Method for operating an electromotive door drive of a motor vehicle

Abstract

The invention relates to a method (32) for operating an electromotive door drive (14) of a motor vehicle (2) which has a door (10) driven by means of an electric motor (16). The door (10) is left in a holding position (48) if an object (22) is detected in an adjustment region (38) by means of a collision-prevention sensor (18) during an adjustment of the door (10). The holding position (48) is selected such that the door (10) has a specified distance (50) to the object (22), said distance being selected on the basis of the degree (44) of accuracy with which the position (42) of the object (22) is ascertained. The invention also relates to an electromotive door drive (14) of a motor vehicle (2).

Description

[0001] Description

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

[0003] The invention relates to a method for operating an electric motor door drive of a motor vehicle, which comprises a door driven by an electric motor and a collision protection sensor. Furthermore, the invention relates to an electric motor door drive of a motor vehicle.

[0004] Motor vehicles, such as passenger cars, typically have several doors that cover an opening in the vehicle's body. The door is typically mounted on the vehicle's body via a bearing, allowing the opening to be opened by adjusting the door. If the door is a side door, this allows access to the interior of the vehicle and / or loading objects into the interior.

[0005] To increase comfort, the door is usually driven by an electric motor of an electric door drive, which also encloses the door. When the electric motor is operating, the door is moved along an adjustment path that is predetermined by the bearing that mounts the door to the body. In this case, it is possible that a user of the electric door drive cannot fully see the adjustment path formed around the adjustment path of the door and, for example, activates the electric door drive even though there is an object in the adjustment area. The adjustment range is the area that the door moves through when adjusted along its entire adjustment path and is defined by the outer contour of the door. The shape of the adjustment range is at least implicitly stored in a memory of the electric door drive during production.

[0006] To avoid a collision between the door and the object, which could lead to damage to the object and / or the door, the electric motor door drive usually includes a collision protection sensor which monitors the adjustment range. If the object is located in the adjustment range, for example, the electric motor is no longer energized so that the door cannot be adjusted. An acoustic signal is usually also emitted so that the user is informed that adjustment is currently not possible due to the object. In a further development, the door is adjusted until the distance to the object reaches a predetermined minimum. If this is the case, the electric motor is switched off so that a collision does not occur. To ensure that a collision is avoided even in adverse conditions, the collision protection sensor provided by a manufacturer of the motor vehicle or the vehicle isThe minimum distance specified by the electric motor door drive is usually comparatively large. If the door is opened by the electric motor, the opening in the body is at least partially cleared, allowing entry or exit from the vehicle, even if comfort is reduced.

[0007] The invention is based on the object of specifying a particularly suitable method for operating an electromotive door drive of a motor vehicle and a particularly suitable electromotive door drive of a motor vehicle, wherein comfort and / or safety are advantageously increased.

[0008] With regard to the method, this object is achieved according to the invention by the features of claim 1 and with regard to the electromotive door drive by the features of claim 9. Advantageous further developments and refinements are the subject of the respective subclaims.

[0009] The method serves to operate an electric motor door drive of a motor vehicle. The motor vehicle is, in particular, land-based and preferably multi-track. In this case, it is suitably possible to position the motor vehicle essentially freely, in particular on a roadway. For this purpose, the motor vehicle expediently has corresponding wheels. In summary, it is preferably possible to position the motor vehicle essentially independently of other conditions on land. In other words, the motor vehicle is suitably not rail-guided. The motor vehicle is preferably a passenger car (car) or a commercial vehicle, such as a lorry (truck) or bus.

[0010] The electromotive door drive comprises a door driven by an electric motor, preferably along an adjustment path. In the assembled state, the door is suitably movably mounted on a body of the motor vehicle by means of a bearing. For example, the bearing is designed like a hinge, and the door is pivotably mounted relative to the body. Alternatively, the bearing can be used to at least partially enable longitudinal displacement of the door, so that the door is a sliding door. The door is preferably a side door.

[0011] The bearing particularly defines the shape of the door's adjustment range. The door moves through the adjustment range along its entire adjustment path during adjustment. In other words, the adjustment range corresponds particularly to the spatial area within which the door can be located, at least under certain conditions. One end of the adjustment range is preferably defined by the body, which, for example, forms a stop for the door. When the door is at this end of the adjustment range, the door expediently rests against the body, and any opening in the body is closed by the door. The opening is released by moving the door along the adjustment path to the other end of the adjustment range.

[0012] Advantageously, another component of the electric motor-driven door drive, such as a length-adjustable component, in particular a spindle, is mechanically arranged between the electric motor and the door. Alternatively or in combination with this, a cable drum is arranged between them. Preferably, a gear, such as a worm gear, is initially driven by the electric motor, by means of which the door is advantageously driven, preferably via the spindle.

