Door speed control depending on the absence of obstacles

Abstract

The invention relates to a method for controlling at least one closing movement of a door device (1), and to a door device (1) having at least one movable door leaf (2, 3) for a public transport vehicle, in particular for a rail vehicle, comprising the following method steps: - closing the door device (2, 3) by moving the at least one door leaf (2, 3) at a specified first speed; - monitoring at least one sub-region (8, 9) of a movement space (4) of the at least one door leaf (2, 3) and, when an object of at least one specified type, shape and / or size is detected in the monitored movement space (4, 8, 9): closing the door device (1) by moving the at least one door leaf (2, 3) at a specified second speed, the second speed being lower than the first speed.

Description

[0001] Description

[0002] Door speed control depending on the absence of obstacles

[0003] Technical field

[0004] The invention relates to a method for controlling a door device and a door device for a vehicle with at least one sliding door leaf.

[0005] Technical background

[0006] Typical door devices for rail vehicles, such as sliding doors or swing-sliding doors as exterior doors of rail vehicles, are widely known. To prevent injuries to people from closing doors, especially from entrapment, certain requirements are specified in relevant standards. For example, the closing force of an automatic exterior door of a rail vehicle may be limited depending on its opening width, as specified, for instance, in DIN EN 14752-2020 (section 5.2.1.4.2.2). This standard limits the kinetic energy of the entire moving system to 20 joules. The effective force is tested at the door using a closing force measuring device. This device must make contact with the contact points on the main closing edge of the door and measures the force upon impact of the moving door. The lower the closing speed of the door upon impact, the lower the measurable closing force.Accordingly, their closing speed must be limited.

[0007] Summary of the invention

[0008] The invention is based on the objective of reducing the closing time of an outer door of a rail vehicle.

[0009] The problem is solved by the subject matter of the independent patent claims. Further developments and embodiments of the invention are found in the features of the dependent patent claims.

[0010] The closing speed of at least one closing door leaf of the door assembly can be increased beyond a limit specified in the standard. An increased closing speed results in a shorter door closing time and consequently shorter train handling times, which represents a significant advantage for the train operator.

[0011] To simultaneously comply with standards and reduce risks to people, a non-contact obstacle detection system identifies a person within the door's movement area and then reduces the door's closing speed to a standard-compliant level. This avoids the need to bring the closing door leaf of the door assembly to a complete stop, thus minimizing processing times. The risk of the door reversing is to be kept to a minimum, as this wastes additional time. A complete stop of the closing movement, or even a reopening of the door, should only occur shortly before imminent entrapment, ensuring that the effective entrapment force is zero.

[0012] The invention can be implemented in an otherwise generic door device solely by means of a modified door control.

[0013] Embodiments of the invention

[0014] The inventive method for controlling at least one closing movement of a door device with at least one movable door leaf for a public transport vehicle comprises the following method steps:

[0015] • Closing the door device by moving at least one door leaf at a predetermined first speed;

[0016] • Monitoring at least a partial area of ​​a movement space of the at least one door leaf and, upon detection of an object of at least one predetermined type, shape and / or size in the monitored movement space: closing the door device by moving the at least one door leaf with a predetermined second speed, wherein the second speed is less than the first speed and wherein the second speed is greater than zero.

[0017] Strictly speaking, this method is a control system, but it can also be described as a control or method for door control. The door device is, for example, a swing-sliding door, but especially a sliding door, for a public transport vehicle, particularly a large-capacity one, and especially for a rail vehicle. The door device is particularly suitable as an exterior door for a rail vehicle. It has at least one movable door leaf. In the case of a sliding door, the at least one door leaf is designed to be movable and is also called a door leaf. The door device can also have two or more movable door leaves. For example, it is a double-leaf sliding door with two opposing sliding door leaves.

