Actuator control management system.

Abstract

The control system includes an actuator (110), which is kinematically connected to an element movably mounted on a part of the vehicle. The actuator (110) is arranged to cause movement of the element relative to the vehicle part upon receiving a first signal. The system also includes a control device (123) designed to determine the state of the element relative to the vehicle part, at least after the actuator (110) has received the first signal. The system further includes a current sensor (121) designed to measure the current consumption of the actuator (110) and to output a second signal representing the measured current consumption. (Abstract: Figure 1)

Description

Title of the invention: Actuator control management system.

[0001] The invention relates to the field of actuator control management, and more particularly to an actuator control management system making it possible to determine the state of a vehicle element, such as a door handle, mounted in a movable manner on the body of a vehicle.

[0002] Traditionally, a vehicle door is equipped with a handle that can be grasped by a user in order to open the vehicle door and provide access. The handle can be integrated into the vehicle door in a variety of ways.

[0003] Recently, handles integrated into vehicle doors in a flush manner are very popular for their style and aerodynamic performance. A flush handle has a retracted position, also called a flush position, in which the handle is recessed into the vehicle door and cannot be grasped by a user. When the handle is in the flush position, the vehicle door cannot be opened. A flush handle further has an ejected position, in which the handle protrudes from the vehicle door and can be grasped by the user. When the handle is in the ejected position, the vehicle door can be opened.

[0004] In general, the flush position is referred to as the "closed position" of the handle, and the ejected position is referred to as the "fully open position" of the handle. Furthermore, the movement of the handle relative to the vehicle door from the closed position to the fully open position is referred to as the "opening movement," and the movement of the handle relative to the vehicle door from the fully open position to the closed position is referred to as the "closing movement."

[0005] Typically, an actuation control management system makes it possible to determine the state of the handle relative to the vehicle door.

[0006] A conventional actuation control management system comprises a motorized actuator, kinematically connected to the handle. The motorized actuator is designed to move the handle relative to the vehicle door depending on the opening or closing movement.

[0007] The conventional actuation control management system further comprises a controller, communicatively connected to the motorized actuator. The controller is configured to receive as input a command, for example to open or close the handle, and to power the motorized actuator accordingly.

[0008] The conventional actuation control management system comprises further two microswitches, communicatively connected to the controller. The microswitches are positioned relative to the handle such that one microswitch is activated when the handle is in the closed position, and deactivated otherwise, and the other microswitch is activated when the handle is in the fully open position, and deactivated otherwise. Each microswitch is configured to output a signal indicating whether it is activated or not. The controller is configured to receive as input the corresponding signals. The controller is further configured to interpret the corresponding signals to determine and output the state of the handle relative to the vehicle door.

[0009] The invention aims to simplify and make more reliable a system for determining the state of a vehicle element, such as a door handle, mounted in a movably manner on the body of a vehicle.

[0010] For this purpose, the invention provides a control system comprising: - an actuator, which is kinematically connected to an element movably mounted on a part of the vehicle, the actuator being arranged to cause movement of the element relative to the part of the vehicle, while receiving a first signal, and - a control device, designed to determine a state of the element relative to the part of the vehicle, at least after receipt of the first signal by the actuator, characterized in that the system further comprises a current sensor, designed to measure a current consumption of the actuator and to emit a second signal, representative of a measured current consumption, while the control device is designed to calculate, from the second signal, a set of operating data representative of a temporal evolution of the measured current consumption and to determine the state of the element on the basis of a comparison of at least a part of the set of operating data with at least one reference value.

[0011] The system according to the invention makes it possible to determine the state of the element in relation to the part of the vehicle without additional mechanical parts, such as microswitches. Therefore, the robustness of the system is increased compared to conventional actuation control management systems.

[0012] This system is particularly advantageous because it allows for improved compactness and lightness compared to conventional actuation control management systems.

[0013] A system according to the invention may further comprise one or more of the following features.

[0014] In a preferred embodiment of the invention, the reference value corresponds to a threshold value, and the control device is arranged to determine the state of the element based on counting a number of times at least a portion of the set of operating data becomes greater than the threshold value.