[0013] In particular, the electric motor is fixedly attached to the body in the assembled state, which facilitates installation. The electric motor is suitable, in particular provided and configured, for this purpose. Alternatively, the electric motor is attached to the door. The electric motor is, for example, a brushed commutator motor or, particularly preferably, a brushless direct current (BLDC) motor. The electric motor-driven door drive suitably comprises a control device or other control unit by means of which an electric current is provided and / or regulated to energize the electric motor, such that the electric motor is operated according to a specific specification. The electric motor expediently comprises a sensor for detecting an adjustment position and speed, such as a speed sensor, by means of which a speed of the electric motor can be detected during operation.Due to the mechanical coupling between the electric motor and the door, it is possible to determine the speed at which the door is moved. Furthermore, the position of the door can also be determined. Preferably, the position of the door is also determined during operation using the speed sensor.

[0014] The door preferably has a door body. In particular, the door body is at least partially rigid and is suitably mounted on the body by means of any bearing. The electric motor preferably acts on the door body. The shape of the door body is, in particular, non-modifiable, and it comprises, for example, a door module and / or part of an outer skin of the motor vehicle. A window pane of the door, for example, is held on the door body and is preferably adjustably mounted there.

[0015] The electromotive door drive further comprises a collision protection sensor. The collision protection sensor serves to prevent the door from colliding with an object / obstacle when the door is adjusted. The collision protection sensor is suitable, in particular provided and configured, for this purpose. For example, the collision protection sensor serves to monitor the adjustment range. For example, the collision protection sensor monitors the entire adjustment range, so that a monitoring range of the collision protection sensor encompasses the adjustment range. Alternatively, the monitoring range of the collision protection sensor is reduced or at least partially reoriented, so that only a portion of the adjustment range can be monitored by the collision protection sensor.However, the monitoring area of ​​the collision protection sensor is comparatively close to the door and in particular has a maximum distance of only 20 cm, 15 cm or 10 cm.

[0016] In particular, the collision protection sensor makes it possible to detect an object located within the adjustment range. The object can be, for example, an object or a living being, such as an animal or a person. In particular, the object is detected without contact, and the collision protection sensor comprises, for example, a radar sensor. Alternatively, the collision protection sensor comprises an optical sensor, such as a camera, an ultrasonic sensor, or a capacitive sensor. Alternatively, or in combination, the collision protection sensor comprises a lidar sensor. For example, the collision protection sensor is formed by one of these sensors or comprises several of these sensors, which are, for example, identical or different from one another.Particularly preferably, the collision protection sensor also comprises an evaluation unit, by means of which the measurement data generated by the respective sensor is evaluated so that the object is detected. In particular, the measurement data provided, which are also referred to as sensor data or signal data, are merged. In summary, the collision protection sensor serves to monitor the adjustment range. Contactless detection of the object is possible at least temporarily and / or in part of the adjustment range using the collision protection sensor, and the collision protection sensor is suitable, in particular provided and configured, for this purpose.

[0017] The monitoring area of ​​the collision protection sensor corresponds in particular to the area within which the object, if present, can be detected by the collision protection sensor. In other words, the monitoring area is in particular a detection area of ​​the collision protection sensor. If the object is outside the detection area / monitoring area, detection by the collision protection sensor is not possible. The monitoring area is defined / specified, for example, based on the mode of operation, the design, the type of mounting, and / or the environment of the collision protection sensor. The monitoring area is expediently offset outwards with respect to the door.

[0018] The method provides that the door is left in a holding position if, during adjustment of the door by means of the collision protection sensor, the object is detected in the adjustment range. The door is expediently moved in an adjustment direction, which is, for example, an opening direction. Alternatively, the adjustment direction is a closing direction. In particular, the method is used for both possible adjustment directions of the door. In particular, the holding position does not correspond to the end of the adjustment path, but is located in between. In other words, the adjustment of the door is ended prematurely, so that the door is in the holding position, which is located between the ends of the adjustment path.

[0019] In summary, the method initially records, as received, a request to adjust the door, which is also referred to as an adjustment request. The adjustment request is generated, for example, by a user input, for example, by the user operating a control element such as a door handle or the like. Alternatively, or in combination with this, a corresponding adjustment request is generated, for example, by an on-board computer of the motor vehicle. The adjustment request also specifies, at least implicitly, the direction of the door's adjustment.

[0020] Following detection of the adjustment request, the electric motor is energized, causing the door to be moved, i.e., adjusted, particularly in the direction of adjustment. Preferably, the door is adjusted automatically, eliminating the need for the user to apply additional manual force to the door. Alternatively, the electric motor can simply assist the user in manually adjusting the door.