[0018] First, a closing signal is detected, for example, triggered by a pressed door closing button. Then, the door is closed by moving at least one door leaf, for example, by sliding the two leaves of a double-leaf sliding door towards each other, at a predetermined initial speed using a suitable door drive. During this closing movement of the at least one door leaf, at least a portion of its movement area is monitored, specifically for the presence of objects of a predetermined type, shape, and / or size that could interfere with the closing movement or pose a hazard. This monitoring can be performed using at least one suitable door sensor.If an object is detected in the monitored movement area, i.e., at least in the monitored part of the entire movement area of ​​the at least one door leaf, in particular by means of the at least one door sensor, the closing speed of the closing door device is then reduced by moving, for example shifting, the at least one door leaf at a predetermined second speed, which is lower than the first speed.

[0019] The door drive is suitably designed and connected to the at least one door leaf to close the door by moving at least one door leaf at at least two speeds. Furthermore, the door drive can be designed and connected to the at least one door leaf to open the door by moving the at least one door leaf. The door drive can include an electric motor.

[0020] The at least one door sensor is suitably designed and arranged to monitor at least a portion of the movement area of ​​the at least one door leaf and to detect corresponding objects of a specified type, shape, and / or size. The movement area is defined as the space within the door device in which the at least one door leaf moves between its closed and open positions, i.e., in which the opening and closing movements of the door device are performed. In the case of a sliding door, and approximately also in the case of a swing-sliding door, the at least one door leaf moves within the opening area of ​​the door device.The opening area of ​​the door device, when the door device is open, extends in particular between a main closing edge of the at least one door leaf and a corresponding closing edge of a door frame or a corresponding door leaf, for example in the case of a double-leaf sliding door, wherein the closing edge opposite the at least one door leaf in the case of a double-leaf door is the main closing edge of the other door leaf of the double-leaf door. The monitored movement area is thus located in front of the main closing edge of the at least one door leaf in the direction of the closing movement of the at least one door leaf.

[0021] In addition to other objects, the opposing closing edge of the door frame or the main closing edge of another door leaf, for example in the case of a double-leaf door, which approaches the main closing edge of the at least one door leaf during the closing process, can also be detected, and the closing speed of the at least one door leaf can then be reduced accordingly from the first speed to the second speed. In the case of a double-leaf door, especially with opposing moving door leaves, the method is further developed and applied to both door leaves:

[0022] • Closing both door leaves of the double-leaf door device by moving both door leaves at a predetermined initial speed;

[0023] • Monitoring at least a partial area of ​​a movement space of the door leaves and, upon detection of an object of at least one specified type, shape and / or size in the monitored movement space: closing the door device by moving both door leaves at a specified second speed, where the second speed is lower than the first speed.

[0024] The door sensor can be designed as an optical sensor or as an acoustic sensor, in particular as a so-called time-of-flight sensor or as a LIDAR sensor.

[0025] The door drive is controlled, and thus the closing speed is set based on a signal from at least one door sensor, in particular by means of a door control unit that is connected to the door drive and the at least one door sensor via a signal connection. The door control unit is designed accordingly. Furthermore, the door control unit, especially in conjunction with the at least one door sensor, can be configured to detect obstacles in the monitored movement area. If, for example, the door sensor is designed as an optical sensor, such as a camera, the image signal it transmits to the door control unit can be evaluated by means of an image recognition algorithm implemented on the door control unit.A door device according to the invention, in particular a sliding door device or a swing-sliding door device, for a vehicle, in particular for a large-capacity public transport vehicle, especially for a rail vehicle, is configured to carry out the method according to the invention. It comprises the means already mentioned, suitable for carrying out the respective method step:

[0026] • At least one door leaf that can be moved within a given movement space;

[0027] • At least one door drive for closing, in particular for opening and closing, the door device by moving the at least one door leaf with a predetermined first speed and with a predetermined second speed, wherein the second speed is lower than the first speed;

[0028] • At least one door sensor for monitoring at least a partial area of ​​the movement space of the at least one door leaf and for outputting a signal to a door control device when an object is detected in the monitored movement space of the at least one door leaf;

[0029] • At least one door control device which is connected to the at least one door sensor and the at least one door drive via a signal connection and is suitable for controlling the at least one door drive, so that the door device is initially closed by moving the at least one door leaf at the predetermined first speed, wherein the door control device is further configured to receive and process the signal from the at least one door sensor when an object is detected in the monitored movement area of ​​the at least one door leaf and then to control the at least one door drive in such a way that the door device is closed, in particular only, when an object of at least one predetermined type, shape and / or size is detected in the monitored movement area by moving the at least one door leaf at the predetermined second speed.

