CN114008289A - Powered closure member actuation system - Google Patents

Abstract

A powered closure member actuation system for moving a vehicle closure member between an open position and a closed position, the powered closure member actuation system including an actuator and a user movement sensor configured to Motion input from the user to the closure member to move the closure member is sensed. The user interface is configured to detect user interface input to modify at least one stored motion control parameter associated with movement of the closure member. The controller is configured to modify at least one stored motion control parameter in response to detecting the user interface input. The controller detects the motion input and, in response, generates a force command using the at least one stored motion control parameter. The controller then receives a force command to change the actuator output force acting on the closure member to move the closure member to command movement of the closure member.

Description

Power Closure Member Actuation System

CROSS-REFERENCE TO RELATED APPLICATIONS

This PCT International Patent Application claims US Provisional Application No. 62/864,070, filed June 20, 2019, and US Provisional Application No. 62/875,736, filed July 18, 2019, and August 12, 2019 US Provisional Application No. 62/885,390, filed August 12, 2019, and US Provisional Application No. 62/885,397, filed on August 12, 2019, and US Provisional Application No. 62/928,416, filed on October 31, 2019, and the benefit of U.S. Continued-in-Part Application No. 16/567,156, filed April 11, which claims the benefit of U.S. Utility Model Application No. 15/493,285, filed April 21, 2017, Said US Utility Model Application No. 15/493,285 claims the benefit of US Provisional Application No. 62/327,317, filed April 25, 2016, and US Provisional Application No. 62/460,152, filed February 17, 2017. The entire disclosure of the above application is considered part of the disclosure of the present application and is hereby incorporated by reference.

technical field

The present disclosure relates generally to closure member systems for motor vehicles, and more particularly to powered closure member actuation systems for moving a closure member, such as a vehicle door, relative to the vehicle body between open and closed positions.

Background technique

This section provides background information related to the present disclosure which is not necessarily prior art.

The closure member of the motor vehicle may be mounted to the body by one or more hinges. For example, a passenger door may be oriented and attached to the vehicle body by one or more hinges for pivotal movement about a generally vertical pivot axis. In this arrangement, each door hinge typically includes a door hinge strap connected to the passenger door, a body hinge strap connected to the body, and an arrangement arranged to pivotally connect the door hinge strap to the body hinge strap and define a pivot pivot pin for the axis. Such swinging passenger doors ("swing doors") have been recognized to have problems such as, for example, when the vehicle is on a sloped surface and the swing door opens too far or swings closed due to the door's unbalanced weight. To address this problem, most passenger doors have some type of detent or inspection mechanism integrated into the door hinge for locating and maintaining the door in a position other than the fully open position with certainty. One or more intermediate travel positions in at least one door hinge to inhibit uncontrolled swing movement of the door. In some high-end vehicles, the door hinges may include an infinite door inspection mechanism that allows the door to be opened and held inspected at any desired open position. One advantage of a passenger door equipped with a door hinge with an infinite door inspection mechanism is that the door can be positioned and held in any position that avoids contact with adjacent vehicles or structures.

As a further advance, powered closure member actuation systems have been developed. For the passenger door, similar to the passenger door described above, a power closure member system may be used to automatically swing the passenger door about its pivot axis between open and closed positions to assist a user as he or she moves the passenger door, and/or Or make the passenger door pop or present to the user. Typically, a power closure member actuation system includes a power operating device such as, for example, an electric motor and a rotary-to-linear conversion device operable to convert the rotary output of the electric motor into translational movement of the extendable member. In many devices, the electric motor and conversion device are mounted to the passenger door, and the distal end of the extendable member is fixedly fastened to the body. One example of a power closure member actuation system for a passenger door is shown in co-owned International Publication No. WO2013/013313 to Schuering et al., which discloses the use of a rotary-to-linear conversion device that The conversion device has an externally threaded lead screw rotatably driven by the electric motor and an internally threaded drive nut in meshing engagement with the lead screw, and the extendable member is attached to the internally threaded drive nut. Thus, control of the speed and direction of rotation of the lead screw results in control of the speed and direction of translational movement of the drive nut and extendable member, thereby controlling the oscillating movement of the passenger door between its open and closed positions.

While such power closure member actuation systems function satisfactorily for their intended purpose, one recognized disadvantage relates to the operation of known power closure member actuation systems in a wide variety of situations. For example, a user may wish to vary or customize the way the power closure member actuation system operates under different circumstances. A user may also desire to alter the "feel" of movement of the door or other closure member where the power closure system provides assistance with movement of the door or other closure member.

Furthermore, the operation of the powered closure member actuation system may result in changes in familiar sounds such as the dullness of the closure member closing. The user may be skeptical of the operation of the powered closure member actuation system lacking such feedback to the user. Furthermore, the powered closure member actuation system may be subject to abuse by a user slamming the closure member with excessive speed or force.

The closure member moved by such a powered closure member actuation system also typically includes a seal between the closure member and the body (eg, around the perimeter of the closure member) to help isolate the interior of the vehicle from the environment. When the closure member is operated, the seal, based on its elasticity, provides some loads which affect the movement of the closure member. For example, when closing the closure member, the powered closure member actuation system may need to work against the seal; however, the sealing load may help move the closure member when the closure member is opened. Therefore, moving the swing door out of the primary position and out of the secondary position (ie, door open) may require only the load of the seal to move. However, as the seal ages, the load or elasticity provided may fluctuate from a new or "green" seal to the end of the vehicle's life, as well as, for example, at different temperatures. Therefore, variability in seal loads can adversely affect the consistent performance of the power closure member actuation system.

Similarly, wear and aging of other components in the power closure member actuation system is possible. For example, increased friction due to lack of lubrication (eg, hinge or power-operated device gear train) or operational changes in the power-operated device's electric motor (eg, motor brush wear) can also undesirably affect power closure member actuation system performance.