[0015] In a preferred embodiment of the invention, the control device is arranged to determine that the state of the element is final, which corresponds to the successful execution of the movement, when said number is equal to two.

[0016] In a preferred embodiment of the invention, the control device is arranged to determine that the state of the element is unknown, which corresponds to an incomplete execution of the movement, when said number is strictly less than two.

[0017] In a preferred embodiment of the invention, the control device is arranged to determine that the state of the element results from a failure during movement, when said number is strictly greater than two.

[0018] In a preferred embodiment of the invention, the control device is further arranged to control the actuator depending on the state of the element.

[0019] In a preferred embodiment of the invention, the set of operating data corresponds to a set of data representative of the measured current consumption of the actuator.

[0020] In a preferred embodiment of the invention, the element has at least one abutment position against a part of the vehicle portion, which may correspond to the state of the element determined as final.

[0021] In a preferred embodiment of the invention, the element comprises a handle movably mounted on a vehicle door.

[0022] The invention also relates to a method for determining the state of a mobile element relative to a part of the vehicle by means of an actuator kinematically connected to this element, the method comprising the following steps: - receiving a signal representative of a measured current consumption of the actuator, - calculate, from the signal, a set of operating data representative of a temporal evolution of the measured current consumption, and - determine the condition of the element on the basis of a comparison of at least part of the set of operating data with at least one reference value.

[0023] The invention also relates to a method for controlling an actuator kinematically connected to an element mounted movably on a part of the vehicle, the method comprising the following steps: - receive a signal representative of a measured current consumption of the actuator, - calculate, from the signal, a set of operating data representative of a temporal evolution of the measured current consumption, and - determine the condition of the element in relation to the part of the vehicle by comparing at least part of the set of operating data with at least one reference value.

[0024] Other characteristics and advantages of the invention will appear better on reading the following description, taken from illustrative and non-limiting examples, and from the drawings in which:

[0025] [Fig.l] represents a diagram of a system according to the invention,

[0026] [Fig.2] represents a flowchart of a function implementing a law of control for the system according to the invention,

[0027] [Fig.3] represents a graph illustrating an example of implementation of the function of [Fig.2],

[0028] [Fig.4] is similar to [Fig.3].

[0029] The following drawings and description essentially contain elements of a certain character. Consequently, they may not only serve to better understand the present invention, but also contribute to its definition, where appropriate.

[0030] [Fig.l] shows an actuation control management system 100 for determining the state of an element, here a door handle, relative to a part of the vehicle, here a vehicle door.

[0031] The system 100 is configured to allow a user to input a command to open, respectively close, the handle and to react to such an input by moving the handle in an opening, respectively closing motion, until a stopping condition is met. For example, the stopping condition may depend on the expiration of a time limit, the detection of a predetermined position of the handle relative to the vehicle door or the detection of a particular state of the handle relative to the vehicle door.

[0032] The handle may have a closed position, which corresponds to a first position relative to the vehicle door, in which opening of the vehicle door is prevented. The closed position may correspond to a position in which the handle is recessed into the vehicle door and cannot be grasped by a user, for example a retracted or flush position.

[0033] The handle may also have at least one fully open position, which corresponds to a second position relative to the vehicle door, in which opening of the vehicle door is possible. The fully open position may correspond to a position in which the handle protrudes at least by the vehicle door and can be entered by the user, for example an eject position.

[0034] The opening movement of the handle corresponds to a movement of the handle relative to the vehicle door, from the closed position to the fully open position. The opening movement of the handle may be a pure translation, a pure rotation or any other more complex movement, for example combining translation and rotation movements. The opening movement of the handle is for example a clockwise rotation movement.

[0035] The closing movement of the handle corresponds to a movement of the handle relative to the vehicle door, from the fully open position to the closed position. The closing movement of the handle may be a pure translation, a pure rotation, or any other more complex movement, for example combining translation and rotation movements. The closing movement of the handle and the opening movement of the handle may be performed along the same trajectory, in opposite directions. In this case, the opening movement of the handle and the closing movement of the handle are alternating movements. The closing movement of the handle is for example a counterclockwise rotation.