[0030] As explained above, a door device is specifically an exterior door of a rail vehicle that, when open, allows passengers to board and alight, and when closed, seals an opening for the door device, such as a door frame or door portal opening, in the vehicle's exterior. Such exterior doors for passengers of public transport vehicles are also referred to as boarding doors.

[0031] A vehicle according to the invention, in particular a rail vehicle for public passenger transport, comprises at least one door device according to the invention. In a further development, several, in particular all, entrance doors of the vehicle are designed as door devices according to the invention.

[0032] The door control device can be designed as a computing unit on which a computer program is installed. This program comprises the commands that, when executed by the door device, and in particular by the door control device, cause it to execute the method according to the invention. Furthermore, the computer program can be stored on a storage device for the computer program, which provides the computer program. In particular, the storage device is a data carrier on which the computer program is stored.

[0033] As already explained above, the invention is characterized in that the at least one door leaf of the door device can be closed at a high speed, wherein at least one door sensor, leading the main closing edge of the at least one door leaf, monitors at least a predetermined part of the movement space of the at least one door leaf of the door device for obstacles and, upon detection and / or recognition of an obstacle, the at least one door leaf is decelerated to a lower speed level.

[0034] According to a further development of the invention, the entire range of motion of the at least one door leaf of the door device is monitored, at least between a main closing edge of the at least one door leaf and a counter-closing edge of the door device opposite the main closing edge of the at least one door leaf, in particular by means of a suitably designed and arranged door sensor of the door device. In particular, the entire opening range of the door device is monitored. As already explained above, the counter-closing edge opposite the main closing edge of the at least one door leaf comes into contact with the main closing edge of the at least one door leaf when the door device is closed, in particular to close the door without a gap. In the case of a double-leaf sliding door with opposing moving door leaves, the main closing edge of the further (second) door leaf acts as the counter-closing edge of the at least one (first) door leaf.

[0035] A further development provides that when an object is detected within the monitored movement area—in this case, the entire movement area of ​​at least one door leaf of the door assembly—the distance of the detected object to the main closing edge of the at least one door leaf is determined. If a predetermined safety distance between the detected object and the main closing edge of the at least one door leaf is breached, the at least one door leaf is moved at the predetermined second speed. The distance of the object to the main closing edge of the at least one door leaf of the door assembly can be determined by the door control unit, in particular based on the signals transmitted by the door sensor. The door control unit can determine a distance from a signal of the door sensor, or the door sensor can acquire a measured value of the distance of the detected object and transmit this value to the door control unit.The door control device and / or door sensor are designed accordingly. During the closing process of the door device, the closing speed of the at least one door leaf is reduced from the first speed to the second speed only if the detected object within the monitored movement area of ​​the at least one door leaf falls below the specified safety distance. If the detected object's distance to the at least one door leaf is greater than or equal to the specified safety distance, the door device continues to close by moving the at least one door leaf at the specified first speed.

[0036] Following further development, if the detected object falls below a predetermined minimum distance to the main closing edge of at least one door leaf, the at least one door leaf is moved at a predetermined third speed, or the closing movement of the at least one door leaf is stopped, where the third speed is lower than the second speed. The third speed can also be zero. The first and second speeds, however, are greater than zero. The minimum distance is less than the safety distance. Both the minimum distance and the safety distance are greater than zero.