While the settings for the powered closure member actuation system may be pre-programmed by the system manufacturer, in assisting the user to move the closure member between the closed and open positions and/or automatically moving the closure member between the closed and open positions, The speed at which the closure member is moved may not be ideal under certain environmental conditions and for all users. More specifically, the interior of the vehicle is exposed to these elements during movement of the closure member when the outside temperature is cold and/or if there is precipitation. One solution may be to generally increase the force and/or speed of movement applied to the closure member; however, such adjustments may not be suitable for all environmental conditions and/or may not be desired by every user.

In view of the foregoing, there remains a need to develop alternative power closure member actuation systems that address and overcome the limitations and disadvantages associated with known power closure member actuation systems and provide increased convenience and enhanced operational ability.

SUMMARY OF THE INVENTION

This section provides a general overview of the disclosure, rather than a comprehensive disclosure of its full scope or all of its features, aspects, and objects.

An aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle relative to a vehicle body between an open position and a closed position. The powered closure member actuation system includes an actuator coupled to the closure member and the vehicle body, the actuator being configured to move the closure member relative to the vehicle body. The powered closure member actuation system also includes a user movement sensor configured to sense motion input from a user on the closure member to move the closure member. Additionally, the powered closure member actuation system includes a user interface configured to detect user interface input to modify at least one stored motion control parameter associated with movement of the closure member. Additionally, the powered closure member actuation system includes a controller in communication with the user movement sensor, the user interface and the actuator. The controller is configured to modify at least one stored motion control parameter in response to detecting the user interface input. The controller is also configured to detect the motion input and, in response, generate a force command using the at least one stored motion control parameter. The controller then commands movement of the closure member by receiving a force command through the actuator to vary the actuator output force acting on the closure member to move the closure member.

Another aspect of the present disclosure is to provide a user modifiable system for controlling movement of a power closure member of a vehicle based on user preferences. The user modifiable system includes a user interface configured to detect user interface input to modify at least one stored motion control parameter associated with movement of the closure member. The user modifiable system also includes a controller in communication with the user interface. The controller is configured to present at least one stored motion control parameter on the user interface. The controller is also configured to modify the at least one stored motion control parameter in response to detecting the user interface input. Further, the controller is configured to use the at least one stored motion control parameter to generate one of a motion command and a force command to control the actuator output force acting on the closure member to move the closure member.

Yet another aspect of the present disclosure is to provide a method of controlling movement of a closure member based on user preferences. The method includes the step of presenting, using a user interface, at least one stored motion control parameter associated with controlling movement of the closure member. The method continues with the step of modifying at least one stored motion control parameter in response to detecting user interaction using the user interface. The method further includes the step of generating one of a force command and a motion command to control the actuator to act on the closure member to move the closure member using the at least one stored motion control parameter.

Yet another aspect of the present disclosure is to provide a closure member of a motor vehicle that is moveable relative to the body of the vehicle between an open position and a closed position. The closure member includes an actuator coupled to the closure member and the body and configured to move the closure member relative to the body. The closure member also includes a user movement sensor configured to sense motion input from a user on the closure member to move the closure member. Additionally, the closure member includes a controller in communication with the user movement sensor and actuator. The controller is configured to generate the force command using at least one stored motion control parameter modifiable by the user. The controller is also configured to command movement of the closure member by receiving a force command from the actuator to vary the actuator output force acting on the closure member to move the closure member.

Another aspect of the present disclosure is to provide an electronic control system for a power closure member actuation system for causing a closure member of a motor vehicle to be in an open position and a closed position relative to the vehicle body move between. The electronic control system includes a user interface configured to detect user interface input. The electronic control system includes a power signal generator configured to generate a pulse width modulated control signal to actuate an actuator of the power closure member actuation system to move the closure member. Furthermore, the electronic control system includes memory means having at least one storage location for storing at least one stored motion control parameter associated with controlling movement of the closure member. The electronic control system also includes a controller in communication with the user interface, the power signal generator and the memory device. The controller is configured to receive user interface input to modify at least one stored motion control parameter using the user interface. The controller is also configured to modify at least one stored motion control parameter stored in the memory device. The controller is additionally configured to generate one of a force command and a motion command using the at least one stored motion control parameter to provide to the power signal generator.

An aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle relative to a vehicle body between an open position and a closed position. The powered closure member actuation system includes an actuator coupled to the closure member and the vehicle body, the actuator being configured to move the closure member relative to the vehicle body. The system also includes a closure member feedback sensor for determining at least one of a position and a velocity of the closure member. The system additionally includes a controller in communication with the closure member feedback sensor and the actuator. The controller is configured to monitor at least one of a position and a velocity of the closure member using the closure member feedback sensor. The controller is further configured to generate a command to decrease the speed of the closure member based on at least one of the position and the speed of the closure member as the closure member moves toward one of the open position and the closed position. Additionally, the controller is configured to control movement of the closure member by receiving commands from the actuator to vary the actuator output force acting on the closure member to move the closure member.

According to one aspect, the controller is further configured to control the actuator at a constant speed for a portion of the movement of the closure member after reducing the speed of the closure member to return the motor to below a maximum speed operating rating of the actuator Movement to the closed member.

According to one aspect, the controller is further configured to: after controlling the movement of the closure member by the actuator at a constant speed, control the movement of the closure member by the actuator at a reduced speed for a subsequent portion of the movement of the closure member, to The closing member is allowed to approach one of the open position and the closed position at a speed below a constant speed.

According to one aspect, the controller is further configured to control the actuator to reduce the speed of the closure member during the approach without exceeding a maximum predetermined deceleration rate of the closure member.

According to one aspect, the closure member feedback sensor is an accelerometer.

According to one aspect, the accelerometer is positioned on the closure member opposite a pair of hinges that couple the closure member to the vehicle body.

According to one aspect, the accelerometer is provided as part of the latch.

