WO2003004816A1

WO2003004816A1 - Method and device for opening and closing a part which can be rotated or tilted on a vehicle

Info

Publication number: WO2003004816A1
Application number: PCT/DE2002/002394
Authority: WO
Inventors: Achim Neubauer; Martin-Peter Bolz; Jochen Moench; Hartmut Krueger; Hartmut Brammer
Original assignee: Robert Bosch Gmbh
Priority date: 2001-07-06
Filing date: 2002-06-28
Publication date: 2003-01-16
Also published as: EP1407106B2; DE10132886A1; EP1407106B1; EP1407106A1

Abstract

The invention relates to a method and a device for opening and closing a part (10) which can be rotated or tilted on a vehicle, especially a door (60) of a hinged window, a boot lid, an engine bonnet (12) or a folding roof. According to the invention, the part (10) is displaced between a closed position and an open position, and when the part (10) is open and/or closed, obstructions (30) are detected and the displacement of the part (10) is stopped or reversed by means of a control unit (28).

Description

Method and device for opening and closing a part rotatably or tiltably mounted on the vehicle

State of the art

The invention relates to a method and a device for opening and closing a part rotatably or tiltably mounted in a vehicle, in particular a door, an opening window, a trunk lid, a bonnet or a folding roof, according to the preamble of the independent claims.

DE 199 34 629 AI discloses a device for opening and closing a flap mounted on a vehicle in a hinge-like manner, for example a trunk lid. In this case, a drive is actuated by means of a control, which moves the flap between an opening position and a closing position, the respective position of the opening being determined. The electric motor is connected via a swivel joint to a lever mechanism, which in turn is connected to the flap via a swivel joint.

If the driver then automatically actuates such a flap using a switch on the dashboard, there is a risk that the flap will hit an obstacle when it is opened and become damaged or cause external damage. When the flap is closed by a motor, there is a risk that objects or parts of the body can become trapped and not inconsiderably damaged.

Advantages of the invention

The method according to the invention with the characterizing features of claim 1 has the advantage that obstacles in the immediate vicinity of the vehicle are detected in good time when a rotatably or tiltably mounted part is opened and the part is stopped before hitting an obstacle. The obstacle is recognized regardless of whether the part is operated by motor or manually. In addition, when the part closes, an obstacle that is 5 between the part and the vehicle is ^• registered and the movements of the part are stopped or reversed if the part already touches the obstacle. This prevents both the risk of injury from pinching body parts and damage to your own L0 vehicle or objects surrounding it.

Advantageous developments of the method according to claim 1 are possible due to the features listed in the subclaims. Are on the outside and / or inside of the

L5 movable part sensors arranged, obstacles are detected early, completely independent of the actuating mechanism of the part, so that the movements of the part can be stopped or reversed when a minimum distance to the obstacle is reached. The sensor signals become one

10 control unit fed either the motor

Controls movements of the part, or influences the manual movements of the part. - The sensors can also be arranged on the body, for example on the door or window frame, around the range of motion of the movable

15 ^• To be partially monitored.

Since doors and flaps are usually only operated when the vehicle is at a standstill, the sensors only need to be ready for operation below a minimum speed. This protects the sensors and saves energy for operating the sensors.

It is particularly favorable for the method to use ultrasonic sensors or sensors which emit and receive 5 electromagnetic waves (RADAR). The transmitter and receiver can advantageously be in one component be united. These sensors can detect an obstacle without contact, which means that the part can be stopped before hitting the obstacle.

5 Ideally, the sensors should be arranged so that their

Radiation fans cover the entire inside and / or outside surface of the part. If the sensors are moved with the part, the sensitivity of the obstacle detection remains the same in every position of the part. The overlap L0 of the entire surface of the part ensures that every obstacle in the movement area of the part is detected in good time.