[0037] According to an alternative embodiment for monitoring the entire movement range of the at least one door leaf of the door device between the main closing edge of the at least one door leaf and the corresponding counter-closing edge, only a partial area of ​​the movement range of the at least one door leaf is monitored during the closing movement of the at least one door leaf. This is, in particular, a partial area of ​​the movement range of the at least one door leaf that precedes the closing movement of the at least one door leaf, with a predetermined distance in the plane of the door leaf to the main closing edge of the at least one door leaf, which corresponds to the aforementioned predetermined safety distance.The length of the monitored portion of the movement space of the at least one door leaf in the closing direction of the at least one door leaf, at least between a main closing edge of the at least one door leaf and a counter-closing edge of the door device opposite the main closing edge of the at least one door leaf, thus corresponds to the specified safety distance. Similarly, in a further development, when an object is detected in the monitored movement space, the distance of the detected object to the main closing edge of the at least one door leaf can be determined, and if a specified minimum distance of the detected object to the main closing edge of the at least one door leaf is not reached, the at least one door leaf can be moved at a specified third speed or the closing movement of the at least one door leaf can be stopped, the third speed being lower than the second speed.Analogous to the above, where the entire movement area is monitored, the distance of a detected object to the main closing edge of the at least one door leaf can also be determined in the monitored sub-area of ​​the entire movement area, in particular by means of the door control device based on the signals and / or the measured values ​​of the door sensor, and the closing movement of the at least one door leaf can be slowed down to the third speed or stopped if the determined distance is less than the specified minimum distance.

[0038] In addition to stopping the closing movement of at least one door leaf when the detected object falls below a predetermined minimum distance to the main closing edge of the door leaf, the system can further refine the opening of at least one door leaf for at least a predetermined distance. Opening the door leaf for a short distance after stopping the closing movement is called reversing. The stopping and, if necessary, reversing of the door leaf is performed before it reaches the object detected in the monitored movement area, and thus without contact and before a collision with the object.

[0039] The monitoring system, in particular by means of at least one door sensor, monitors at least a portion of the movement area of ​​the at least one door leaf in front of its main closing edge in the closing direction of the at least one door leaf; in the case of a sliding door, this means at least in the plane of the at least one door leaf. Conventional door sensors, such as those mentioned above, typically do not measure two-dimensionally, but rather exhibit a specific directional characteristic, which, for example, can be approximately club-shaped, teardrop-shaped, or wedge-shaped, starting from the main closing edge of the at least one door leaf. Other directional characteristics or sensor fields are also known. Depending on the arrangement of the at least one door sensor, other spatial areas around the movement area of ​​the at least one door leaf can also be monitored, thus detecting the approach of moving objects to this movement area.The at least one door sensor can be further developed to monitor a predetermined area around the movement space of the at least one door leaf in order to detect an approach of an object to the movement space of the at least one door leaf.

[0040] According to a further embodiment of the invention, during the closing process of the door device, an area perpendicular to the movement space of the at least one door leaf is monitored, so that an approach of an object to the movement space of the at least one door leaf can be detected, and upon detection of an object approaching the movement space of the at least one door leaf, the door device is closed by moving the at least one door leaf at the predetermined second speed. The approach of an object into the movement space of the at least one door leaf, or into an open door gap of the door device between the main closing edge of the at least one door leaf and its opposing closing edge, occurs from a spatial direction with a component perpendicular to the plane of the opening, or with a directional component perpendicular to the plane of the at least one door leaf of a sliding or pivot-sliding door.

[0041] According to a further embodiment, the speed at which the at least one door leaf closes is reduced from the first speed to the second and / or third speed only when an object of a predetermined type, shape, and / or size is detected in the monitored movement area or when approaching it. If no object is detected in the monitored movement area or when approaching it, or if the object does not meet the predetermined criteria regarding type, shape, and / or size, the at least one door leaf continues to move at the first speed. The reduction in speed thus occurs solely depending on whether an object is detected.