[0021] If the door is left in the hold position, the electric motor in particular is stopped so that no further force is applied to the door. Alternatively, the electric motor is further energized so that it no longer rotates. In other words, the electric motor is held in place so that even if another force is applied to the door, it will not be adjusted. In this case, the door is left in the hold position in particular if the object is in front of the door in the adjustment direction, i.e. the door is being or is to be moved towards the object. For example, the door is not left in the hold position if the object is behind the door in the adjustment direction.If the object is not detected, in particular because it is not present, the door is not left in the holding position, but the door is expediently adjusted according to the adjustment request, and in particular is moved to the end of the adjustment path or at least to a position that is specified by means of the adjustment request.

[0022] The object is detected, for example, before the electric motor is energized, or at least while the door is being adjusted. At least the collision protection sensor is preferably operated and the monitoring area is monitored for the presence of the object before the door is adjusted or before the electric motor is energized. When the object is detected, its position is also determined. This occurs, for example, relative to a component of the electric motor door drive, such as the door or another component that is not moved, in particular when the door is adjusted. For example, to determine the position, only its distance from the door or the other component is determined, or in particular an angle at which it is located to the other component of the electric motor door drive. In addition to determining the position, any measurement inaccuracy is also determined.In other words, the accuracy in determining the position is recorded / determined, and in particular a measure is derived from this. At least preferably, the measure is functionally related to the accuracy of determining the position and, in particular, designates an uncertainty by means of which it is described whether the determined position corresponds to the actual position. The measure of accuracy is particularly dependent on a current situation, so that the measure changes, for example, if the method is carried out multiple times / subsequently. If several objects are detected by the collision protection sensor, in particular each of the objects is subsequently used for the method. However, it is particularly preferred that only the closest object is subsequently used.

[0023] The holding position in which the door is left is selected such that the door is at a predetermined distance from the object, i.e., in particular, that the door is not touching the object. When the door is in the holding position, the door is at the predetermined distance from the determined position of the object. The position of the door, in particular whether it is in the holding position, is determined based on any speed sensor.

[0024] The predetermined distance is in particular between 0.1 cm and 20 cm. In other words, when the electric motor is stopped, the door is at the predetermined distance from the object, for example 20 cm. The predetermined distance is selected, at least in part, depending on the degree of accuracy of the determination of the object's position. In this case, a reduced predetermined distance is selected for a comparatively high degree of accuracy, whereas an increased predetermined distance is used for a degree that corresponds to a comparatively inaccurate determination of the position. For example, only discrete instances of the predetermined distance exist, for example 2, 3, or more. In particular, the number is less than 10.Alternatively, for example, the predetermined distance is continuously changed with the measure, so that a functional relationship between the predetermined distance and the measure can be continuously differentiated.

[0025] If the position of the object is therefore uncertain, the predetermined distance is expediently greater than 5 cm, 7.5 cm or 10 cm. At the very least, the increased predetermined distance ensures that the door does not collide with the object, thus increasing safety. If, on the other hand, the position of the object can be determined with a comparatively high degree of accuracy, the predetermined distance is reduced and is, for example, less than 10 cm, 7.5 cm, 5 cm or 1 cm. This makes it possible to adjust the door comparatively far, even when the object is present. If the door has been moved in the opening direction, a comparatively large area of ​​the body opening is exposed, making entry and exit easier. This increases comfort. Furthermore, no additional components are required, which means that manufacturing costs are not increased.Alternatively, or in combination with this, the predetermined distance is increased by more than 1 cm, 5 cm, or 10 cm if the position of the object is uncertain, compared to the predetermined distance if the position can be determined with comparatively high accuracy or absolute certainty. For example, if the position of the object can be determined with comparatively high accuracy, the predetermined distance is reduced by less than 10 cm, 5 cm, or 1 cm compared to the predetermined distance, or increased if the position can be determined with absolute certainty.

[0026] For example, the measure is determined depending on the signal quality of the measurement data generated by the collision protection sensor. In particular, a signal-to-noise ratio (SNR) is determined, and this is used to determine the measure. High inaccuracy corresponds to a low ratio. Therefore, if interference is present that particularly disrupts the functioning of the collision protection sensor, such as external (electromagnetic) fields, the signal-to-noise ratio and therefore also the signal quality is reduced. If several or a relatively large number of objects are present and / or they are moving relatively quickly, it is also possible that the signal quality is reduced. If the signal quality is reduced, this is taken into account, and a larger predetermined distance is used.This only occurs when the signal quality is poor, so that otherwise, i.e. when the accuracy is comparatively high, a comparatively small predetermined distance can be selected.

[0027] Alternatively, or in combination with this, the measurement is determined based on environmental conditions. For example, the environmental conditions are determined using a suitable sensor, which is, for example, a component of the electric door drive or at least connected to it via signaling. Alternatively, the environmental conditions are determined using the collision protection sensor itself, for example.