If the sensors are attached to the body, include

L5 their radiation cone the entire adjustment range of the part. In order to reliably detect an obstacle, it is advantageous if a reference signal of the undisturbed movement sequence of the part is stored in the control unit. Now the detected sensor signal deviates from the stored one

20 reference signal, this deviation is recognized as an obstacle and the movement of the part is stopped or reversed. With this method, the movement of moving parts with a complex or changing structure (folding roof) can be monitored safely. advantageously,

! 5 the sensors can remain active for any period of time that can be set even when the vehicle is parked. For example, a sensor attached to the inside of a bonnet can register the intrusion of animals, especially martens, into the engine compartment and trigger a warning signal 0 in order to drive these animals away. The

Operational readiness of the sensor can be selected according to the cooling time of the motor. Another advantage of the operational sensors when the vehicle is parked is the implementation of burglary protection. So the sensors can

5 both as a motion detector in the interior of the vehicle and in the immediate vicinity of the vehicle Register unauthorized entry into the vehicle and trigger an alarm signal.

If the rotatably or tiltably mounted part is actuated by a motor, it is particularly favorable to detect one

Obstacle to continuously measure a parameter that is characteristic of the adjusting force applied by the motor. As a result, both a jamming between the part and the body and the movement of the part against an external obstacle can be detected as soon as the measured parameter exceeds or falls below a predetermined limit value. Particularly suitable parameters are the speed, the torque or the motor current.

An obstacle is detected particularly reliably if the contactless sensors are combined with the detection of the parameter representing the adjusting force of the part. In a first stage, the obstacle is already detected by the sensors before touching it and, if the obstacle is not detected by them or the part was not stopped / reversed in time, in a second stage the obstacle is touched by the part by means of the Adjusting force representing parameters detected.

Another possibility is to divide the movement area of the part into different danger areas. For example, an obstacle can be detected with the part wide open by means of sensors and immediately before it is completely closed by means of the parameter representing the adjusting force. This ensures a higher level of security against the risk of being pinched.

In a further variation, the function of the detection by means of sensors can be monitored by the parameter representing the adjusting force of the part. Doing so primarily evaluates the sensor signal but also simultaneously compares it with the result of the measurement of the parameter representing the adjusting force. Areas in which obstacles are primarily detected using the parameter representing the adjusting force can also be monitored by comparison with the sensor signal. This also increases the reliability of obstacle detection.

10 Operating the motor-driven part by remote control represents a significant increase in comfort. The reliable implementation of obstacle detection prevents damage to the part / obstacle or jamming.

L5

In the event of an accident, the obstacle detection function is preferably switched off. The control unit receives a signal, for example, from the triggering device of the airbag. B. a door with maximum force without

-0 Consider opening an obstacle detection. This makes it much easier for the occupants to get out or salvage after an accident.

Favorably, there is also the possibility of actively switching off the function 25 of the obstacle detection, for example to open a part despite being touched by soft, elastic obstacles (plants). It can also maintain the part closing function in the event of unwanted intrusion attempts. .0

In a further embodiment of the invention, the sensors determine the distance to a potential obstacle in the movement range of the part in order to calculate an admissible opening / closing angle of the part. This can be done 5 before the part is moved and updated during the movement process. The calculated permissible opening / closing angle is compared with the position of the part determined by the position detection and stopped before reaching the permissible opening / closing angle. The position detection is preferably carried out by measuring the speed or another

Adjustment of the parameter representing the part. This method is particularly suitable for opening a door when exiting in a narrow parking space.

The method according to the invention is advantageously used in devices for opening and closing doors, opening windows, trunk lids, bonnets and folding roofs on motor vehicles. This increases comfort while minimizing the risk of injury or damage.

The use of ultrasound sensors is particularly favorable since they deliver reliable reception signals, particularly at short distances. This is also parallel to the surface of the part for the radiation of the waves

Sensor with combined transmitter and receiver is particularly suitable.

Alternatively, RARDAR sensors can be used that have been adequately tested by other applications, such as park pilot systems (short ranks RADAR). Interference sources that reduce the reliability of the detection are excluded with a high degree of certainty.

It is advantageous if the part, for example a

Vehicle door, is designed to be bendable, as this creates more space, for example, for getting in or out. The more complex movement mechanism can also be reliably monitored by the sensors in order to avoid a collision with an obstacle. On In this way, the folding roof can be stowed very compactly when the vehicle is open.