[0036] The system 100 includes a vehicle control module, or VCM 130. The VCM 130 is configured to receive as input a command to open or close the handle, either directly from a user or from an electronic control unit of the vehicle. Typically, the VCM 130 may allow the user to input an open or close command, for example by including a user interface, such as a touchscreen display accessible from inside the vehicle. The VCM 130 is further configured to respond to input of an open or close command by issuing an open or close command.

[0037] The system 100 further comprises an actuator 110, composed of a motor 111 and an actuating lever 112, kinematically connected to the motor 111, either directly or via a gearbox (not shown).

[0038] The motor 111 is designed to receive as input a voltage signal from the motor, representative of a voltage level to which the motor 111 is subjected. The voltage level of the motor may be positive or negative. When the voltage level of the motor is positive, the motor 111 is designed to rotate in a first direction, an opening direction for example. The opening direction is for example the clockwise direction. When the voltage level of the motor is negative, the motor 111 is designed to rotate in a second direction, opposite to the first direction, a closing direction for example. The closing direction is for example the counterclockwise direction. clockwise.

[0039] The operation of the motor 111 is characterized in particular by values ​​of driving force and rotational speed. The driving force and the rotational speed of the motor 111 depend on the absolute value of the voltage level of the motor.

[0040] The lever 112 is driven by the motor 111 when the latter is powered. The lever 112 is driven according to a first movement, called for example the opening movement of the lever, when the motor 111 rotates in the opening direction. The opening movement of the lever is for example a rotational movement in the clockwise direction. The lever 112 is driven according to a second movement, called the closing movement of the lever, when the motor 111 rotates in the closing direction. The closing movement of the lever is for example a rotational movement in the counterclockwise direction.

[0041] The lever 112 is kinematically connected to the handle of the vehicle, either directly or via a kinematic chain (not shown). When the lever 112 moves according to the opening movement of the lever, the lever 112 causes the handle to move according to the opening movement of the handle. When the lever 112 moves according to the closing movement of the lever, the lever 112 causes the handle to move according to the closing movement of the handle.

[0042] The system 100 also includes a controller 120 for the actuator 110. The controller 120 is configured to control the actuator 110 using a voltage signal.

[0043] The controller 120 comprises at least one control device 123, here a microcontroller 123. The microcontroller 123 is communicatively connected to the VCM module 130, typically by means of a CAN / LIN bus and a CAN / LIN transceiver (not shown). The microcontroller 123 is capable of receiving commands as input from the VCM module 130, in particular opening and closing commands.

[0044] The microcontroller 123 is also operatively connected to the actuator 110. The controller 120 is configured to control the actuator 110 according to one or more control laws. In particular, the microcontroller 123 is configured to emit a signal representative of a voltage level. This output signal of the microcontroller corresponds for example to the input voltage signal of the motor. The output voltage level of the microcontroller 123 corresponds for example to the voltage level of the motor 111.

[0045] The controller 120 further comprises a current sensor 121, arranged to measure an actual current consumption of the motor 111 and to output a signal representative of the actual measured current consumption of the motor 111. The microcontroller 123 is communicatively connected to the current sensor 121. By For example, the microcontroller 123 receives as input the actual current consumption signal emitted by the current sensor 121.

[0046] The microcontroller 123 is configured to execute a function that implements a control law. The function receives as input the actual current consumption signal and processes the actual current consumption data from this signal. The function further calculates a set of operating data representative of a change in the actual current consumption data as a function of time. The function further determines and outputs, based on a comparison of the set of operating data with a reference value, a state of the handle relative to the vehicle door. For example, the function outputs a variable representative of the state of the handle relative to the vehicle door.

[0047] The system 100 also includes a power source, for example a battery, which is electrically connected to the VCM module 130. For example, the battery delivers a battery voltage VBAT to the VCM module 130. The battery is also electrically connected to the microcontroller 123, either directly or via a voltage regulator (not shown), to provide electricity to the microcontroller 123. The motor 111 is electrically connected to the microcontroller 123.