[0042] In a further development of the invention, the second speed is predetermined depending on the type, shape, and / or size of the detected object. Depending on the type, shape, and / or size of the detected object in the monitored movement area or when approaching it, the second speed can thus be variably adjusted; that is, its level is predetermined depending on the detected or recognized object and thus adapted to the type, shape, and / or size of the object. Thus, the speed can be selected or predetermined depending on the detected object. The aforementioned image recognition can be used for this purpose. If an object is detected and classified as critical, for example, a passenger's body part, the speed is reduced to minimize risks to passengers. For detected objects, however, the closing speed can only be reduced to the extent that there is no risk of damage to the door mechanism.

[0043] In principle, speed reduction can only occur if a relevant object is detected. If, for example, insects, pollen, or other objects are detected that pose neither a damage to the door mechanism nor a danger to a relevant object, such as a person, the initial closing speed can be maintained.

[0044] According to a further embodiment, the first velocity is set such that the kinetic energy of at least one door leaf of the door device, in particular the kinetic energy of the at least one door leaf and the parts of the door device connected to and moving with the at least one door leaf, exceeds 15 joules, in particular 20 joules. For example, the at least one door leaf is connected to the door drive via an arm, the arm contributing at least in part to a mass of the door device moving with the at least one door leaf.

[0045] The first speed is determined, in particular, based on the mass of the entire moving system of the at least one door leaf of the door device, and its height is specified such that the kinetic energy of the entire moving system of the at least one door leaf of the door device is greater than permitted in a standard, and in particular exceeds 20 joules. The second speed, on the other hand, is less than or equal to the maximum speed specified in the standard – the kinetic energy of the entire moving system of the at least one door leaf of the door device is in particular less than 20 joules, and in particular less than 15 joules.

[0046] The first speed can take values ​​of, for example, up to 0.5 m / s. The second speed, however, is lower, but at least 0.1 m / s. The third speed is specified between 0 m / s and the level of the second speed.

[0047] The invention prevents an object from being trapped in or by the door mechanism. A theoretical clamping force can exceed 300 N at the first speed. The second speed, however, is selected such that the theoretical clamping force is less than or equal to 300 N. The safety distance can be predetermined depending on the first speed or fixed. Advantageously, it is at least 200 mm, particularly at least 100 mm, but at most 400 mm. The minimum distance can be predetermined depending on the second speed or fixed. It is preferably at least 20 mm, particularly at least 10 mm, but at most 100 mm.

[0048] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

[0049] The invention allows for numerous embodiments. It is explained in more detail with reference to the following figures, each of which illustrates an exemplary embodiment. Identical elements in the figures are designated with the same reference numerals.

[0050] Exemplary embodiments of the drawing

[0051] Fig. 1 schematically shows an embodiment of a door device according to the invention, Fig. 2 schematically shows another embodiment of a door device according to the invention.

[0052] Fig. 3 shows a flowchart of an embodiment of a method according to the invention.

[0053] Detailed description of the exemplary implementations

[0054] Figure 1 schematically illustrates an embodiment of a door device 1 according to the invention for a rail vehicle used in public transport. The door device 1 is designed as a double-leaf sliding door and accordingly comprises two opposing door leaves 2 and 3. The door device 1 is shown in the open position. The respective main closing edges 6 and 7 of the door leaves 2 and 3 face each other. In the open position shown, an opening area 4 of the door device 1 is formed between the main closing edges 6 and 7, which is free for passage. In the closed position of the door device, the opening area 4 is covered by the door leaves 2 and 3, with the main closing edges 6 and 7 of the door leaves 2 and 3 abutting each other. The opening area 4 can also be referred to as the clear opening.

[0055] Arrows 5 indicate the respective closing direction of door leaves 2 and 3, and thus the direction in which they move when the door mechanism closes. In this embodiment, the respective movement range of door leaves 2 and 3 is half of the total clear opening 4. A door drive by means of which the door leaves 2 and 3 are moved is not shown in detail. In addition, a door control device may be provided that controls the door drive.

[0056] At the start of the closing process, door leaves 2 and 3 are moved towards each other at a predetermined initial speed. This initial speed can be selected and set by the door control device so that door leaves 2 and 3 move faster than permitted by standards. The initial speed is therefore very high and can be within the technically feasible yet practical range.