If the device has a locking mechanism or a braking device, for example in the hinge region of the part, then if an obstacle is detected, even if the part is moved manually, it can be stopped before touching the obstacle. For this purpose, the sensors send a signal to the control unit, which then activates, for example, a lock or an electromagnetic braking device. This can prevent a non-motor-operated part from hitting an obstacle.

If the device for actuating the part has an electric motor, the part can be stopped or reversed in a simple manner before reaching the obstacle by switching it off or reversing the polarity. In the case of motor-driven parts, there is also the additional possibility of detecting an obstacle by means of a parameter to be measured, which represents the adjusting force of the part - and thus the motor force.

drawing

Several exemplary embodiments of the method and device according to the invention are shown in the drawing and explained in more detail in the description below. 1 shows an exemplary embodiment of a motor-operated bonnet in section, FIGS. 2a and 2b the representations of an ultrasound sensor, FIGS. 3a to 3f different sensor arrangements on a vehicle door, FIG. 4 the sensor arrangements of a tailgate, and FIG. 5 the sensor arrangement for actuation a trunk lid and 6 shows schematically the arrangement according to the invention of a multi-part vehicle door.

Description of the embodiments

The exemplary embodiment shown in FIG. 1 shows, as a movable part 10, an engine hood 12 according to the invention which can be opened and closed via a linkage 14 by means of an adjusting motor 16. The hood is rotatably supported by a hinge 18. At the

The outside and the inside 20, 22 of the hood 12 are arranged in the vicinity of the hinge 18 sensors 24 such that their radiation cones 23 essentially cover the entire outer surface 20 and inner surface 22 of the hood 12.

To open or close the hood 12, for example, an operating switch 26 is actuated inside the vehicle, which actuates the adjusting motor 16 via a control unit 28. The control unit 28 moves the

Sensors 24 are ready for operation so that they send a signal to the control unit 28 as soon as the part 10 approaches an obstacle 30 to a minimum distance 32. The minimum distance 32 can be given by the dimensions of the radiation cone 23, or the position and the distance of the obstacle from the sensors 24 can be determined. If an obstacle 30 is detected by the sensors 24, the control unit 28 stops or reverses the adjustment motor 16. When opening and closing, the part 10 sweeps over a movement area 34 which is divided into different detection areas 36, 38. In the detection area 36, an obstacle 30 between the part 10 and the body 11 is detected by means of the sensors 24, and in the detection area 38, shortly before the hood is closed, an obstacle 30 is pinched by the Measuring a parameter representing the adjusting force of the part 10 is detected.

In the exemplary embodiment, the parameter representing the adjusting force of the 5 part 10 is the speed of the

Adjustment motor 16 measured continuously and compared with a previously determined limit value. If the speed falls below this threshold value as long as part 10 is not yet completely closed, this is called a pinching event

10 interpreted an obstacle 30. A signal is then sent to the control unit 28, which stops or reverses the adjusting motor 16. For the differentiation of the detection areas 36, 38, a position detection 40 is necessary which determines the position of the part 10

L5 is detected, for example, by means of two Hall sensors arranged offset on the motor shaft of the adjusting motor 16. Likewise, an obstacle 30 is detected when the part 10 is opened by means of the measured rotational speed and its comparison with a threshold value when the part 10 is opened on

20 obstacle 30 is present. Usually they are both

Detection method for obstacle detection active at the same time. An obstacle 30 is detected by the sensors 24 before the part 10 touches the obstacle 30. If the part 10 is stopped too late, or an obstacle 30 from the

In a second step, 25 sensors 24 are overlooked

Obstacle 30 is detected by means of the speed measurement (parameters representing the adjusting force). This two-stage system is used when opening and closing part 10 and provides a high level of security.

■ 0

In a variant, the function of the sensors 24 in the detection area 36 can also be monitored by measuring the speed (parameters representing the adjusting force). For example, the sensors 24 do not deliver a pinching signal when closing 5, although the

Speed measurement detects an obstacle 30, a Test mechanism of sensors 24 activated. The same applies if there is no pinching signal of the speed measurement in the detection area 38 if the sensors 24 detect an obstacle 30 for this area. Alternatively, the 5 two detection methods for each detection area 36, 38 can be weighted as desired by means of a microprocessor 29 in the control unit 28 or the signals can be subjected to a processing algorithm.

