Actuator control management system.
The control system uses current consumption data to determine the state of a vehicle door handle without mechanical switches, improving reliability and compactness in actuator control management.
Patent Information
- Application Number
- FR2023008281
- Authority / Receiving Office
- FR · FR
- Patent Type
- Patents
- Current Assignee / Owner
- Filing Date
- 2023-07-31
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2043-07-31
AI Technical Summary
Conventional actuator control management systems for vehicle door handles, particularly those with flush-mounted designs, rely on mechanical microswitches to determine the handle's position, which can be unreliable and bulky.
A control system that uses a current sensor to measure the actuator's current consumption and calculates operating data to determine the handle's state relative to the vehicle door without additional mechanical parts, relying on a control device to compare this data with reference values to assess the handle's position.
This approach enhances system robustness and compactness by eliminating the need for mechanical switches, providing a more reliable and lightweight method to determine the handle's state.
Smart Images
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Abstract
Description
Title of the invention: Control management system for an actuator.
[0001] The invention relates to the field of actuator control management, and more particularly to an actuator control management system enabling the determination of 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 to open the vehicle door and provide access. The handle can be integrated into the vehicle door in various ways.
[0003] Recently, flush-mounted door handles have become very popular due to their style and aerodynamic performance. A flush handle has a retracted position, also called the 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 also 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 called the "closed position" of the handle, and the ejected position is called 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 called the "opening movement," and the movement of the handle relative to the vehicle door, from the fully open position to the closed position, is called the "closing movement."
[0005] As a general rule, an actuation control management system makes it possible to determine the state of the handle in relation to the vehicle door.
[0006] A conventional actuation control management system includes a motorized actuator, kinematically linked to the handle. The motorized actuator is designed to move the handle relative to the vehicle door according to the opening or closing movement.
[0007] The conventional actuation control management system further includes a controller, communicatively connected to the motorized actuator. The controller is configured to receive an input command, for example to open or close the handle, and to supply the motorized actuator accordingly.
[0008] The conventional actuation control management system further includes 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 the corresponding signals as input. The controller is further configured to interpret the corresponding signals in order 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 movable manner on the body of a vehicle.
[0010] To this end, the invention provides a control system comprising: - an actuator, which is kinematically linked to a movably mounted element 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 the state of the element relative to the vehicle part, at least after the actuator receives the first signal, 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 time 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 to at least one reference value.
[0011] The system according to the invention makes it possible to determine the state of the element relative to the vehicle part without additional mechanical parts, such as microswitches. Consequently, 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 include 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 on the basis of counting the number of times at least part 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 according to 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 stop 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 moving element relative to a part of the vehicle by means of an actuator kinematically connected to that element, the method comprising the following steps: - receive a signal representative of the measured current consumption of the actuator, - to calculate, from the signal, a set of operating data representative of a temporal evolution of the measured current consumption, and - 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.
[0023] The invention also relates to a method for controlling an actuator kinematically connected to a movable element mounted on a part of the vehicle, the method comprising the following steps: - receive a signal representative of the measured current consumption of the actuator, - to calculate, from the signal, a set of operating data representative of a temporal evolution of the measured current consumption, and - determine the state of the element in relation to the part of the vehicle by comparing at least a part of the set of operating data to at least one reference value.
[0024] Other features and advantages of the invention will become more apparent upon reading the following description, taken from illustrative and non-limiting examples, and the drawings in which:
[0025] Figure 1 represents a diagram of a system according to the invention,
[0026] Figure 2 represents a flowchart of a function implementing a law of control for the system according to the invention,
[0027] Figure 3 represents a graph illustrating an example of implementation of the function of Figure 2.
[0028] [Fig.4] is similar to [Fig.3].
[0029] The drawings and description that follow essentially contain elements of a certain character. Consequently, they can not only serve to better understand the present invention, but also contribute to its definition, if necessary.
[0030] Fig. 1 shows a control management system for actuation 100 to determine the state of an element, here a door handle, in relation 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 or close the handle, and to react to such input by moving the handle in an opening or 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 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 the vehicle door can be opened. The opening position total can correspond to a position in which the handle protrudes at least partially from the vehicle door and can be grasped by the user, for example an ejection 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 can be a pure translation, a pure rotation, or any other more complex movement, combining, for example, translational and rotational movements. The opening movement of the handle is, for example, a clockwise rotational 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 can be a pure translation, a pure rotation, or any other more complex movement, combining, for example, translational and rotational movements. The closing and opening movements of the handle can be performed along the same path, in opposite directions. In this case, the opening and closing movements 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 module. The VCM 130 module is configured to receive as input a command to open or close the handle, either directly from a user or from an electronic vehicle control unit. Typically, the VCM 130 module 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 module is further configured to respond to the input of an open or close command by issuing an open or close command.
