method of controlling a motorized rear shutter assembly for a motor vehicle
The method addresses the issue of rear flap collisions by establishing a calibrated three-dimensional movement volume for the rear flap, enabling precise obstacle detection and avoidance, thus enhancing the reliability of motorized rear shutter assemblies.
Patent Information
- Application Number
- FR2022000669
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2022-01-26
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2042-01-26
AI Technical Summary
Existing motorized rear shutter assemblies for motor vehicles often fail to prevent collisions between the rear flap and obstacles, despite the presence of obstacle detection systems, due to inaccuracies in the reference volume defined for the rear flap's movement.
A method for controlling the opening or closing movement of a rear flap that involves establishing a calibrated three-dimensional movement volume, detecting obstacles within this volume, and interrupting the movement if an obstacle is detected, thereby ensuring safe operation regardless of the vehicle's attitude.
The method significantly reduces the likelihood of collisions by accurately determining the calibrated movement volume based on the vehicle's actual position and inclination, allowing for precise obstacle detection and avoidance.
Smart Images
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Abstract
Description
Title of the invention: method for controlling a motorized rear shutter assembly for a motor vehicle
[0001] The technical context of the present invention is that of rear flaps or rear trunks of motor vehicles. More particularly, the invention relates to a motorized rear flap assembly of a motor vehicle and a method for controlling such a rear flap assembly.
[0002] In the state of the art, motorized rear shutter assemblies are known which make it possible to protect said rear shutter against impacts when they are opened. The known assemblies are based in particular on protection systems which include an obstacle detection system of the ultrasonic or radar sensor type in order to detect a possible obstacle located near the motor vehicle, and more particularly near the rear shutter. These obstacle detection systems are generally integrated into the rear shutter and coupled with the motorization system of said rear shutter.
[0003] This is not the case and the risks of collision of the rear flap with an obstacle detected by the radar are possible if the attitude of the vehicle is not that which was used to define the reference volume for the opening of the rear flap.
[0004] These known motorized rear shutter assemblies do not exhibit optimal performance, and collisions frequently occur between the rear shutter and an obstacle, despite the proper functioning of the obstacle detection system.
[0005] The object of the present invention is to propose a new method for controlling an opening or closing movement of the rear flap of a motor vehicle in order to respond at least to a large extent to the preceding problems and to further lead to other advantages.
[0006] Another object of the invention is to make the motorized rear shutter assemblies more reliable in order to avoid collisions in all circumstances of use of the motor vehicle.
[0007] Another aim of the invention is to detect more precisely the environment close to the rear shutter during its opening movement.
[0008] According to a first aspect of the invention, at least one of the aforementioned objectives is achieved with a method for controlling an opening or closing movement of a movable rear flap closing a motor vehicle trunk, the control method comprising a step of establishing a calibrated movement volume of the rear flap, a step of generating an opening or closing movement of the flap rear and, during the step of generating the movement of the rear flap, at least one operational cycle comprising the following steps:
[0009] - a step of detecting an obstacle near the rear flap;
[0010] - if at least one obstacle is detected in the calibrated movement volume of the shutter rear, a step of interrupting the movement of the rear flap.
[0011] The calibrated travel volume of the rear flap consists of a three-dimensional volume which encompasses the different positions taken by the rear flap during its opening or closing movement. Thus, during each operational cycle, the control method according to the first aspect of the invention determines whether a possible obstacle is present in this predetermined three-dimensional volume in order to be able to anticipate the movement of said rear flap and better control its possible stopping in the event of an obstacle being detected in this reference volume.
[0012] Thus, the control method according to the first aspect of the invention differs from the known prior art in that a three-dimensional digital model of the complete movement of the rear flap is determined as a function of the angular position taken by said rear flap during its opening or closing movement. Consequently, monitoring of any obstacles present relative to this three-dimensional model makes it possible to more reliably avoid collisions with the rear flap.
[0013] Indeed, the invention according to its first aspect makes it possible to better consider the obstacles detected in relation to the movement and the opening volume of the rear shutter. Thus, the control method makes it possible to offer more precise detection of the obstacles potentially included in the opening volume of the rear shutter.