L0 As an alternative to operating the bonnet 12 using the operating switch 26, it can also be opened and closed by remote control. The sensors 24 are activated when the remote control is operated or when the speed falls below a predetermined minimum

L5 (e.g. 20 km / h) is automatically put into operational readiness.

FIGS. 2a and 2b show the structure of an ultrasound sensor 42 as it is in the exemplary embodiment according to FIG. 1

10 is used. The ultrasonic waves are generated by means of a membrane 46 arranged on a printed circuit board 44, which is located at one end within a damping medium 48 and a transducer element 50. In the construction shown, the transmitter 52 and the receiver are

5 54 identical in construction (membrane 46), so that by means of a

Microprocessor 56 first sends a signal and is switched to reception in the subsequent period. Typically, the send and receive times are approximately one millisecond and 49 milliseconds. Through the

0 Setting the reception time, the range of the ultrasound sensor 42 can be set via the transit time of the reflected signal. In an alternative embodiment, the transmitter 52 and the receiver 54 are implemented by two separate membranes 46. This can be done simultaneously

5 are sent and received, making extremely short Running times and therefore very small distances between sensor 24 and obstacle 30 can be registered.

As a further alternative, sensors 24 are used which emit electromagnetic waves, in particular short-distance RADAR sensors. The RADAR sensors are arranged in the same way as the ultrasonic sensors. An advantage of the radar sensors is the lower probability of interference sources.

FIGS. 3a to 3f show different arrangements of ultrasonic sensors 42 using the example of a vehicle door 60. In FIG. 3a, only one sensor 24 is attached to the outer surface 20 of the vehicle door in the vicinity of the hinge 18. Since the door edge 62 facing away from the hinge 18 is the largest

It is particularly important that this entire edge 62 is covered by the radiation cone 23 of the sensor 24. The thickness 64 of the radiation cone 23 perpendicular to the door surface is predetermined by the construction of the sensor 24. This thickness 64 can be defined in a simple manner as a minimum distance 32 from part 10 to obstacle 30. In FIG. 3a, two sensors 24 are arranged diagonally so that their radiation cones 23 overlap. So that the transmission signal of one sensor 24 is not received directly by the other sensor 24, the two transmitters are operated either alternately in time or at different transmission frequencies. 3c, two sensors 24 are also arranged diagonally, the two radiation cones 23 not overlapping here. In FIG. 3d, two sensors 24 are arranged on the upper edge 66 of the vehicle door 60, the radiation cones 23 on the lower edge 68 of the vehicle door being at a certain distance from the same due to the profile of the door 60. In this arrangement, a larger minimum distance 32 from the obstacle 30 is predetermined on the lower edge 68 of the door for geometric reasons. With several overlapping radiation cones 23, the location of the obstacle 30 and its distance from the door 60 can be determined very precisely, as a result of which the obstacle is detected even more reliably. The sensor arrangement in FIG. 3e is analogous to that in FIG. 3a. The sensor 24 is only integrated in the outside mirror 70. In FIG. 3f, the sensor 28 is arranged in the middle of the door surface and is designed as an all-round view sensor. That is, that signals are sent and received parallel to the outer surface 20 of the door 60 in the angular range of 360 °.

LO

In FIG. 4, a plurality of sensors 24 are arranged in the transverse direction in a rear spoiler 72 of a hatchback with a tailgate 73. The sensors 24 are also moved here with the tailgate 73, as in the vehicle door 60, so that when the tailgate 73 is opened, an obstacle 30 is detected as soon as the tailgate 73 approaches this to a minimum distance 32.

In FIG. 5, the sensors 24 are firmly attached to the body 11 20 of the vehicle in order to monitor the range of motion 34 of a trunk lid 74. Here, the sensors 24 are not moved, i. H. that the trunk lid 74 moves as a movable part 10 into the radiation cone 23 of the sensors 24, which cover the entire path of movement 34. With this method, however, it is necessary to store the sensor signal curve of the undisturbed opening / closing of the part 10 in the control unit 28 as a reference signal. If an obstacle 30 occurs in the movement range 34 of the> 0 part 10, the sensors 24 detect one of them

Reference signal deviating sensor signal, which is registered as the occurrence of an obstacle 30.