Another aspect of the present disclosure is to provide a method of using a powered closure member actuation system to control movement of a closure member of a vehicle between an open position and a closed position relative to a body based on at least one of a position and a velocity of the closure member . The method includes the step of moving the closure member relative to the body using an actuator of a powered closure member actuation system coupled to the closure member and the body. The next step of the method is to determine at least one of a position and a velocity of the closure member using a closure member feedback sensor of the powered closure member actuation system. The method is performed by monitoring at least one of a position and a velocity of the closure member using a controller of the powered closure member actuation system coupled to a closure member feedback sensor and an actuator. The method continues with the step of using a controller to generate a command to decrease the speed of the closure member based on at least one of a position and a speed of the closure member as the closure member moves toward one of the open and closed positions. The method further includes the step of controlling movement of the closure member by the actuator receiving a command to vary the actuator output force acting on the closure member to move the closure member.

Also disclosed is a method of controlling movement of a closure member of a vehicle relative to a body between an open position and a closed position based on at least one of a position and a velocity of the closure member using a powered closure member actuation system. The method includes the step of moving the closure member relative to the body using an actuator of a powered closure member actuation system coupled to the closure member and the body. Next, at least one of the position and velocity of the closure member is monitored using a controller of the powered closure member actuation system coupled to the closure member feedback sensor and actuator. The method proceeds by determining whether the speed of the closure member is greater than a predetermined maximum speed threshold above which damage to the actuator may occur. The method further includes the step of, in response to determining that the speed of the closure member is greater than a predetermined maximum speed threshold, controlling movement of the closure member by the actuator to resist movement of the closure member toward one of the open and closed positions.

According to one aspect, the method further includes the step of not using a mechanical brake or coupling to resist movement of the door toward one of the open and closed positions.

According to one aspect, the method further includes the step of controlling movement of the closure member by the actuator based on the position and velocity of the closure member without exceeding an operational rating of the actuator, which may damage the actuation device.

An aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle relative to a vehicle body between an open position and a closed position. The system includes an actuator coupled to the closure member and the body, the actuator being configured to move the closure member relative to the body. The system also includes an environmental sensor configured to sense at least one environmental condition of the vehicle. Additionally, the system includes a controller in communication with the environmental sensors and actuators. The controller is configured to receive one of a motion input and an automatic mode activation input to control movement of the closure member in the power assist mode in response to receiving the motion input and to control closure in the automatic mode in response to receiving the automatic mode activation input Movement of components. The controller is also configured to generate one of a motion command in the automatic mode and a force command in the power assist mode based on at least one environmental condition. The controller commands movement of the closure member by receiving one of a motion command and a force command through the actuator to vary the actuator output force acting on the closure member to move the closure member.

Another aspect of the present disclosure is to provide a method of controlling movement of a closure member based on environmental conditions of a vehicle. The method includes the steps of receiving one of a motion input and an automatic mode activation input to control movement of the closure member in the power assist mode in response to receiving the motion input and to control movement in the automatic mode in response to receiving the automatic mode activation input Movement of the closed member. The method continues with the step of detecting environmental conditions of the vehicle using environmental sensors. The next step of the method is to generate one of the motion commands in the automatic mode and the force commands in the power assist mode depending on the environmental conditions. The method further includes the step of commanding movement of the closure member by the actuator receiving one of a motion command and a force command to vary the actuator output force acting on the closure member to move the closure member.

An aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle relative to a vehicle body between an open position and a closed position. The system includes an actuator coupled to the closure member and the body, the actuator being configured to move the closure member relative to the body. The system also includes at least one closure member feedback sensor configured to sense at least one of an actual speed of the closure member and an actual position of the closure member. The system includes a controller in communication with the at least one closure member feedback sensor and the actuator. The controller is configured to receive one of a motion input and an automatic mode activation input to control movement of the closure member to the open position. The controller controls movement of the closure member by commanding the actuator using one of the motion input and the automatic mode start input. The controller monitors at least one of the actual speed and the actual position of the closure member using the at least one closure member feedback sensor and calculates a position difference between the expected position of the closure member and the actual position of the closure member and the expected speed of the closure member and the closure member at least one of the speed differences between the actual speeds. The controller adjusts commands to the actuators to compensate for at least one of a position difference and a speed difference to move the closure member to at least one of a desired position and a desired speed.

Another aspect of the present disclosure is to provide a method of controlling movement of a closure member of a vehicle. The method includes the steps of receiving one of a motion input and an automatic mode activation input to control movement of the closure member to an open position. The method continues with the steps of controlling movement of the closure member by commanding the actuator using one of the motion input and the automatic mode activation input. A next step of the method is to monitor at least one of the actual speed and the actual position of the closure member using at least one closure member feedback sensor configured to sense the actual speed and the actual position of the closure member at least one of the. The method performs the steps of calculating at least one of a position difference between an expected position of the closure member and an actual position of the closure member and a speed difference between the expected speed of the closure member and the actual speed of the closure member. The method further includes the step of adjusting a command to the actuator to compensate for at least one of a position difference and a speed difference to move the closure member to at least one of a desired position and a desired speed.