[0037] The system 100 further includes an actuator 110, consisting 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 motor voltage signal, representative of a voltage level to which the motor 111 is subjected. The motor voltage level can be positive or negative. When the motor voltage level is positive, the motor 111 is designed to rotate in a first direction, for example, an opening direction. The opening direction is, for example, clockwise. When the motor voltage level is negative, the motor 111 is designed to rotate in a second direction, opposite to the first direction, a counterclockwise direction. closure, for example. The direction of closure is, for example, counter-clockwise.
[0039] The operation of the motor 111 is characterized in particular by driving force and rotational speed values. The driving force and rotational speed of the motor 111 depend on the absolute value of the motor voltage level.
[0040] The lever 112 is driven by the motor 111 when the latter is powered. The lever 112 is driven in 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 clockwise rotation. The lever 112 is driven in 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 counterclockwise rotation.
[0041] The lever 112 is kinematically connected to the vehicle handle, either directly or via a kinematic chain (not shown). When the lever 112 moves in the opening direction, the lever 112 causes the handle to move in the same direction. When the lever 112 moves in the closing direction, the lever 112 causes the handle to move in the same direction.
[0042] The system 100 also includes a controller 120 for the actuator 110. The controller 120 is designed to control the actuator 110 using a voltage signal.
[0043] The controller 120 includes 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 input commands from the VCM module 130, in particular open and close commands.
[0044] The microcontroller 123 is also operationally 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 output a signal representing a voltage level. This output signal from 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 includes a current sensor 121, arranged to measure the actual current consumption of the motor 111 and to emit a signal representative of the actual measured current consumption of the motor 111. The The microcontroller 123 is communicatively connected to the current sensor 121. 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 the actual current consumption signal as input and processes the actual current consumption data from this signal. The function further calculates a set of operating data representing the evolution of the actual current consumption data over time. The function also 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 representing the state of the handle relative to the vehicle door.
[0047] The system 100 also includes a power supply, 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 supply power to the microcontroller 123. The motor 111 is electrically connected to the microcontroller 123.
[0048] Figure 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 receipt of a command at the microcontroller input.
[0050] For example, the execution of the function follows the reception, on an input of the microcontroller, of a command to open the handle from the VCM 130 module.
[0051] Then, during step 203, the function obtains and stores a parametric value representing a time value, corresponding to a desirable time to execute the command. This time value is called the target time value. The target time value can be read from a memory location in the microcontroller.
[0052] For example, the target time value corresponds to a desirable time for the handle to complete the opening movement, that is, for it to move from the closed position to the fully open position. Generally, the corresponding time value is about 1 second, for example 800 milliseconds.
[0053] During step 203, the function obtains and stores a parameter data point that represents a voltage value corresponding to a voltage value which, when it When applied to a motor, this value is assumed 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 assumed to cause the handle to complete the opening movement within the allotted time. Generally, the corresponding target voltage value corresponds to an operating voltage range, for example, from 9V to 16V.
[0055] During step 203, the function further obtains and stores at least one parameter data that represents a reference value to be compared with 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 with the operating data in order to determine the state of the handle in relation to the vehicle door at the end of the opening movement.
[0057] During step 205, the function initializes a time counter. In addition, the function initializes another counter, called a data counter.
[0058] Next, the function proceeds to step 207, during which the function instructs the microcontroller to output a signal representative of the target voltage value. The motor 111 is subjected to the target voltage.
[0059] The motor 111 begins 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 predefined time interval in step 209. For example, the time interval 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 point from an actual current consumption data point. In this case, the operating data points correspond to the actual current consumption data points.
[0065] According to one embodiment, the function calculates an operating datum from a plurality of actual current consumption datums. For example, the operating datum may correspond to an average of the plurality of actual current consumption datums.
[0066] Alternatively, the function proceeds to step 213 of calculating operating data after executing 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 exceeded the threshold value. Here, the function performs a comparison based on two data points from the operating data. The first data point corresponds to an operating data point. The second data point corresponds to an operating data point 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 point is greater than or equal to the threshold value, - Second criterion: the second data point is less than the threshold value.
[0070] If both criteria are not met, the function restarts at step 209.
[0071] Otherwise, the function proceeds 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 can 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 if 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 goes to step 221 and commands the microcontroller 123 to stop supplying power to the motor 111.
[0076] Then, in a step 223 and a step 225, the function compares the value of the data counter to predefined reference numbers. Based on the result of the comparison, in 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 handle's state variable is defined as unknown during step 227. The corresponding state of the handle relative to the vehicle door is unknown. In this case, the handle's opening movement is considered 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 if the value of the data counter is equal to 2.