[0048] [Fig.2] illustrates an example of a function implementing a control law for the system according to the invention.

[0049] The function begins at step 201 with an initialization. For example, the execution of the function may follow the reception of a command at the input of the microcontroller.

[0050] For example, the execution of the function follows the reception, on an input of the microcontroller, of a command to open the handle coming from the VCM module 130.

[0051] Then, during a step 203, the function obtains and stores a parametric data which represents a time value, corresponding to a desirable moment to execute the command. This time value is called target time value. The target time value can be read from a memory of the microcontroller.

[0052] For example, the target time value corresponds to a desirable time for the handle to perform the opening movement, i.e., for it to move from the closed position to the fully open position. Typically, the corresponding time value is approximately 1 second, for example 800 milliseconds.

[0053] During step 203, the function obtains and stores a parameter data that represents a voltage value corresponding to a voltage value that, when applied to a motor, is expected to cause the command to be executed within the allotted time. This value is called the target voltage value.

[0054] For example, the target voltage value corresponds to a voltage value which, when applied to the motor 111, is expected to cause the handle to perform the opening movement within the allotted time. Typically, the corresponding target voltage value corresponds to an operational voltage range, for example from 9V to 16V.

[0055] During step 203, the function further obtains and stores at least one parameter data item which represents a reference value to be compared to the operating data, in order to determine the state of the handle relative to the vehicle door. This reference value is for example a threshold value.

[0056] For example, the threshold value corresponds to a value to be compared to the operating data in order to determine the state of the handle relative to the vehicle door at the end of the opening movement.

[0057] During a step 205, the function initializes a time counter. In addition, the function initializes another counter, called a data counter.

[0058] Then, the function proceeds to a step 207, during which the function commands the microcontroller to emit a signal representative of the value of the target voltage. The motor 111 is subjected to the target voltage.

[0059] The motor 111 starts to rotate in the opening direction and drives the lever 112 according to the opening movement of the lever. The handle is driven according to the opening movement of the handle.

[0060] The function corresponds to a time period predefined in step 209. For example, the time period is approximately 5 milliseconds.

[0061] During a step 211, the function obtains data on the actual current consumption.

[0062] For example, the function obtains actual current consumption data. For example, this data is provided by processing the actual current consumption signal emitted by the current sensor 121.

[0063] During a step 213, the function calculates the operating data from the actual current consumption data.

[0064] For example, the function calculates an operating data from an actual current consumption data. In this case, the operating data corresponds to the actual current consumption data.

[0065] According to a variant, the function calculates an operating data from a plurality of actual current consumption data. For example, the operating data may correspond to an average of the plurality of actual current consumption data.

[0066] Alternatively, the function proceeds to step 213 of calculating the operating data after having executed steps 209 and 211 several times.

[0067] During a step 215, the function compares the operating data to the reference value.

[0068] In this case, the function checks whether the operating data has crossed the threshold value. Here, the function performs a comparison based on two data from the operating data. The first data corresponds to an operating data item. The second data item corresponds to an operating data item calculated during the previous implementation of step 213, if applicable, or to zero otherwise.

[0069] For example, the function tests whether two criteria are both met: - First criterion: the first data is greater than or equal to the threshold value, - Second criterion: the second data is lower than the threshold value.

[0070] If both criteria are not met, the function starts again at step 209.

[0071] Otherwise, the function goes to step 217, during which it increases the value of the data counter by a predefined increment. Here, the function increases the value of the data counter by 1.

[0072] Alternatively, to improve reliability, the function performs a comparison based on a larger number of elements of the operating data. For example, the function may proceed to step 217 only if the first criterion is met for other elements of the operating data, in addition to the first data element.

[0073] Then, during a step 219, the function checks whether the value of the time counter is less than the target time value.

[0074] If so, the function resumes at step 209.

[0075] Otherwise, the function proceeds to step 221 and commands the microcontroller 123 to stop powering the motor 111.