Yet another aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle relative to a vehicle body between an open position and a closed position. The power closure member actuation system includes a latch mechanism including a ratchet having a ratchet latch member and a ratchet engagement member, a ratchet biasing member, a pawl, and a pawl biasing member. The ratchet is movable between a detent release position corresponding to the closure member release position, where the ratchet is positioned to release the detent, and two different detent capture positions. In the capture position, the ratchet is positioned to retain the striker. The two distinct detent capture positions include an auxiliary detent capture position corresponding to the secondary closure member position and a primary detent capture position corresponding to the primary closure member position. The ratchet biasing member is configured to bias the ratchet toward its detent release position. The pawl is movable between a ratchet retaining position in which the pawl engages the ratchet latch member and retains the ratchet in its primary latch catch position, and a ratchet release position where the pawl engages the ratchet The latch parts separate. The pawl is in its ratchet release position when the ratchet is in its catch release position and the auxiliary catch catch position. The pawl biasing member is configured to bias the pawl toward its ratchet retention position, and the power release actuator is operable to move the pawl from the ratchet retention position to the ratchet release position. The system includes a door seal disposed between the closure member and the body. When the closure member is in the closed position, the door seal is in compression to exert a sealing force on the closure member to move the closure member toward the closure member release position. An actuator is coupled to the closure member and the body, the actuator being configured to move the closure member relative to the body. The system also includes at least one closure member feedback sensor configured to sense the position of the closure member. Additionally, the system includes a controller in communication with the at least one closure member feedback sensor, the actuator, and the power release actuator. The controller is configured to receive commands to control movement of the closure member to the open position. The controller is also configured to command the power release actuator to move the pawl to the ratchet release position. The controller monitors the position of the closure member using at least one closure member feedback sensor and calculates the difference in sealing load between the sealing force exerted on the closure member and the nominal sealing force. The controller uses the seal load difference to generate a command to control the actuator output force acting on the closure member from the actuator to supplement the seal load force. Additionally, the controller controls movement of the closure member by using commands to instruct the actuator to vary the actuator output force acting on the closure member and move the closure member to the closure member release position, wherein the closure member is in the closure member release position when the closure member is in the closure member release position. , the ratchet has moved to the pin release position.

An aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle. The system includes an actuator coupled to the closure member and the body and configured to move the closure member relative to the body. The controller is in communication with the actuator and is configured to receive one of a motion input associated with the power assist mode and an automatic mode enable input associated with the automatic mode. The controller sends one of the motion commands based on the plurality of motion parameters of the automatic closure member in automatic mode and the force command based on the motion parameters of the plurality of dynamic closure members in the power assist mode to the actuator to change the actuation force acting on the closure member. The actuator outputs a force to move the closure member. The controller is also configured to monitor and analyze historical operation of the power closure member actuation system using an artificial intelligence learning algorithm. The controller then adjusts the plurality of automatic closure member motion parameters and the plurality of powered closure member motion parameters accordingly.

Another aspect of the present disclosure is to provide a method of controlling movement of a closure member of a vehicle using a powered closure member actuation system. The method includes the steps of receiving one of a motion input associated with the power assist mode and an automatic mode activation input associated with the automatic mode. The next step of the method is to send one of the motion commands based on the plurality of motion parameters of the automatic closure member in the automatic mode and the force command based on the motion parameters of the plurality of power closure members in the power assist mode to the actuator to change the action on the An actuator on the closure member outputs a force to move the closure member. The method proceeds by monitoring and analyzing historical operation of the power closure member actuation system using an artificial intelligence learning algorithm and adjusting a plurality of automatic closure member motion parameters and a plurality of power closure member motion parameters accordingly.

According to another aspect of the present disclosure, there is provided a contactless obstacle detection system for a motor vehicle, comprising: a controller; at least one contactless obstacle sensor coupled to the controller for detecting the motor vehicle an obstacle in the vicinity of the closure member; a motion sensing system coupled to the controller for detecting movement of the closure member; and a powered actuator coupled to the closure member and the controller for moving the closure member, wherein, The controller is configured to detect movement of the closure member using a motion sensing system, detect the absence of an obstacle using the at least one non-contact obstacle sensor, and use the power actuation in response to detecting the movement of the closure member without detecting the obstacle actuator to change the movement of the closure member. In a related aspect, the controller is further configured to use at least one of an actuator and a braking mechanism to stop movement of the closure member in response to no obstacle being detected when movement of the closure member is detected.

According to another aspect of the present disclosure, there is provided a method of operating a contactless obstacle detection system for a motor vehicle, the method comprising the steps of: determining whether a closure member is in an open position; using at least one contactless obstacle sensor determining whether an obstacle is not detected; determining whether the closure member is moving; and changing the movement of the closure member in response to the closure member moving and no obstacle being detected. In a related aspect, the step of changing the movement of the closure member in response to movement of the closure member and no obstacle detected is further defined as using a fork coupled to the closure member and the controller in response to movement of the closure member and no detection of an obstacle Movement of the closure member is stopped by moving at least one of a powered actuator and a braking mechanism of the closure member.

According to another aspect of the present disclosure, there is provided a contactless obstacle detection system for a motor vehicle, comprising: a controller; at least one motion sensor coupled to the controller for detecting motion of the motor vehicle or a change in tilt; and at least one of a powered actuator and a braking mechanism coupled to the closure member and the controller for varying movement of the closure member such that the controller is configured to detect movement of the motor vehicle using the motion sensor or a change in orientation, and using at least one powered actuator and a braking mechanism to vary the movement of the closure member in response to detecting a change in motion or orientation of the motor vehicle when movement of the closure member is detected. In a related aspect, the controller is configured to vary the movement of the closure member by applying resistance to the movement of the closure member.

Other areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the disclosure.

Description of drawings

The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

1 is a perspective view of an example motor vehicle equipped with a power closure member actuation system between a front passenger swing door and a body according to aspects of the present disclosure;

2 is a perspective inside view of the closure member shown in FIG. 1 with various components removed relative to a portion of the vehicle body for clarity only, and with the closure member equipped with a power closure in accordance with aspects of the present disclosure component actuation systems;

3 illustrates a block diagram of a powered closure member actuation system in accordance with aspects of the present disclosure;

4 illustrates another block diagram of a powered closure member actuation system for moving a closure member in an automatic mode in accordance with aspects of the present disclosure;

5 and 5A illustrate a power closure member actuation system shown as part of a vehicle system architecture in accordance with aspects of the present disclosure;

6 illustrates another block diagram of a power closure member actuation system for moving a closure member in a power assist mode in accordance with aspects of the present disclosure;