[0014] The method according to the first aspect of the invention advantageously comprises at least one of the improvements below, the technical characteristics forming these improvements being able to be taken alone or in combination:
[0015] - the operational cycle comprises (i) a step of determining a distance between the detected obstacle and the calibrated volume of movement, called the safety distance, (ii) a comparison step between the safety distance and a reference value, called the threshold distance, the interruption step being carried out if the safety distance is less than or equal to the threshold distance. This configuration makes it possible to avoid any unwanted contact between the rear flap and a detected obstacle, by maintaining a safety margin between the position of the rear flap determined when interrupting the movement of the rear flap;
[0016] - the threshold distance is advantageously between 5 cm and 15 cm. Preferably, it is equal to 10 cm;
[0017] - the obstacle detection step comprises a spatial scanning step using of a RADAR or ultrasonic type obstacle detection device. In a way generally, the obstacle detection device is configured to detect the possible presence of an obstacle via a measurement of a time of flight of a wave emitted by the obstacle detection device and reflected by a possible obstacle;
[0018] - the step of establishing the calibrated travel volume comprises a step of defining at least one angular orientation and / or at least one position of the calibrated travel volume relative to the trunk. In this advantageous configuration, the step of establishing the calibrated travel volume consists of determining where the calibrated travel volume is located relative to the motor vehicle, and / or according to which orientation, in three dimensions of space and according to three axes of rotation. In other words, the step of establishing the travel volume consists here of placing and orienting in space a single and predetermined three-dimensional digital model of all the positions and angular orientations taken by the movable rear flap during its opening or closing movement, relative to the motor vehicle. Preferably, this single three-dimensional model forming the calibrated travel volume is stored in a memory area of a control unit of the motorized rear flap assembly;
[0019] - the at least one angular orientation and / or the at least one position of the volume of calibrated travel are defined from a position and / or an inclination of the motor vehicle, determined during a calibration step of the calibrated travel volume. This configuration thus makes it possible to better determine the calibrated travel volume according to the actual configuration of the motor vehicle. This computational precision thus makes it possible to provide more precision in the placement of the three-dimensional digital model in space, and to allow better detection of interactions, including collisions, between the rear flap and obstacles detected near the motor vehicle.
[0020] According to a second aspect of the invention, there is provided a motorized rear flap assembly for a motor vehicle, the assembly comprising (i) a movable rear flap configured to close a trunk of the motor vehicle, (ii) at least one actuator configured to control a rotary movement of the rear flap so as to selectively open or close said rear flap relative to the trunk, (iii) a control unit configured to control the at least one actuator, so as to selectively control an opening or a closing of the rear flap. According to the invention, the assembly also comprises an obstacle detection device secured to the rear flap, the control unit being configured to implement the control method according to the first aspect of the invention or according to any of its improvements.
[0021] Advantageously, the rear flap assembly comprises a plurality of vehicle attitude sensors. This configuration thus makes it possible to take into account an inclination of the vehicle for establishing the volume. calibrated movement of the rear flap, and thus improve the consideration of obstacles detected near the rear flap during its opening or closing movement.
[0022] Advantageously, the obstacle detection device is securely fixed at a median zone located midway between a lower edge and an upper edge of the rear flap. This advantageous position makes it possible to optimize the detection of obstacles around and near the rear flap.
[0023] According to a third aspect of the invention, there is provided a motor vehicle comprising a rear flap assembly in accordance with the second aspect of the invention.
[0024] Various embodiments of the invention are provided, integrating according to all of their possible combinations the different optional characteristics set out here.
[0025] Other characteristics and advantages of the invention will become apparent from the following description on the one hand, and from several exemplary embodiments given for informational and non-limiting purposes with reference to the attached schematic drawings on the other hand, in which:
[0026] [Fig. 1] illustrates a synoptic view of the control method according to the first aspect of the invention;
[0027] [Fig.2] illustrates a first situation of interest of the invention;
[0028] [Fig.3] illustrates a second situation of interest of the invention.
[0029] Of course, the features, variants and different embodiments of the invention may be combined with each other, in various combinations, provided that they are not incompatible or mutually exclusive. In particular, variants of the invention may be imagined comprising only a selection of features described below in isolation from the other features described, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art.
[0030] In particular, all the variants and all the embodiments described can be combined with each other if nothing prevents this combination from a technical point of view.
[0031] In the figures, the elements common to several figures retain the same reference.
[0032] With reference to [Fig.l], the invention relates to a method 1 for controlling an opening or closing movement of a movable rear flap closing a motor vehicle trunk 2, the control method 1 comprising a step 11 of establishing a calibrated movement volume DC of the rear flap, a step 12 of generating an opening or closing movement of the rear flap and, during the generation step 12 of the movement of the rear flap, at least one operational cycle 13 comprising the following steps:
[0033] - a step 131 of detecting an obstacle near the rear flap;
[0034] - if at least one obstacle is detected in the calibrated DC travel volume of the rear flap, a step of interruption 134 of the movement of the rear flap.