[0076] Then, during a step 223 and a step 225, the function compares the value of the data counter to predefined reference numbers. Depending on the result of the comparison, during a step 227, the function determines a value for a variable, called the handle state variable, which represents the state of the handle relative to the vehicle door.

[0077] Here, at step 223, the function tests whether the value of the data counter is strictly less than 2.

[0078] If this is the case, the state variable of the handle is set as unknown during step 227. The corresponding state of the handle relative to the vehicle door is unknown. In this case, the opening movement of the handle is considered to be incompletely executed.

[0079] In the case where the value of the data counter is strictly greater than 0, the function goes to step 225 and checks whether the value of the data counter is equal to 2.

[0080] If so, the handle state variable is set to final during step 227. The corresponding state of the handle relative to the vehicle door is final. The opening movement of the handle is considered to have been successfully executed. The handle is considered to have been ejected as far as possible. The handle may be in the fully open position, but not necessarily.

[0081] Otherwise, the handle state variable is set to faulty during step 227. The corresponding state of the handle relative to the vehicle door is considered to result from a failure of the system 100. Here, a failure is considered to have occurred during the opening movement of the handle.

[0082] The function ends with a step 229.

[0083] Alternatively, step 213 of calculating the operating data, step 215 of Comparison of the operating data with the reference value or step 217 of updating the data counter may be performed after step 221 of stopping the power supply to the motor, and before steps 223, 225 and 227 of determining the state of the handle relative to the vehicle door.

[0084] [Fig. 3] shows an example of a graph relating to the execution of the function illustrated in [Fig. 2]. The graph represents an example of the evolution of the operating data calculated during step 213, as a function of time. Here, the control law is linked to the opening of the handle. Here, the displayed operating data correspond to the actual current consumption data.

[0085] At the start of the execution of the opening command, the time counter is set to zero. The actual current consumption of the motor 111 is equal to zero. The value of the data counter is set to zero.

[0086] Then, when the target voltage value is applied to the motor 111, the actual current consumption of the motor 111 suddenly increases. The actual current consumption reaches a first peak, characteristic of a starting phase of the motor 111. The corresponding operating data becomes greater than the threshold value, as shown in the portion 301 of the graph. The value of the data counter is increased by one unit.

[0087] After reaching the first peak, the actual current consumption decreases. The corresponding operating data falls below the threshold value.

[0088] The actual current consumption remains essentially constant over a period of time. The corresponding operating data remains below the threshold value.

[0089] The actual current consumption increases again when the opening movement of the handle is stopped by a mechanical stop. This stop may correspond to a part of the vehicle door, against which the handle normally abuts when it is in the fully open position. This stop may also correspond to an external element against which the handle accidentally hits during its opening movement, such as a wall, the user's hand or frost.

[0090] The actual current consumption reaches a second peak, characteristic of the handle movement being stopped by a mechanical stop. The corresponding operating data becomes higher than the threshold value, as shown in part 303 of the graph. The value of the data counter is increased by one unit.

[0091] After reaching the second peak, the actual current consumption remains essentially constant for a period of time. The corresponding operating data then remains above the threshold value.

[0092] When the value of the time counter becomes equal to the target time value, the microcontroller 123 stops powering the motor 111. The actual current consumption decreases sharply until it reaches zero. The corresponding operating data falls below the threshold value, until it reaches zero.

[0093] Since the value of the data counter is equal to 2, the handle state variable is set to final. The state of the handle is final. The handle is considered to have been ejected to the maximum, which corresponds to the fully open position of the handle, or to another position relative to the vehicle door, if the handle was stopped by an external element before reaching the fully open position.

[0094] [Fig.4] shows a graph similar to that of [Fig.3], except that the time counter value becomes equal to the target time value before the operating data becomes greater than the threshold value a second time.

[0095] In this case, the value of the data counter is equal to 1 when the value of the time counter becomes equal to the value of the target time. The state variable of the handle is defined as unknown. The opening movement of the handle is considered to be incompletely executed. The consequent management of the actuator 110 depends on other functions of the control law implemented in the microcontroller 123. For example, the microcontroller 123 can initialize a new attempt to execute the command.