7 illustrates a power closure member actuation system corresponding to operation in a power assist mode, shown as part of a vehicle system architecture, in accordance with aspects of the present disclosure;

8 illustrates a user interface of a powered closure member actuation system according to aspects of the present disclosure;

9 illustrates a plurality of user motion control parameters modifiable by a user and a plurality of manufacturer motion control parameters modifiable by a manufacturer in accordance with aspects of the present disclosure;

10 illustrates a user interface according to aspects of the present disclosure including a touch screen of a console operable in an automatic mode provided in a motor vehicle;

11 illustrates a plurality of stored motion control parameters associated with an automatic mode mapped to corresponding storage locations in a memory device of a power closure member actuation system in accordance with aspects of the present disclosure;

12 illustrates an additional block diagram of a power closure member actuation system in automatic mode in accordance with aspects of the present disclosure;

13 illustrates example changes in duty cycle registers corresponding to changes in pulse width modulation duty cycle in automatic mode, according to aspects of the present disclosure;

14 illustrates stored motion control parameters stored in a memory device and transition changes of motion profiles in automatic mode according to aspects of the present disclosure;

15 illustrates additional stored motion control parameters stored in a memory device, including door inspection sensitivity and movement profiles, in accordance with aspects of the present disclosure;

Figures 16A and 16B illustrate the adjustment of the motion profile related to the velocity of the closure member for each of a plurality of closure member angles in accordance with aspects of the present disclosure;

17 illustrates a user interface including a touch screen of a console operable in a power assist mode provided in a motor vehicle in accordance with aspects of the present disclosure;

18 illustrates a plurality of stored motion control parameters associated with power assist modes mapped to respective storage locations in a memory device of a power closure member actuation system in accordance with aspects of the present disclosure;

19 illustrates an additional block diagram of a power closure member actuation system in a power assist mode and using precompensation to generate a force command in accordance with aspects of the present disclosure;

20 illustrates an additional block diagram of a power closure member actuation system in a power assist mode and using post compensation to generate a force command in accordance with aspects of the present disclosure;

21 illustrates adjustment of a force profile related to a force of a closure member for each of a plurality of closure member angles using boundary conditions in accordance with aspects of the present disclosure;

22-27 illustrate steps of a method of controlling movement of a closure member based on user preferences in accordance with aspects of the present disclosure;

28A and 28B illustrate example profile modifications based on user interface input in accordance with aspects of the present disclosure;

29 illustrates example movement of a closure member outside of a plurality of pre-stored calibration limits in accordance with aspects of the present disclosure;

30 illustrates the range of movement of a closure member between an open position and a closed position in accordance with aspects of the present disclosure;

Figures 31 and 32 illustrate the range of movement of the closure member between the open and closed positions, showing a spike in velocity caused by a slamming event, in accordance with aspects of the present disclosure;

33 illustrates the variation in the speed of movement of the closure member toward the open position as a function of the angle of the closure member in the anti-slam mode in accordance with aspects of the present disclosure;

34 illustrates the change in the speed of movement of the closure member toward the closed position as a function of the angle of the closure member in the anti-slam mode in accordance with aspects of the present disclosure;

35 illustrates hysteresis achieved in a power closure member actuation system by dynamically updating comparison limits for significant switching points in accordance with aspects of the present disclosure;

36A and 36B illustrate operation of a controller in both a power assist mode and an anti-slam mode according to aspects of the present disclosure;

37 illustrates the relationship between the speed of the closure member and the mode of operation of the controller in accordance with aspects of the present disclosure;

37A shows an illustrative method of transitioning between automatic and power assist modes in accordance with aspects of the present disclosure;

38 and 39 illustrate steps of a method of using a powered closure member actuation system to control movement of a closure member based on at least one of a position and a velocity of the closure member, according to aspects of the present disclosure.

40 illustrates adjustment of a motion profile associated with motion of the closure member for each of a plurality of closure member angles in accordance with aspects of the present disclosure;

41 illustrates adjustment of a force profile related to a force of a closure member for each of a plurality of closure member angles using boundary conditions in accordance with aspects of the present disclosure;

42 illustrates steps of a method of further providing a method of controlling movement of a closure member based on at least one environmental condition of the vehicle 10 in accordance with aspects of the present disclosure;

43 is a client-server network diagram according to an illustrative embodiment;

44 is a partial perspective view of a motor vehicle having a closure member equipped with a latch assembly in accordance with aspects of the present disclosure;

45 is an isometric view of a latch assembly, generally showing the latch mechanism, latch release mechanism, power release actuator, latch pull mechanism, powertrain pull actuator, and Parts of a tethered release mechanism wherein the latch assembly operates in an unlatched mode;

46 illustrates various positions of the closure member according to aspects of the present disclosure;

47A-47D illustrate latched state switch states of a latch assembly in accordance with aspects of the present disclosure;

48 illustrates an example closure member motion profile showing how the velocity of the closure member can be affected by aging seal loads in accordance with aspects of the present disclosure;

49 and 50 illustrate steps of a method of controlling movement of a closure member of a vehicle is also provided in accordance with aspects of the present disclosure;

51 and 52 illustrate steps of a method of controlling movement of a closure member of a vehicle using a power closure member actuation system also provided in accordance with aspects of the present disclosure;

53 is a block diagram of components of a system for performing a learning algorithm using a neural network and/or for training a neural network, according to some embodiments of the present invention;

Figure 54 shows a series of nodes forming a neural network model according to an illustrative embodiment;

55A and 55B illustrate a method of operation of a power closure member actuation system for moving a door from a fully latched position when operating in an automatic mode, according to an illustrative embodiment;

56A and 56B illustrate a method of operation of a powered closure member actuation system for closing a door from an open position, according to an illustrative embodiment;

57 illustrates a method of operation of a power closure member actuation system for moving a door from a stopped door position when the controller is operating in a power assist mode, according to an illustrative embodiment;