[0028] Under certain environmental conditions, for example, the functionality of the collision protection sensor is restricted, meaning that the object cannot be detected and / or the monitoring area is reduced. In other words, the maximum distance from the collision protection sensor at which the object can be detected is reduced. In this case, the signal quality remains comparatively high, but only the maximum range of the collision protection sensor is reduced. If the corrosion protection sensor is an optical sensor, for example, the maximum range is reduced when brightness is reduced, although the signal quality, for example, is not affected. However, it is also possible that the signal quality is also reduced due to the environmental conditions.If, for example, the collision protection sensor is an optical sensor, a radar sensor, or a capacitive sensor, the accuracy is reduced in the event of precipitation, which is reflected in the resulting deterioration in the measurement. In this case, the signal-to-noise ratio, and thus the signal quality, is also reduced in precipitation. Because the measurement is determined based on the environmental conditions, these are also taken into account dynamically, so that a comparatively short predetermined distance can generally be selected. However, if environmental conditions exist that make detecting the object more difficult, the increased predetermined distance is used.

[0029] Alternatively, or in combination with this, the measure is determined depending on the determined position of the object within the monitoring area of ​​the collision protection sensor. In this case, the measure is particularly increased, i.e. a comparatively high level of accuracy is present, if the position is spaced from the edges of the monitoring area and is located in particular in a central part thereof. In particular, the position is at least 5 cm, 8 cm or 10 cm away from the edge of the monitoring area. If, on the other hand, the object is close to the edge of the monitoring area but is still detected by the collision protection sensor, the measure is reduced and a deteriorated level of accuracy is assumed. In this case, for example, the edge is only monitored by part of the collision protection sensor, which is why the accuracy is reduced.Alternatively, or in combination with this, in a part of the monitoring area where an angle used for triangulation / trilateration is comparatively acute due to the geometric design of the collision protection sensor, a measurement is used which increases the inaccuracy in determining the position. This approach makes it possible to assign an enlarged monitoring area to the collision protection, where, for example, due to the geometric design of the electric motor door drive, the monitoring area can only be partially monitored with parts of the collision protection sensor. This increases safety. The requirements for the collision protection sensor are also reduced, which in turn reduces manufacturing costs. Comfort is not compromised and safety is increased.

[0030] For example, as the door approaches the stop position, the electric motor initially continues to operate unchanged until the door reaches the stop position. The electric motor is then abruptly stopped. This results in comparatively rapid movement of the door. Preferably, however, as the door approaches the stop position, the adjustment speed of the door is reduced according to a predetermined profile. This reduces mechanical stress on the electric door drive. In particular, the speed is essentially reduced continuously, thus also creating a visually appealing appearance. If the electric motor only has a supporting effect, the counterforce exerted on the door is preferably increased as the door approaches the stop position by means of the electric motor in accordance with the profile adapted for this purpose.In this case, the assisting force of the electric motor is reduced, particularly to increase the counterforce. Alternatively, the electric motor can be used to apply a force to the door in the opposite direction to the direction of adjustment, requiring the person manually adjusting the door to exert greater force than if the door were adjusted without electric motor assistance.

[0031] For example, the profile is fixed. However, it is particularly preferred that the profile is selected depending on the dimension. For example, the profile is used to select the level of reduction in the adjustment speed or the increase in force depending on the dimension. For example, the adjustment speed is reduced or the force is increased immediately after the object is detected. Alternatively, this only occurs when the door is a further distance from the stopping position, whereby, for example, the level of reduction / increase is constant or also dependent on the dimension. The further distance is, for example, constant or preferably dependent on the dimension. In this case, a larger further distance is selected, particularly for a small dimension, i.e. a comparatively high level of inaccuracy, so that the approach to the stopping position is slowed down in particular.If the electric motor only has a supporting effect, the counterforce, in particular, is increased early on when the measurement is comparatively poor. This means that the user of the electric door drive is informed, at least implicitly, of the inaccuracy in determining the position relatively early on, so that they can react if necessary. If the inaccuracy is comparatively large, for example, the adjustment speed is set to a minimum value after the object is detected and, in particular, so-called creep speed is carried out. The adjustment speed is expediently selected such that damage to the door / object is avoided or at least mitigated in the event of (unintentional) mechanical contact with the object before the stop position is reached.Alternatively, the counterforce in particular is comparatively large, so that when adjusted manually, this also occurs at a reduced speed against the object.

[0032] In particular, a direction of movement of the object is determined if it is present. In this case, the predetermined distance is selected depending on the direction of movement of the object and / or a speed of the object. If the object has no direction of movement, i.e. it is not moving, expediently no further adjustment takes place and the predetermined distance is simply selected depending on the measure. If the object is moving away, in particular a smaller predetermined distance is selected. In contrast, if the object is moving towards it, a larger predetermined distance is selected. Expediently, a speed of the object is also determined. If the object approaches at a comparatively high speed, the predetermined distance is further increased in order to avoid a collision.

[0033] The object's direction of movement / speed is determined, for example, using a collision protection sensor that is suitably designed for this purpose. If this is not the case, the collision protection sensor is used to determine the object's position several times in succession, and the object's speed / direction of movement is derived from this. Alternatively, a separate sensor is used to determine the direction of movement / speed.