[0057] During the entire closing process, a sub-area 8 and 9 of a predetermined size within the total movement space of the door leaves 2 and 3, extending in front of the respective main closing edges 6 and 7 at a predetermined distance in the closing direction of the respective door leaves 2 and 3, is monitored for objects of a predetermined type, shape, and / or size, in particular obstacles, by means of at least one door sensor, which is also not shown in detail here. Thus, only a sub-area 8, 9 of the movement space, which advances ahead of the moving main closing edges, is monitored for obstacles.

[0058] If such an object is detected in one of the monitored movement areas 8 and 9, the corresponding door leaf 2 or 3, or in particular both door leaves 2 and 3, is then moved at a second speed, thereby closing the door device 1. This second speed is lower than the first. Specifically, the second speed complies with normative requirements. The door device 1 therefore closes quickly as long as there is no obstacle directly in front of the door leaf's path. Upon obstacle detection, it is slowed down to a lower speed and closes more slowly.

[0059] Fig. 2 also shows a door device 1 designed as a double-leaf sliding door.

[0060] It also features two opposing sliding door leaves 2 and 3. In contrast to Fig. 1, however, in the embodiment according to Fig. 2, the entire movement range of the door leaves 2 and 3, and thus the entire opening area 4 between the main closing edges 6 and 7, is monitored for obstacles during the closing process of the door device. As with the embodiment according to Fig. 1, the following also applies here: if at least one object of a given type, shape, and / or size is detected in the monitored movement range during the closing process of the door device 1, the closing speed of the door leaves 2 and 3 of the door device 1 is reduced to a lower, second speed.

[0061] As above, the at least one door drive is suitably configured, at least with regard to the speed of the closing movement of the door leaves, and can be controlled accordingly by the door control unit. The door control unit controls the closing speed depending on the signal transmitted by the at least one door sensor, which is why, strictly speaking, a control system for the door device 1 exists. The at least one door drive can be designed as an electric motor and, like the at least one door sensor, is arranged in a suitable location within the public transport rail vehicle. For example, the door drive is arranged on a door frame of the door device 1. The door sensor can also be arranged on the door frame, on the door leaves, or elsewhere.

[0062] Figure 3 illustrates a flowchart of an embodiment of the method according to the invention. First, in step 10, a trigger signal for closing an open door device is received. The door device is then closed by moving at least one door leaf of the door device at a first predetermined speed (step 11). Simultaneously, at least a partial area of ​​the movement space of the at least one door leaf of the door device is monitored. If, in step 12, an object of a predetermined type, shape, and / or size is detected in the monitored movement space, or if the object approaches it, the door device is further closed by moving at least one door leaf of the door device at a second predetermined speed (step 13), the second speed being lower than the first speed.If, however, no object of a specified type, shape, and / or size is detected, the door mechanism continues to close at the first speed (step 11). Step 14 marks the end of the closing movement with the door mechanism closed.

[0063] Regardless of the grammatical gender of a particular term, persons with male, female or other gender identities are included.

Claims

Patent claims 1. Method for controlling at least one closing movement of a door device (1) with at least one movable door leaf (2, 3) for a public passenger transport vehicle, comprising the following procedural steps: • Closing the door device (2, 3) by moving at least one door leaf (2, 3) at a predetermined first speed; • Monitoring at least a partial area (8, 9) of a movement space (4) of the at least one door leaf (2, 3) and, upon detection of an object of at least one predetermined type, shape and / or size in the monitored movement space (4, 8, 9): closing the door device (1) by moving the at least one door leaf (2, 3) with a predetermined second velocity, wherein the second velocity is less than the first velocity and wherein the second velocity is greater than zero.

2. Method according to claim 1, characterized in that the at least one door leaf is moved by means of a door drive and / or the monitored movement space (4, 8, 9) of the at least one door leaf (2, 3) is monitored by means of a door sensor.