58 illustrates a method of operation of a power closure member actuation system for controlling movement of a door during an unplanned stop when the door is operating in an automatic mode, according to an illustrative embodiment;

58A shows a graph of door movement of speed versus door angle showing door movement during automatic mode operation before interruption, and after interruption in automatic mode operation after power assist operation, according to an illustrative embodiment. Door movement during the period followed by resumption of automatic mode operation with a movement profile not exceeding the door movement prior to interruption;

59 illustrates a method for operation of a power closure member actuation system for controlling movement of a door from a small angular position greater than an assist position in an automatic mode, according to an illustrative embodiment;

60 shows a method of checking the operation of a power closing member actuation system of a door when controlling the door in an automatic mode or a power assist mode, according to an illustrative embodiment;

60A shows door inspection force profiles as a function of door angle, according to an illustrative embodiment;

61 illustrates a method of operation of a power closure member actuation system when wind acts on a door of a vehicle, according to an illustrative embodiment;

61A and 61B are graphs showing changes in sensed current as a result of a user manually controlling a door, according to an illustrative embodiment;

62A illustrates a method of detecting operation of a powered closure member actuation system without an obstacle when detecting movement of a closure member, according to an illustrative embodiment;

62B and 62C illustrate a method of detecting operation of a manually controlled powered closure member actuation system of a closure panel when detecting a user using a non-contact obstacle detection system, according to an illustrative embodiment;

63 illustrates a method of operation of a powered closure member actuation system that detects movement of a vehicle upon detecting movement of the closure member, according to an illustrative embodiment;

64 illustrates a method of detecting operation of a powered closure member actuation system in the absence of obstacles and movement of a vehicle when detecting movement of a closure member, according to an illustrative embodiment;

65 illustrates a method of operation of a power closure member actuation system for moving a door from a closed door position when the door is in a frozen state, according to an illustrative embodiment;

66 illustrates a method of operation of a power closure member actuation system for moving a door from a closed door position when the door is in a mechanically blocked state, according to an illustrative embodiment;

67 shows a method performed by a controller of a power closure member actuation system for calculating an actuator force to move a door, according to an illustrative embodiment;

68 shows a system block diagram of a powered closure member actuation system configured to perform the method of FIG. 67, according to an illustrative embodiment;

69 is an overlay algorithm executed by a controller of a powered closure member actuation system in accordance with an illustrative embodiment;

70 is a partial perspective view of an actuator of a power closure member actuation system showing torque about a door hinge axis corresponding to the superposition algorithm of FIG. 69, according to an illustrative embodiment; and

71 is a block diagram of a superimposed algorithm executed by a controller of a power closure member actuation system, showing torque including an auxiliary door system, according to an illustrative embodiment.

Detailed ways

In the following description, details are set forth to provide an understanding of the present disclosure. In some instances, certain circuits, structures and techniques have not been described or shown in detail so as not to obscure the present disclosure.

In summary, at least one example embodiment of a power closure member actuation system or a user modifiable system constructed in accordance with the teachings of the present disclosure will now be disclosed. Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, in order to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are described in detail.

Referring first to FIG. 1 , an example motor vehicle 10 is shown including a first passenger door 12 , or also referred to as an example closure member 12 , via an upper door hinge 16 and a lower door hinge 18 shown in phantom Pivotly mounted to the body 14 . In accordance with the present disclosure, the power closure member actuation system 20 is integrated into the pivotal connection between the first passenger door 12 and the body 14 . According to a preferred configuration, the power closure member actuation system 20 generally includes a power-operated actuator mechanism or actuator 22 secured within the interior cavity of the passenger door 12 and a rotary drive mechanism, the rotary drive mechanism being The power-operated actuator mechanism 22 is driven and drivingly coupled to the hinge components associated with the lower door hinge 18 . Driven rotation of the rotary drive mechanism causes controlled pivotal movement of the passenger door 12 relative to the body 14 . According to this preferred configuration, the power-operated actuator mechanism 22 is rigidly coupled in close proximity to the door mount hinge component of the upper door hinge 16 , while the rotational drive mechanism is coupled to the vehicle mount hinge component of the lower door hinge 18 . However, those skilled in the art will recognize that alternative packaging configurations for the powered closure member actuation system 20 may be used to accommodate the available packaging space. One such alternative packaging configuration may include mounting a power-operated actuator mechanism to the body 14 and drivingly interconnecting a rotary drive mechanism to a door mounting hinge component associated with one of the upper door hinge 16 and the lower door hinge 18 .

Each of the upper door hinge 16 and the lower door hinge 18 includes a door mount hinge member and a body mount hinge member that are pivotally interconnected by hinge pins or posts. The door mount hinge components are hereinafter referred to as door hinge strips, and the body mount hinge components are hereinafter referred to as body hinge strips. Although the power closure member actuation system 20 is only shown as being associated with the front passenger door 12 , those skilled in the art will recognize that the power closure member actuation system may also be associated with any other closure member of the vehicle 10 (eg, a door or liftgate) such as the rear passenger door 17 and the trunk lid 19 are associated.

The power closure member actuation system 20 is generally shown in FIG. 2 and, as mentioned, the power closure member actuation system 20 is operable to move the door 12 relative to the vehicle body 14 between an open position and a closed position. The way the control pivots. As shown in FIGS. 4 and 5 , the lower hinge 18 of the power closure member actuation system 20 includes a door hinge strap 28 connected to the vehicle door 12 and a body hinge strap 30 connected to the vehicle body 14 . The door hinge strap 28 and the body hinge strap 30 of the lower door hinge 18 are interconnected via hinge pins 32 along a generally vertically aligned pivot axis A to establish a pivotable interconnection between the door hinge strap 28 and the body hinge strap 30 . However, any other mechanism or device may be used to establish the pivotable interconnection between the door hinge strap 28 and the body hinge strap 30 without departing from the scope of the present disclosure.

