensor (20) when the door (10) is in the holding position (52), the door (10) is adjusted counter to the adjustment direction (38) until the determined position (51) of the object (24) is again in the monitoring area (22).

7. Method (34) according to claim 6, characterized in that, when the object (24) is detected again, the door (10) is moved back into the holding position (54) and otherwise further in the adjustment direction (38).

8. Method (34) according to one of claims 5 to 7, characterized in that the predetermined distance (54) is selected as a function of a classification of the object (24).

9. Method (34) according to one of the preceding claims, characterized in that a direction of movement of the object (24) is determined, depending on which an adjustment speed and / or the predetermined distance (54) is selected.

10. Electromotive door drive (16) of a motor vehicle (2), which has a door (10) driven by the electric motor (18) and which is operated according to a method (34) according to one of claims 1 to 9.

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