[0035] In the context of the invention, the control method 1 is implemented by a motorized rear shutter assembly 5 for a motor vehicle 2, the assembly comprising:
[0036] - a movable rear flap configured to close a trunk of the motor vehicle 2,
[0037] - at least one actuator configured to control a rotary movement of the shutter rear so as to selectively open or close said rear flap relative to the trunk,
[0038] - a control unit configured to control at least one actuator, so as to selectively control an opening or closing of the rear flap;
[0039] - an obstacle detection device secured to the rear flap, the control unit being configured to implement the control method 1 as described previously.
[0040] In FIGURES 2 and 3, the rear flap of the motor vehicle 2 is rotatable to allow access to the trunk of the motor vehicle 2. In particular, the movement of the rear flap is controlled by the at least one actuator, for example of the jack type. Generally speaking, the rear flap follows a movement generated by the at least one actuator and controlled by the control unit.
[0041] In order to avoid any collision X with an obstacle located near the motor vehicle 2, a reference volume of the trajectory of the rear flap is recorded in the control unit. In the case of motor vehicles equipped with known motorized rear flap assemblies, the reference volume of the trajectory of the flap corresponds to a standard travel volume D which corresponds to all the theoretical positions taken by the rear flap during its movement and for a standard position 112 of the motor vehicle 2, generally horizontal and empty.
[0042] However, in reality, the motor vehicle 2 may be loaded or inclined. Also, in the context of the invention, the control method 1 determines a calibrated deflection volume DC of the rear flap, corresponding to all the positions taken by the rear flap during its movement and for the actual position 112 of the motor vehicle 2. Thus, advantageously, in the control method 1 according to the invention, the step 11 of establishing the calibrated deflection volume DC comprises a step of defining at least one angular orientation 111 and / or at least one position 112 of the calibrated DC travel volume relative to the trunk.
[0043] In particular, in a completely advantageous manner, the at least one angular orientation 111 determined during the definition step and / or the at least one position 112 of the calibrated travel volume DC are defined from a position 112 and / or an inclination of the motor vehicle 2, determined during a step of calibrating the calibrated travel volume DC.
[0044] For this purpose, the rear flap assembly 5 comprises a plurality of attitude sensors of the motor vehicle 2. These sensors thus make it possible to evaluate the height of a rocker panel of the motor vehicle 2 relative to the road, then making it possible to determine a longitudinal inclination of said motor vehicle 2.
[0045] In FIGURES 2 and 3, two situations of interest are illustrated in order to highlight the invention.
[0046] In [Fig.2], the motor vehicle 2 is parked near a low wall 3. If the rear flap assembly 5 is not implemented according to the control method 1 in accordance with the first aspect of the invention, then the control unit evaluates a standard travel volume D which is erroneous given the inclination situation of the vehicle. Indeed, the standard travel volume D being determined for a standard configuration of the motor vehicle 2, horizontal and without load, it corresponds to a set of positions taken by the rear flap which is located too high compared to reality.
[0047] Indeed, in the real case illustrated in [Fig.2], the motor vehicle 2 is inclined towards the rear, so that the trunk is located, relative to a vertical axis, closer to the road and to the wall 3 than the front of the motor vehicle 2. Therefore, the standard clearance volume D does not cover the wall 3: it is estimated too high by the numerical model calculated under standard conditions.
[0048] This situation leads to a collision X between the rear shutter and the wall 3 when opening or closing the rear shutter, since the obstacle detector detects an obstacle which is assumed to be outside the opening or closing volume of the rear shutter: it is therefore not taken into account for interrupting the travel of the rear shutter.
[0049] Conversely, according to the invention, the calibrated clearance volume DC is defined as a function of the position 112 and the actual inclination of the motor vehicle 2. In other words, the calibrated clearance volume DC takes into account the inclination of the motor vehicle 2 in order to define its position 112 and / or its angular orientation 111. Consequently, the calibrated clearance volume DC is located lower than the standard clearance volume D visible in [Fig.2]; and it thus encompasses the portion of the wall 3 which caused the collision X in the previous case.
[0050] Consequently, in this case, the collision X is avoided and the movement of the rear flap will be interrupted by the control unit when said rear flap reaches the threshold distance relative to the wall 3.
[0051] In a comparable manner, in [Fig. 3], the motor vehicle 2 is parked near a ceiling 4. If the rear flap assembly 5 is not implemented according to the control method 1 in accordance with the first aspect of the invention, then the control unit evaluates a standard travel volume D which is erroneous given the inclination situation of the vehicle. Indeed, the standard travel volume D being determined for a standard configuration of the motor vehicle 2, horizontally and without load, it corresponds to a set of positions taken by the rear flap which is located too low compared to reality.