[0034] For example, the adjustment speed or counterforce is also adjusted based on the object's direction of movement and / or its speed. In particular, the profile also depends on the object's direction of movement / speed. If the object is approaching relatively quickly, a profile is expediently used in which the adjustment speed is reduced or the counterforce is increased. If, on the other hand, the object is moving away relatively quickly, a profile is used in which the adjustment speed and / or the counterforce are reduced.

[0035] For example, the stopping position is only determined once, in particular immediately after the object has been detected and its position and dimension have been determined. Particularly preferably, however, the stopping position is adjusted while the door is being adjusted. In other words, the stopping position is determined several times while the door is still being adjusted, i.e., while the stopping position has not yet been reached. For example, the stopping position is only determined again, i.e., adjusted, at comparatively long intervals, for example, every second or every 2 seconds. Particularly preferably, however, the stopping position is determined essentially continuously, preferably at least between every 10 ms and every 100 ms, and preferably every 40 ms. In particular, as soon as the collision protection sensor makes it possible to determine the position and dimension again, this is carried out and the stopping position is adjusted accordingly.As a result, it is possible for the stop position to change while the door is being moved, especially when the door approaches the object, thus improving the accuracy of position detection. This makes it possible to move the door relatively close to the object, even if the object was initially detected with only relatively low accuracy. This increases convenience and safety without increasing manufacturing costs. It is advisable to adjust the stop position as long as the door is being moved.

[0036] The electromotive door drive, when assembled, is a component of a motor vehicle and is suitable, in particular intended and configured, for this purpose. The motor vehicle is, for example, land-based and, for example, a lorry, bus, or preferably a passenger car. The electromotive door drive comprises an electric motor and a door driven by it. In particular, the door is driven along an adjustment path that is predetermined by a bearing supporting the door. The electromotive door drive further comprises a collision protection sensor.The collision protection sensor is suitable, in particular intended and configured, for monitoring at least sections of the adjustment range or the entire adjustment range of the door, i.e., a spatial area that extends along the entire adjustment path and through which the door passes, so that the adjustment range is defined, in particular, by the outer contour of the door. The collision protection sensor is, for example, attached to the door or spaced apart from it. In particular, when installed, the collision protection sensor is secured to the body and expediently attached to a body of the motor vehicle.

[0037] The electromotive door drive is operated according to a method in which the door is left in a holding position if an object is detected in the adjustment range during adjustment of the door by the collision protection sensor. The holding position is selected such that the door has a predetermined distance from the object, which is selected depending on a degree of accuracy in determining the object's position.

[0038] The electromotive door drive, in particular, has a control unit that is provided and configured to carry out the method. The control unit comprises, for example, an application-specific integrated circuit (ASIC) or, particularly preferably, a computer that is suitably designed to be programmable. In particular, the control unit comprises a storage medium on which a computer program product, also referred to as a computer program, is stored. Upon execution of this computer program product, i.e., the program, the computer is prompted to carry out the method. The electromotive door drive, or at least the motor vehicle, expediently has a plurality of operating elements by means of which the adjustment request can be generated. The operating elements are expediently connected to the control unit by means of signals, in particular via a bus system.The door is, for example, a side door which, in the assembled state, is mounted in particular pivotably on a body of the motor vehicle. The invention further relates to a motor vehicle with a corresponding electromotive door drive. The invention further relates to a computer program product. The computer program product comprises a number of commands which, when the program (computer program product) is executed by a computer, cause the computer to carry out a method for operating an electromotive door drive of a motor vehicle, which comprises a door driven by an electric motor and a collision protection sensor, in particular for monitoring an adjustment range of the door. In the method, the door is left in a holding position if an object is detected in the adjustment range during adjustment of the door by means of the collision protection sensor.The stopping position is selected such that the door has a predetermined distance from the object, which is selected depending on the degree of accuracy of the determination of the object's position. The computer is expediently a component of a control unit or electronics of the electric door drive and is formed, for example, by means of this. The computer preferably comprises a microprocessor or is formed by means of it. The computer program product is, for example, a file or a data storage medium containing an executable program that, when installed on a computer, automatically executes the method.

[0039] The invention further relates to a storage medium on which the computer program product is stored. Such a storage medium is, for example, a CD-ROM, a DVD, or a Blu-ray disc. Alternatively, the storage medium is a USB stick or other storage device that is, for example, rewritable or only writable once. Such a storage device is, for example, a flash memory, a RAM, or a ROM.

[0040] The invention further relates to a control unit. The control unit is provided and configured to carry out a method for operating an electromotive door drive of a motor vehicle, which comprises a door driven by an electric motor and a collision protection sensor, in particular for monitoring an adjustment range of the door. In the method, the door is left in a holding position if, during adjustment of the door by means of the collision protection sensor, an object is detected in the adjustment range. The holding position is selected such that the door has a predetermined distance from the object, which is selected depending on a degree of accuracy of the determination of the object's position.