FIG. 6 shows a further exemplary embodiment of a device for opening and closing a vehicle door 60. The vehicle door 60 as a movable part 10 is on it An edge is supported by hinges 18 and has a distance sensor 80 on the opposite edge 62. When the opening mechanism of the door 60 is actuated, the distance sensor 80 determines the distance to a potential obstacle 30. If the door 60 falls below a predetermined distance 32 (safety distance) when the door 60 is opened, the distance sensor 80 sends a signal to the control unit 28, which has a locking mechanism 82 activated, which prevents further opening of the door 60. The locking can also take place by means of electromagnetic, pneumatic or hydraulic braking devices arranged on the hinges 18. Alternatively, a permissible opening angle 86 of the door 60 is calculated from the determined distance from the obstacle 30 and compared with the current opening angle measured by means of an angle transmitter 88. When the maximum permissible calculated opening angle 86 is reached, the locking mechanism 82 or the braking device 84 is activated by the control unit 28. Thus, even if the vehicle door 60 is opened manually, its damage or the damage to an obstacle 30 is prevented.

In a variation of the exemplary embodiment, the vehicle door 60 has two parts which are connected to one another by means of an articulated joint 90. Again, the distance to the obstacle 30 is determined by the distance sensor 80 and the two-part locking mechanism 82 is controlled by the sensor 80 via a control unit 28. As a result, the two-part door buckles before touching the obstacle 30 and a collision of the outer door part

92 with the obstacle 30 is prevented. By kinking the door 60, more space is available for the passengers to get on and off.

In a further variant, the vehicle door 60 is actuated by means of an adjusting motor 16, which also causes the door 60 can be opened and closed automatically by remote control. In the event of an accident, there is also the possibility of sending a signal from the triggering device of the airbag to the control unit of the motor-operated door 60 in order to automatically unlock the doors 60 when the obstacle detection is deactivated and to open the motor completely with maximum force. In order to ensure an emergency closing of the vehicle door 60, for example in the event of a robbery, the obstacle detection and the stopping / reversing of the adjusting motor 16 are deactivated by means of an additional hand switch. The deactivation of the obstacle detection is also actuated (by hand switch) in order to be able to open or close moving parts 10 of the vehicle even when touched by light, moving objects, such as plant parts. The sensors 24 for obstacle detection are put into operational readiness on the one hand by actuating the opening mechanism of the moving parts 10, alternatively the sensors 24 for vehicle doors 60, folding roofs, bonnet 12 and trunk lid are automatically put into operational readiness by supplying a speedometer signal to the control unit 28 which supplies the Sensors 24 activated as soon as the speed falls below a minimum.

Another option of the device according to the invention is to leave the sensors 24 ready for operation for a predefinable time even when the vehicle is parked. For example, in the control unit 28 of a bonnet 12, a reference signal is stored in the closed state. Now there is a deviation from this

Reference signal, this is an indication that something has entered the engine compartment. In this case, a warning signal is triggered to scare away rodents that may have entered. The sensors are automatically switched off after a period typical for the cooling of the motor. The sensors 24 can also be switched on the inner surfaces 22 of the vehicle doors 60 serve to identify unauthorized intruders in the parked vehicle in order to then trigger a warning system. The sensors 24 on the outer surfaces of the moving parts 10 can optionally remain in operational readiness when the vehicle is parked in order to detect the approach of unauthorized persons to the vehicle, which is also indicated by the triggering of a warning signal.

Claims

Expectations

1. A method for opening and closing a rotatably or tiltably mounted part (-10), in particular a door (60), an opening window, a trunk lid, a hood (12) or a folding roof, the part (10) in a movement area (34) is moved between a closed position and an open position, characterized in that there are obstacles when the part is opened and / or closed

(30) are detected and the movement of the part (10) is stopped or reversed by means of a control unit (28).

2. The method according to claim 1, characterized in that on the outside and / or inside (20, 22) of the part (10) or the vehicle arranged sensors (24) when adjusting the part (10) a signal to the control unit ( 28) to stop or reverse the movement of the part (10) as soon as the part (10) becomes one

Obstacle (30) approaches less than a minimum distance (32).