[0052] Indeed, in the real case illustrated in [Fig.3], the motor vehicle 2 is inclined forwards, so that the trunk is located, relative to a vertical axis, further from the road and the wall 3 than the front of the motor vehicle 2. Therefore, the standard clearance volume D does not cover the ceiling 4: it is estimated too low by the numerical model calculated under standard conditions.
[0053] This situation leads to a collision X between the rear flap and the ceiling 4 when opening or closing the rear flap, since the obstacle detector detects an obstacle - the ceiling 4 - which is assumed to be outside the opening or closing volume of the rear flap: it is therefore not taken into account for interrupting the travel of the rear flap.
[0054] Conversely, according to the invention, the calibrated clearance volume DC is defined as a function of the position 112 and the actual inclination of the motor vehicle 2. In other words, the calibrated clearance volume DC takes into account the inclination of the motor vehicle 2 in order to define its position 112 and / or its angular orientation 111. Consequently, the calibrated clearance volume DC is located higher than the standard clearance volume D visible in [Fig. 3]; and it thus encompasses the portion of the ceiling 4 which caused the collision X in the previous case.
[0055] Consequently, in this case, the collision X is avoided and the movement of the rear flap will be interrupted by the control unit when said rear flap reaches the threshold distance relative to the ceiling 4.
[0056] In summary, the invention relates to a method 1 for controlling a motorized rear flap assembly 5, the control method 1 comprising a prior step of determining a digital model corresponding to all the positions taken by the rear flap when it opens or closes, called a calibrated movement model. The calibrated movement model is established as a function of the inclination and / or the position 112 of the motor vehicle 2, and thus makes it possible to better take taking into account the presence of obstacles located near the motor vehicle 2 in order to avoid collisions.
[0057] Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In particular, the different characteristics, forms, variants and embodiments of the invention can be associated with each other in various combinations insofar as they are not incompatible or mutually exclusive. In particular, all the variants and embodiments described above can be combined with each other.
Claims
Claims
1. Method for controlling (1) an opening or closing movement of a movable rear flap closing a motor vehicle trunk (2), the control method (1) comprising a step of establishing (11) a calibrated travel volume (DC) of the rear flap, a step of generating (12) an opening or closing movement of the rear flap and, during the step of generating (12) the movement of the rear flap, at least one operational cycle (13) comprising the following steps: - a step of detecting (131) an obstacle near the rear flap;- if at least one obstacle is detected in the calibrated travel volume (DC) of the rear flap, a step of interrupting (134) the movement of the rear flap, characterized in that the step of establishing (11) the calibrated travel volume (DC) comprises a step of defining at least one angular orientation (111) and / or at least one position (112) of the calibrated travel volume (DC) relative to the trunk;
2. Control method (1) according to the preceding claim, in which the operational cycle (13) comprises: - a step of determining a distance (132) between the detected obstacle and the calibrated travel volume (DC), called the safety distance; - a step of comparing (133) the safety distance with a reference value, called the threshold distance - the interruption step (134) being carried out if the safety distance is less than or equal to the threshold distance.
3. Control method (1) according to the preceding claim, in which the threshold distance is between 5 cm and 15 cm, preferably equal to 10 cm.
4. Control method (1) according to any one of the preceding claims, in which the obstacle detection step (131) comprises a spatial scanning step using a RADAR type obstacle detection device.
5. Control method (1) according to one of the preceding claims, in which the at least one angular orientation (111) and / or the at least one position (112) of the calibrated travel volume (DC) are defined from a position (112) and / or an inclination of the motor vehicle (2), determined during a calibration step of the calibrated travel volume (DC).
6. Motorized rear shutter assembly (5) for a motor vehicle (2), the assembly comprising: - a movable rear shutter configured to close a trunk of the motor vehicle (2); - at least one actuator configured to control a rotary movement of the rear shutter so as to selectively open or close said rear shutter relative to the trunk; - a control unit configured to control the at least one actuator, so as to selectively control an opening or a closing of the rear shutter; - an obstacle detection device secured to the rear shutter; characterized in that the control unit is configured to implement the control method (1) according to any one of the preceding claims.
7. Rear flap assembly (5) according to the preceding claim, in which the rear flap assembly (5) comprises a plurality of attitude sensors of the motor vehicle (2).
8. Motor vehicle (2) comprising a rear flap assembly (5) according to any one of claims 6 or 7.