As best shown in FIG. 2 , the power closure member actuation system 20 includes a power-operated actuator mechanism 22 having a motor and gear train assembly 34 that can be rigidly connected to the vehicle door 12 . The motor and gear train assembly 34 is configured to generate rotational force. In the preferred embodiment, the motor and gear train assembly 34 includes an electric motor 36 operatively coupled to a reduction/torque increase assembly such as a high gear ratio planetary gearbox 38 . The high gear ratio planetary gearbox 38 may include multiple stages to allow the motor and gear train assembly 34 to generate rotational force with high torque output through the very low rotational speed of the electric motor 36 . However, any other arrangement of the motor and gear train assembly 34 may be used to establish the required rotational force without departing from the scope of the present disclosure.

The motor and gear train assembly 34 includes a mounting bracket 40 for establishing a connectable relationship with the door 12 . The mounting bracket 40 is configured to be connectable to the vehicle door 12 adjacent to the door mounting door hinge strap associated with the upper door hinge 16 . As also shown in FIG. 2 , this mounting of the motor assembly 34 adjacent the upper door hinge 16 of the vehicle door 12 places the power-operated actuator mechanism 22 of the power closure member actuation system 20 in close proximity to the pivot axis A. The installation of the motor and gear train assembly 34 adjacent to the upper door hinge 16 of the door 12 improves or facilitates the door 12 by minimizing the effect that the power closure member actuation system 20 may have on the mass moment of inertia (ie, the pivot axis A) of the door 12 . movement between its open and closed positions. Additionally, as also shown in FIG. 2 , the installation of the motor and gear train assembly 34 adjacent to the upper door hinge 16 of the vehicle door 12 allows the power closure member actuation system 20 to be packaged in front of the A-pillar glass travel channel associated with the vehicle door 12 , and Any interference with the glazing function of the vehicle door 12 is thus avoided. In other words, the power closure member actuation system 20 may be packaged in the unused portion 37 of the interior door cavity 39 within the vehicle door 12 and thus reduce or eliminate impact to existing hardware/mechanisms within the vehicle door 12 . Although the power closure member actuation system 20 is illustrated as being mounted adjacent to the upper door hinge 16 of the vehicle door 12, alternatively, the power closure member actuation system 20 may be mounted without departing from the scope of the present disclosure elsewhere within the door 12 or even mounted on the body 14 .

The power closure member actuation system 20 also includes a rotary drive mechanism that is rotationally driven by the power operated actuator mechanism 22 . As shown in FIG. 2 , the rotary drive mechanism includes a drive shaft 42 interconnected to the output member of the gearbox 38 of the motor and gear train assembly 34 and extending from a first end 44 disposed adjacent the gearbox 38 to The second end 46 . The rotational output component of the motor and gear train assembly 34 may include a first adapter 47 such as a square female socket or the like for drivingly interconnecting the first end 44 of the drive shaft 42 directly to the rotational output of the gearbox 38 . Additionally, although not explicitly shown, a disconnect clutch may be provided between the rotational output of the gearbox 38 and the first end 44 of the drive shaft 42 . In one configuration, the clutch is normally engaged without power (ie, de-engaged) and can be selectively energized (ie, energized to release) to disengage. In other words, the optional clutch would drivingly couple the drive shaft 42 to the motor and gear train assembly 34 without the application of power, while the clutch would require application of power to disconnect the drive shaft 42 from driving connection with the gearbox 38 Disconnect in the middle. Alternatively, the clutch may be configured in an energized engagement and deenergized release arrangement. The clutch may be engaged and disengaged using any suitable type of clutch mechanism such as, for example, a set of sprags, balls, coil springs, friction plates, or any other suitable mechanism. The clutch is provided to allow the user 75 to manually move the door 12 relative to the body 14 between an open position of the door 12 and a closed position of the door 12 . Such a disconnect clutch may be located, for example, between the output of the electric motor 36 and the input of the gearbox 38 . The optional clutch position may be based, among other things, on whether gearbox 38 includes "back-driveable" gears. In one possible configuration, the power-operated actuator mechanism 22 is not provided with a clutch mechanism, and thus provides a direct permanent coupling (eg, to, eg, the body 14 ) between the motor and the output of the power-operated actuator mechanism 22 ). In this configuration, gear train assembly 34 may be a back-driveable gear train.

The second end 46 of the drive shaft 42 is coupled to the body hinge strap 30 of the lower door hinge 18 for transferring rotational force from the motor and gear train assembly 34 directly to the door 12 via the body hinge strap 30 . In order to accommodate the angular movement due to the swinging movement of the door 12 relative to the body 14 , the rotary drive mechanism also includes a first universal joint or U-shape disposed between the first adapter 47 and the first end 44 of the drive shaft 42 A joint 45 and a second universal joint or U-joint 48 disposed between the second adapter 49 and the second end 46 of the drive shaft 42 . Alternatively, constant velocity joints may be used in place of the U-joints 45, 48. The second adapter 49 may also be a square female socket or the like configured to rigidly attach to the body hinge strap 30 of the lower door hinge 18 . However, other methods of establishing drive attachments may be used without departing from the scope of the present disclosure. Rotation of the drive shaft 42 via operation of the motor and gear train assembly 34 is used to actuate the lower door hinge 18 by rotating the body hinge strap 30 about its pivot axis to which the drive shaft 42 is attached and relative to the door hinge strap 28 . Thus, the power closure member actuation system 20 is able to effect movement of the vehicle door 12 between its open and closed positions by directly transferring rotational force "directly" to the body hinge strap 30 of the lower door hinge 18 . The second end 46 of the drive shaft 42 is attached to the body hinge strap 30 of the lower door hinge 18 with the motor and gear train assembly 34 connected to the door 12 adjacent the upper door hinge 16 . Based on the space available within the door cavity 39 , the motor and gear train assembly 34 may be mounted adjacent to the door mount hinge component of the lower door hinge 18 and the vehicle mount connecting the second end 46 of the drive shaft 42 directly to the upper door hinge 16 hinge parts. In the alternative, if the motor and gear train assembly 34 were connected to the body 14 , the second end 46 of the drive shaft 42 would be attached to the door hinge strap 28 .