3. The method according to claim 2, characterized in that the sensors (24) are put into operational readiness as soon as the vehicle reaches a minimum speed. falls below.

4. The method according to claim 2 or 3, characterized in that the sensors (24) are electromagnetic

Send and receive waves or ultrasonic waves.

5. The method according to claim 4, characterized in that the waves, in particular in a plurality of overlapping radiation cones (23), substantially parallel to the part (10) are sent out and preferably cover the entire surface of the part (10).

6. The method according to any one of the preceding claims, characterized in that the sensors (24) on the fixed

Environment (11) of the movable part (10) are arranged and monitor the entire range of motion (34) of the part (10), the sensor signal of the undisturbed closing / opening being used as a reference signal.

7. The method according to any one of the preceding claims, characterized in that the sensors (24) remain operational for an adjustable time after switching off the vehicle engine, and upon detection of a

Obstacle (30) in the closed position of the part (10), in particular in the engine compartment, a warning signal is triggered.

8. The method according to any one of the preceding claims, characterized in that the part (10) is adjusted by means of an adjusting motor (16) and for the detection of an obstacle (30) measured values of at least one parameter which is representative of an adjusting force of the part (10) , continuously recorded and evaluated and compared with a predetermined threshold value and the adjustment motor (16) is stopped or reversed when the threshold value is exceeded.

9. The method according to claim 8, characterized in that an obstacle (30) is detected without contact by means of the sensors (24) in a first stage and in a second stage, if the part (10) touches the obstacle (30), by means of this of the parameter representing the adjusting force of the part (10) is detected.

10. The method according to any one of the preceding claims, characterized in that the movement area (34) of the part (10) is divided into detection areas (36, 38) in which the obstacle (30) is detected 5 by means of sensors (24) and other areas in which the obstacle (30) is detected by means of the parameter representing the adjusting force of the part (10).

11. The method according to any one of the preceding claims, characterized in that the obstacle detection by means of the L0

Sensors (24) by means of which the parameter representing the adjusting force of the part (10) is monitored and the obstacle detection by means of the parameter representing the adjusting force of the part (10) is monitored by the sensors L5.

12. The method according to any one of the preceding claims, characterized in that the part (10) is opened and closed automatically by remote control.

20

13. The method according to any one of the preceding claims, characterized in that in the event of an accident, a signal from an accident detection device (pre-crash sensing) is passed to the control unit (28)

25 automatically unlock and open the part (10) with maximum force without taking into account obstacle detection.

14. The method according to any one of the preceding claims, characterized in that the function for detecting a

Obstacle (30) and / or to stop or reverse the movement of the part (10) can be deactivated.

15. The method according to any one of the preceding claims, characterized in that by means of the sensors (24)

Distance (32) between the part (10) and the obstacle (30) is determined and from this an allowable opening / closing angle (86) of the part (10) is specified.

16. Device for opening and closing a part (10) which is rotatably or tiltably mounted on a vehicle, in particular a door (60), an opening window, a trunk lid, a bonnet (12) or a folding roof, with a control unit (28), characterized in that the device comprises sensors (24) L0, which when opening and / or closing the

Detect part (10) an obstacle (30) that is in the adjustment path of the part (10) and forward a signal to the control unit (28) in order to stop or reverse the movement of the part (10). L5

17.Device according to claim 16, characterized in that the sensors (24) are ultrasonic sensors (42).

18.Device according to claim 16, characterized in that

20 that the sensors are RADAR sensors.

19.The device according to one of claims 16 to 18, characterized in that the part (10) is constructed in several parts, in particular can be bent. 25

20 device according to one of claims 16 to 19, characterized in that the device is a locking mechanism (82) controlled by the sensors (24) by means of a control unit (28) or a

30 braking device (84), which the movement of the

Limit (10) or stop as soon as the sensors (24) have detected an obstacle (30).

1.Device according to one of claims 16 to 20, characterized in that the device for adjusting the part (10) has an adjusting motor (16) which is stopped or reversed as soon as an obstacle (30) is detected.