[0041] The control unit has, for example, an application-specific integrated circuit (ASIC) and / or a microprocessor, by means of which the method is at least partially carried out. In particular, the control unit comprises a computer program product that is stored in a memory and, when the program is executed by a computer, such as the microprocessor, causes the computer to carry out the method. Preferably, the control unit, in the assembled state, is a component of the electromotive door drive and is suitable, in particular provided and configured, for this purpose. For example, the control unit is a door control unit. For example, any electromotive window lifter integrated into the door is also controlled by the control unit. The electromotive window lifter preferably comprises a further electric motor, by means of which the window pane is driven.

[0042] The further developments and advantages explained in connection with the method are also to be transferred analogously to the electric motor door drive / the motor vehicle / the computer program product / the storage medium / the control unit as well as to each other and vice versa.

[0043] An embodiment of the invention is explained in more detail below with reference to a drawing. In the drawings:

[0044] Fig. 1 shows a schematic side view of a motor vehicle with an electric motor door drive,

[0045] Fig. 2 shows a method for operating the electromotive door drive, and Fig. 3-5 shows a plan view of the motor vehicle in different situations while the method is being carried out.

[0046] Corresponding parts are provided with the same reference numerals in all figures. Figure 1 shows a simplified schematic representation of a motor vehicle 2 in the form of a passenger car. The motor vehicle 2 comprises a plurality of wheels 4, by means of which contact is made with a roadway. The wheels 4 are connected by means of a chassis to a body 6 of the motor vehicle 2, which has an opening 8 through which a user can enter an interior of the motor vehicle 2, which is surrounded by the body 6. The opening 8 is covered or can be covered by a door 10, which is pivotally mounted on the body 6 by means of a bearing 12. The opening 8 is covered or exposed by pivoting the door 10 relative to the body 6.

[0047] The door 10 is a side door of the motor vehicle 2, and the door 10 has a rigid door body that is attached to the bearing 12. The door 10 is a component of an electric motor-driven door drive 14, which includes an electric motor 16, which is fixed, for example, to the body side. A gear and a spindle, for example, are mechanically arranged between the electric motor 16 and the door 10. At a minimum, when the electric motor 16 is operating, the door 10 is pivoted relative to the body 6. In summary, the door 10 is driven by the electric motor 16.

[0048] The electromotive door drive 14 also has a collision protection sensor 18, which in the example shown is attached to the door 10. In a variant not shown in detail, the collision protection sensor 18 is rigidly mounted on the body 6. The collision protection sensor 18 has one or more (individual) sensors, which are designed as optical sensors, namely as a camera, as ultrasonic sensors and / or as radar sensors. The collision protection sensor 18 also includes an evaluation unit (not shown in detail), by means of which the measurement data generated by the (individual) sensors is at least partially evaluated. The collision protection sensor 18 has a monitoring area 20. If an object 22 is located in the monitoring area 20, it is detected by the collision protection sensor 18. If, however, the object 22 is outside the monitoring area 20, detection by the collision protection sensor 20 is not possible.The electric motor-driven door drive 16 also has a control unit 24, which is held, for example, on the body side or attached to the door 10. The control unit 24 forms a door control unit, and by means of which the electric motor 16 of the electric motor-driven door drive 14 is controlled, for which purpose a current supply to the electric motor 16 is adjusted. In addition, the control unit 24 also operates the collision protection sensor 18. The control unit 24 has a computer 26 in the form of a programmable microprocessor and a storage medium in the form of a memory 28. A computer program product 30 is stored in the memory 28. The computer program product 30 comprises a plurality of instructions which, when executed by the computer 26, cause the computer to execute a method 32, shown in Figure 2, for operating the electric motor-driven door drive 14.In other words, the electromotive door drive 14 is operated according to the method 32, and the control unit 24 is provided and configured to carry out the method 32.

[0049] In the method 32, in a first step 34, a request to adjust the door 10 is received via a bus system (not shown in detail), which is signal-linked to the control unit 24. The request, also referred to as an adjustment request, specifies an adjustment direction, i.e., whether the door 10 should be opened or closed.

[0050] In a subsequent second work step 36, the monitoring area 20 is monitored by means of the collision protection sensor 18 and checked to determine whether the object 22, if present, is located within an adjustment range 38 of the door 10, which is shown in Figure 3. Figure 3 shows the motor vehicle 2 from a bird's eye view. The adjustment range 38 corresponds to the spatial area that the door 10 would traverse when pivoting the door 10 along an adjustment path predetermined by the bearing 12 in the adjustment direction according to the adjustment request, if this is not impeded. Due to the arrangement of the collision protection sensor 18, the monitoring area 20 and the adjustment range 38 only partially overlap. In a subsequent third work step 40, a position 42 of the object 22 is determined, as well as a measure 44 for the accuracy of determining the position 42 of the object 22.The measure 44 indicates how accurate the determination of position 42 is, and is increased the more accurate it is, or is assumed to be accurate. In other words, the measure 44 is increased the less uncertainty there is in the determination.