[0096] If the operating data exceeds the threshold value more than twice, for example three times, the value of the data counter is greater than 2 when the value of the time counter becomes equal to the target time value. The state variable of the handle is defined as faulty. The opening movement of the handle is considered to have failed. The subsequent management of the actuator 110 depends on other functions of the control law implemented in the microcontroller 123. For example, the microcontroller 123 may enter a degraded mode to execute the command.

[0097] In the function described in relation to [Fig.2], the step 227 of determining the state of the handle occurs after the step 221 of stopping to power the motor 111. Alternatively, a function of the system according to the invention can implement the step of determining the state of the handle before, and implement the step of stopping to power the motor after, depending on the state of the handle.

[0098] The control law of the system according to the invention is described in relation to the execution of an example of a command to open a vehicle door handle. The system according to the invention can implement control laws to execute other types of commands. For example, the system according to the invention can implement control laws to execute a command to close a vehicle door handle.

[0099] Furthermore, the system according to the invention may comprise any type of actuator. For example, the system according to the invention may comprise an actuator for opening or closing a car trunk lock.

[0100] Furthermore, the system according to the invention can implement control laws using any type of operating data calculated from the actual current consumption of the actuator.

[0101] The invention is not limited to the embodiments previously described. Other embodiments within the reach of those skilled in the art may also be envisaged without departing from the scope of the invention defined by the claims below.

Claims

Claims

1. A control system comprising: - an actuator (110), which is kinematically connected to an element movably mounted on a part of the vehicle, the actuator (110) being arranged to cause movement of the element relative to the part of the vehicle, while receiving a first signal, and - a control device (123), designed to determine a state of the element relative to the part of the vehicle, at least after receipt of the first signal by the actuator (110), characterized in that the system further comprises a current sensor (121), designed to measure a current consumption of the actuator (110) and to output a second signal, representative of a measured current consumption, while the control device (123) is designed to calculate, from the second signal,a set of operating data representative of a temporal evolution of the measured current consumption and to determine the state of the element on the basis of a comparison of at least part of the set of operating data with at least one reference value.,

2. The system of claim 1, wherein the reference value corresponds to a threshold value, and the controller (123) is arranged to determine the state of the element based on counting a number of times at least a portion of the set of operating data becomes greater than the threshold value.

3. The system of claim 2, wherein the controller (123) is arranged to determine that the state of the element is final, corresponding to the successful execution of the movement, when said number is equal to two.

4. System according to any one of claims 2 and 3, in which the control device (123) is arranged to determine that the state of the element is unknown, which corresponds to an incomplete execution of the movement, when said number is strictly less than two.

5. A system according to any one of claims 2 to 4, wherein the controller (123) is arranged to determine that the state of the element results from a failure during movement, when said number is strictly greater than two.

6. A system according to any preceding claim, wherein the control device (123) is further arranged to control the actuator (110) depending on the state of the element.

7. System according to any one of the preceding claims, in which the set of operating data corresponds to a set of data representative of the measured current consumption of the actuator (110).

8. System according to any one of the preceding claims, in which the element has at least one abutment position against a part of the vehicle portion, which may correspond to the state of the element determined as final.

9. A system according to any preceding claim, wherein the element comprises a handle movably mounted on a vehicle door.

10. Method for determining the state of a movable element relative to a part of the vehicle by means of an actuator (110) kinetically connected to this element, the method comprising the following steps: - receiving a signal representative of a measured current consumption of the actuator, - calculating, from the signal, a set of operating data representative of a temporal evolution of the measured current consumption, and - determining the state of the element on the basis of a comparison of at least a part of the set of operating data with at least one reference value.

11. Method for controlling an actuator (110) kinematically connected to an element mounted movably on a part of the vehicle, the method comprising the following steps: - receiving a signal representative of a measured current consumption of the actuator, - calculating, from the signal, a set of operating data representative of a temporal evolution of the measured current consumption, and - determining the state of the element relative to the part of the vehicle by comparing at least part of the set of operating data to at least one value of reference.

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