3. Method according to one of claims 1 or 2, characterized in that the entire movement space (4) of the at least one door leaf (2, 3) is monitored at least between a main closing edge (6, 7) of the at least one door leaf (2, 3) and a counter-closing edge (7, 6) of the door device (1) opposite the main closing edge (6, 7) of the at least one door leaf (2, 3).

4. Method according to claim 3, characterized in that when an object is detected in the monitored movement space (4, 8, 9) a distance of the detected object to the main closing edge (6, 7) of the at least one door leaf (2, 3) is determined and when a predetermined safety distance of the detected object to the main closing edge (6, 7) of the at least one door leaf (2, 3) is undercut, the at least one door leaf (2, 3) is moved at the predetermined second speed.

5. Method according to claim 4, characterized in that if a predetermined minimum distance of the detected object to the main closing edge (6, 7) of the at least one door leaf (2, 3) is not reached, the at least one door leaf (2, 3) is moved at a predetermined third speed or the closing movement of the at least one door leaf (2, 3) is stopped, wherein the third speed is lower than the second speed.

6. Method according to one of claims 1 or 2, characterized in that a partial area (8, 9) of the movement space (4) of the at least one door leaf (2, 3) is monitored at a predetermined safety distance to the main closing edge (6, 7) of the at least one door leaf.

7. Method according to claim 6, characterized in that when an object is detected in the monitored movement space (4, 8, 9), a distance of the detected object to the main closing edge (6, 7) of the at least one door leaf (2, 3) is determined, and when a predetermined minimum distance of the detected object to the main closing edge (6, 7) of the at least one door leaf (2, 3) is undershot, the at least one door leaf (2, 3) is moved at a predetermined third speed or the closing movement of the at least one door leaf (2, 3) is stopped, wherein the third speed is lower than the second speed.

8. Method according to one of claims 1 to 7, characterized in that the second speed is predetermined depending on the type, shape and / or size of the detected object.

9. Method according to one of claims 1 to 8, characterized in that the first speed is specified such that the kinetic energy of at least one door leaf (2, 3) of the door device (1) exceeds 20 joules.

10. Method according to any one of claims 1 to 9, characterized in that an area perpendicular to the movement space (4) of the at least one door leaf (2, 3) is monitored, so that an approach of an object to the movement space (4) of the at least one door leaf (2, 3) can be detected and, upon detection of an object approaching the movement space (4) of the at least one door leaf (2, 3), the door device (1) is closed by moving the at least one door leaf (2, 3) at the specified second speed.

11. Method according to one of claims 5 or 7, characterized in that the closing movement of the at least one door leaf (2, 3) is stopped and the at least one door leaf (2, 3) of the door device (1) is opened at least a predetermined distance.

12. Door device (1) for a public passenger transport vehicle comprising: • At least one door leaf (2, 3) that can be moved within a given movement space (4); • At least one door drive for closing the door device by moving the at least one door leaf (2, 3) with a predetermined first speed and with a predetermined second speed, wherein the second speed is lower than the first speed; • At least one door sensor for monitoring at least a partial area (8, 9) of the movement space (4) of the at least one door leaf (2, 3) and for outputting a signal to a door control device when an object is detected in the monitored movement space (4) of the at least one door leaf (2, 3); • At least one door control device for controlling the at least one door drive, wherein the door control device is configured to control the at least one door drive in such a way that the door device is closed first by moving the at least one door leaf (2, 3) at the predetermined first speed and, upon detection of an object of at least one predetermined type, shape and / or size in the monitored movement space (4, 8, 9), by moving the at least one door leaf (2, 3) at the predetermined second speed.

13. Vehicle comprising at least one door device (1) according to claim 12.

14. Computer program product for a door control device of a door device according to claim 12 comprising commands which, when the program is executed by a suitable door control device of the door device, cause it to execute the method according to one of claims 1 to 11.

15. Provisioning device for the computer program product according to claim 14, wherein the provisioning device stores and / or provides the computer program product.

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