[0051] To determine the measure 44, the signal quality of the measurement data generated by the collision protection sensor 18 is checked. If the signal-to-noise ratio is low, the measure 44 is reduced. Furthermore, environmental conditions are determined, for which purpose, for example, the collision protection sensor 18 is used, so that the environmental conditions are determined based on the measurement data. Alternatively, or in combination with this, the environmental conditions are queried via the bus system (not shown in detail). The environmental conditions are determined using a corresponding sensor of the motor vehicle 2 and transmitted, for example, to the on-board computer, by means of which they are subsequently provided. If environmental conditions exist under which the accuracy of the position determination is reduced, the measure 44 is reduced.Such environmental conditions include, for example, comparatively heavy precipitation if the collision protection sensor 18 only has a radar sensor and / or a capacitive sensor. In such precipitation, the signal quality of the measured data is also reduced. If the collision protection sensor 18 only has an optical sensor, however, the dimension 44 is reduced, especially in the dark.

[0052] In addition, the dimension 44 is adjusted depending on the position 42 of the object 22 in the monitoring area 20. If the position 42 is located at the edge of the monitoring area 20, as shown in Figure 3, the dimension 44 is reduced, especially since the detection of the object 22 is only possible there using a portion of the collision protection sensor 18, and therefore not using all of the sensor units. In summary, the dimension is thus determined depending on the signal quality of the measured data, the environmental conditions, and the position 42.

[0053] Furthermore, in the third step 40, it is checked whether the object 42 is moving. If so, a direction of movement and a speed of the object 42 are determined.

[0054] A fourth work step 46 is then performed. In this step, a holding position 48 is determined. For this purpose, a specific distance 50 is first selected, based on which the holding position 48 is determined. When the door 10 is in the holding position 48, it has the predetermined distance 50 from the object 22. The predetermined distance 50 is selected depending on the dimension 44. The predetermined distance 50 is also selected depending on the direction of movement of the object 42 and, if applicable, the speed of the object 42.

[0055] In the situation illustrated in Figure 3, object 22 is not moving, but the environmental conditions are precipitation, which also reduces the signal quality of the measured data. Furthermore, position 42 is located at an edge of the monitoring area 20, so that determining position 42 is subject to a comparatively high degree of uncertainty. Therefore, measure 44 is reduced. As a result, a comparatively large predetermined distance 50 is used. Thus, the holding position 48 is comparatively far from object 22.

[0056] A profile 52 is also selected depending on the dimension. The profile 52 specifies the adjustment speed of the door 10, by means of which the door is to be adjusted through the adjustment range 38 up to the holding position 48, if the door 10 can or will be adjusted solely by means of the electric motor 16. If, on the other hand, the electric motor 16 is only used to support a manual adjustment of the door 10, the profile 52 specifies a counterforce to be provided to the door 10 by the electric motor 16 or a force to be applied thereto, which, like the adjustment speed, depends on the position of the door 10. The counterforce can, for example, be provided solely by means of friction of the hinge 12 and other components of the electric motor door drive 14.To further increase the counterforce, the electric motor 16 can also be energized in such a way that a force acting opposite to the adjustment direction is applied to the door 10. In summary, profile 52 thus stores an adjustment speed or counterforce dependent on the position of the door 10, according to which the electric motor 16 is to be energized. In this case, profile 42 is selected depending on dimension 44.

[0057] If dimension 44 is at a minimum, the adjustment speed corresponds to a minimum speed, namely crawling speed. Otherwise, it is increased, but decreases according to a ramp function as the stop position 48 is approached. The counterforce increases according to a ramp function as the stop position 48 is approached.

[0058] If the door 10 is not yet at the predetermined distance 50 from the object 22, i.e., the door 10 is not yet in the holding position 48, the electric motor 16 is energized according to the profile 52 in a subsequent fifth step 54. As a result, the door 10 is moved toward the object 22.

[0059] Subsequently, the third work step 40 is performed again, and the position 42 and the dimension 44 are determined again. As shown in Figure 4, the dimension 44 may change due to the movement of the door 10. Due to the movement of the door 10 toward the object 22, in the example shown, the object is no longer located merely at the edge of the monitoring area 20. Furthermore, the signal-to-noise ratio of the measured data is also improved due to the reduced distance. As a result, the dimension 44 is improved, even if the environmental conditions remain the same.