[0080] If this is the case, the handle's state variable is defined as final during step 227. The corresponding state of the handle relative to the vehicle door is final. The handle's opening movement is considered to have been executed successfully. The handle is considered to have been ejected as far as possible. The handle may be in the fully open position, but not necessarily so.
[0081] Otherwise, the state variable of the handle is defined as faulty during step 227. The corresponding state of the handle with respect to the vehicle door is considered to result from a failure of 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 operating data with the reference value or step 217 of updating the data counter can be performed after step 221 of stopping the engine power supply, and before steps 223, 225 and 227 of determining the state of the handle relative to the vehicle door.
[0084] Figure 3 shows an example of a graph relating to the execution of the function illustrated in Figure 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 related to the opening of the handle. Here, the operating data displayed correspond to the actual current consumption data.
[0085] At the start of the execution of the opening command, the time counter is reset to zero. The actual current consumption of motor 111 is zero. The value of the data counter is reset to zero.
[0086] Next, 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 an initial peak, characteristic of a starting phase of the motor 111. The corresponding operating data becomes greater than the threshold value, as shown in part 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 remain 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 be a part of the vehicle door against which the handle normally comes to rest when it is in the fully open position. This stop may also be an external element against which the handle accidentally strikes 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 stop of the handle's movement by a mechanical stop. The corresponding operating data exceeds the threshold value, as shown in part 303 of the graph. The value of the data counter increases 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 remain above the threshold value.
[0092] When the time counter value becomes equal to the target time value, the microcontroller 123 stops supplying power to the motor 111. The actual current consumption drops sharply to zero. The corresponding operating data falls below the threshold value, also reaching zero.
[0093] With the value of the data counter equal to 2, the handle's state variable is defined as final. The handle's state is final. The handle is considered to have been ejected to its maximum, which corresponds to the handle's fully open position, 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] presents a graph similar to that of [Fig.3], except that the value of the time counter 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 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 subsequent management of the actuator 110 depends on other functions of the control law implemented in the microcontroller 123. For example, the microcontroller 123 can initiate a retry of the command execution.
[0096] If the operating data exceeds the threshold value more than twice, for example three times, the data counter value is greater than 2 when the time counter value becomes equal to the target time value. The handle's state variable is set to faulty. The handle's opening movement is considered to have failed. The subsequent management of actuator 110 depends on other functions of the control law implemented in microcontroller 123. For example, 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 may 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 include any type of actuator. For example, the system according to the invention may include 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 described above. Other embodiments within the grasp of a person skilled in the art may also be envisaged without departing from the scope of the invention defined by the following claims.
Claims
Demands
1. 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 the first signal has been received 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 emit 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 time evolution of the measured current consumption,at least for a target time, and to determine the state of the element based on a comparison of at least a part of the operating data set to at least one reference value, wherein the reference value corresponds to a threshold value and the control device (123) is arranged to determine the state of the element based on counting the number of times at least a part of the operating data set becomes greater than the threshold value during the target time.
2. System according to claim 1, wherein the control device (123) 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.
3. System according to any one of claims 1 and 2, wherein 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.
4. System according to any one of claims 1 to 3, wherein the control device (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.
5. System according to any one of the preceding claims, wherein the control device (123) is further arranged to control the actuator (110) according to the state of the element.
6. System according to any one of the preceding claims, wherein the set of operating data corresponds to a set of data representative of the measured current consumption of the actuator (110).
7. System according to any one of the preceding claims, wherein the element has at least one stop position against a part of the vehicle portion, which may correspond to the state of the element determined to be final.
8. System according to any one of the preceding claims, wherein the element comprises a handle movably mounted on a vehicle door.
9. A method for determining the state of a moving element relative to a part of the vehicle by means of an actuator (110) kinematically connected to that 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 time evolution of the measured current consumption, at least during a target time, - 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 a reference value, in which the reference value corresponds to a threshold value and the method further comprises determining the state of the element on the basis of counting the number of times at least a part of the set of operating data becomes greater than the threshold value during the target time.
10. Method for controlling an actuator (110) kinematically connected to a movable element mounted on a part of the vehicle, the method comprising the following steps: - receive a signal representative of the measured current consumption of the actuator, - to calculate, from the signal, a set of operating data representative of a temporal evolution of the measured current consumption, at least over a target time, - determine the condition of the component relative to the vehicle part by comparing at least a portion of the operating data to at least one reference value, in which the reference value corresponds to a threshold value and the method further includes determining the state of the element on the basis of counting the number of times at least a part of the set of operating data becomes greater than the threshold value during the target time.