[0060] In the subsequent fourth work step 46, the profile 52 as well as the predetermined distance 50 and therefore also the holding position 48 are determined again. Due to the improved dimension 44, the predetermined distance 50 is reduced, and the holding position 48 is offset towards the object 22. If the door 10 is still not in the holding position 48, the fifth work step 54 is performed again, and the electric motor 16 is operated according to the adjusted profile 52. This is repeated until the door is in the holding position 48, wherein the time interval between successive third work steps 40 is 40 ms. Consequently, the holding position 48 is adjusted during the adjustment of the door 10.

[0061] If, however, it is determined in the fourth work step 46 that the door 10 is in the holding position 48, a sixth work step 56 is performed. In this step, the door 10 is left in the holding position 48 and, in particular, the current supply to the electric motor 16 is terminated, at least if the door 10 is adjusted solely by means of the electric motor 16. If, however, the latter merely has a supporting effect, the counterforce applied by the electric motor 16 is expediently increased to a maximum value, so that manual adjustment of the door 10 is essentially no longer possible. Thus, movement of the door 10 against the object 22 is prevented, and the method 32 is terminated.

[0062] In summary, in method 32, door 10 is left in holding position 48 if, during adjustment of door 10, object 22 is detected by collision protection sensor 18 in adjustment range 38. Holding position 48 is selected such that, when door 10 is in holding position 48, it is at a predetermined distance 50 from object 22. Predetermined distance 22 is selected as a function of the degree 44 of accuracy in determining position 42 of object 22. If object 22 is not detected in second step 36 or during adjustment of door 10, door 10 is adjusted through the full adjustment range 38, and only then is electric motor 6 stopped.

[0063] If the object 22 moves, the predetermined distance 50 is also adjusted accordingly. In the situation shown in Figure 5, the object 22 has moved towards the motor vehicle 2 when the door 10 is in the same position as in Figure 4. As a result, the object 22 has entered further into the monitoring area 20, so that the dimension 44 is further improved. However, due to the movement of the object 42 towards the motor vehicle 2, the predetermined distance 50 is selected to be increased, so that the holding position 48 is offset further towards the motor vehicle 2 compared to the situation shown in Figure 3 and Figure 4. If the object 22 moves in the opposite direction, however, the predetermined distance 50 is selected to be reduced. The invention is not limited to the exemplary embodiment described above.Rather, other variants of the invention can also be derived from this by a person skilled in the art without departing from the subject matter of the invention. In particular, all individual features described in connection with the exemplary embodiment can also be combined with one another in other ways without departing from the subject matter of the invention.

[0064] List of reference symbols

[0065] 2 motor vehicles

[0066] 4 wheel

[0067] 6 Body

[0068] 8 Opening

[0069] 10 Door

[0070] 12 camps

[0071] 14 electric door drive

[0072] 16 electric motor

[0073] 18 Collision protection sensor

[0074] 20 Surveillance area

[0075] 22 objects

[0076] 24 Control unit

[0077] 26 computers

[0078] 28 storage

[0079] 30 Computer program product

[0080] 32 procedures

[0081] 34 first step

[0082] 36 second step

[0083] 38 adjustment range

[0084] 40 third step

[0085] 42 positions

[0086] 44 measure

[0087] 46 fourth step

[0088] 48 holding position

[0089] 50 predetermined distance

[0090] 52 Professional

[0091] 54 fifth step

[0092] 56 sixth step

Claims

Claims 1. Method (32) for operating an electromotive door drive (14) of a motor vehicle (2) having a door (10) driven by an electric motor (16), in which method the door (10) is left in a holding position (48) if an object (22) is detected in an adjustment range (38) during an adjustment of the door (10) by means of a collision protection sensor (18), wherein the holding position (48) is selected such that the door (10) has a predetermined distance (50) from the object (22), which distance is selected as a function of a measure (44) of the accuracy of the determination of the position (42) of the object (22).

2. Method (32) according to claim 1, characterized in that the measure (44) is determined as a function of a signal quality of measurement data created by means of the collision protection sensor (18).

3. Method (32) according to claim 1 or 2, characterized in that the measure (44) is determined as a function of environmental conditions.

4. Method (32) according to one of claims 1 to 3, characterized in that the measure (44) is determined as a function of the position (42) within a monitoring area (20) of the collision protection sensor (18).

5. Method (32) according to one of claims 1 to 4, characterized in that when the door (10) approaches the holding position (48) according to a predetermined profile (52), an adjustment speed of the door (10) is reduced or a counterforce provided to the door (10) by means of the electric motor (16) is increased.

6. Method (32) according to claim 5, characterized in that the profile (52) is selected as a function of the dimension (44).

7. Method (32) according to one of claims 1 to 6, characterized in that a direction of movement of the object (42) is determined, the predetermined distance (50) being selected as a function of this direction.

8. Method (32) according to one of claims 1 to 7, characterized in that the holding position (48) is adjusted during the adjustment of the door (10).

9. Electromotive door drive (14) of a motor vehicle (2), which has a door (10) driven by the electric motor (16), and which is operated according to a method (32) according to one of claims 1 to 8.

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