3 shows a block diagram of a power closure member actuation system 20 of the power door system 21 for moving a closure member (eg, door 12 ) of the vehicle 10 relative to the body 14 between an open position and a closed position. As discussed above, the powered closure member actuation system 20 includes an actuator 22 coupled to a closure member (eg, the door 12 ) and the body 14 . The actuator 22 is configured to move the closure member 12 relative to the vehicle body 14 . The power closure member actuation system 20 also includes a controller 50 coupled to the actuator 22 and in communication with other vehicle systems (eg, a body control module 52 ) and also receiving from the vehicle 10 (eg, from a vehicle battery 53 ) vehicle power.

The controller 50 is operable in at least one of an automatic mode (in response to an automatic mode enable input 54 ) and a power assist mode (in response to a motion input 56 ). In the automatic mode, the controller 50 commands the closure member to move through a predetermined motion profile (eg, to open the closure member). The power assist mode differs from the automatic mode in that the motion input 56 from the user 75 may be continuous to move the closure member, rather than a single input by the user 75 in the automatic mode. The command 51 from the vehicle system may include, for example, an instruction for the controller 50 to open the closure member, close the closure member, or stop movement of the closure member. Such control inputs such as inputs 54 , 56 may also include other types of inputs 55 such as inputs from a body control module that may receive data based, for example, from a key fob 60 or other wireless device (eg, a cellular smartphone) or from a Signals such as wireless signals received by sensor assemblies such as radar or light sensor assemblies provided on the vehicle that control door opening wireless commands that detect the user's approach as the user 75 approaches the vehicle such as a user's 75 gesture or gait such as walk. For example, other components that may have an impact on the operation of the power closure member actuation system 20 , such as the door seal 57 of the vehicle door 12 , are also shown. Additionally, ambient conditions 59 (rain, cold, heat, etc.) may be monitored by the vehicle 10 (eg, by the body control module 52 ) and/or the controller 50 . The controller 50 also includes an artificial intelligence learning algorithm 61 (eg, a series of nodes forming the neural network model shown in Figure 54), which will be discussed in more detail below.

Referring now to FIG. 4 , controller 50 is configured to receive automatic mode enable input 54 and enter automatic mode to output motion command 62 or receive input motion command 62 in response to receiving automatic mode enable input 54 . The automatic mode activation input 54 may be a manual input on the closure member itself or an indirect input to the vehicle (eg, a closure member switch 58 on the closure member, a switch on the key fob 60 , etc.). Thus, for example, the automatic mode activation input 54 may be, for example, the result of a user or operator operating a switch (eg, closing member switch 58 ), making a gesture near the vehicle 10 , or possessing the key fob 60 near the vehicle 10 . It should also be understood that other automatic mode initiation inputs 54 are contemplated, such as, but not limited to, proximity of user 75 detected by a proximity sensor.

Additionally, the powered closure member actuation system 20 includes at least one closure member feedback sensor 64 for determining at least one of the position and velocity of the closure member and attitude. Accordingly, at least one closure member feedback sensor 64 detects a signal from the actuator 22 by counting the number of revolutions of the electric motor 36 , the absolute position of the extendable member (not shown), or from a signal that may be provided to the controller 50 . Signals of the door 12 for position information (eg, by way of example, an absolute position sensor for door inspection). The feedback sensor 64 in communication with the controller 50 is an illustration of part of a feedback system or motion sensing system for directly or indirectly detecting movement of the door, eg, by detecting changes in the speed and position of the closure member or components coupled thereto. For example, the motion sensing system may be hardware based (eg Hall sensor unit, associated circuitry) for detecting motion on eg a closure member (eg on a hinge) or on the actuator 22 (eg on a motor shaft) The movement of the target, and/or the motion sensing system may also be software-based, eg, executed by the controller 50 (eg, using code and logic for implementing a pulse counting algorithm). Other types of position, velocity, and/or orientation detectors may be employed without limitation, such as accelerometers and induction-based sensors.

The power closure member actuation system 20 additionally includes at least one contactless obstacle detection sensor 66 , which may form part of a contactless obstacle detection system coupled, eg, electrically coupled to the controller 50 . The controller 50 is configured to determine whether to detect an obstacle using the at least one non-contact obstacle detection sensor 66 (eg, using a non-contact obstacle detection algorithm 69 ), and may stop movement of the closure member, eg, in response to determining that an obstacle is detected . The non-contact obstacle detection system may also be configured to calculate the distance from the closure member to the object or obstacle, or to the user as an object or obstacle, to the door 12 . For example, a non-contact obstacle detection system may be configured to perform time-of-flight calculations using radar-based sensors 66 to determine distance, or, for example, based on using radar-based sensors 66 and the system to determine the reflectivity of objects, compared to non-human objects, Represent objects as users or humans. The non-contact obstacle detection system may also be configured to determine when an obstacle is detected, for example, by detecting radar objects or obstacles or reflected waves of the user emitted from the obstacle sensor 66 . The non-contact obstacle detection system may also be configured to determine when an obstacle is not detected, for example, by not detecting an object or obstacle from the obstacle sensor 66 or the reflected waves of the obstacle or the user. Operation and examples of the at least one non-contact obstacle detection sensor 66 and system are discussed in US Patent Application No. 2018/0238099, which is incorporated herein by reference.

In automatic mode, controller 50 may include one or more closure member motion profiles 68 when allowing for obstacle detection by at least one non-contact obstacle detection sensor 66 (eg, using motion commands of controller 50 ) The controller 50 utilizes the one or more closure member motion profiles 68 when the generator 70 ) generates the motion commands 62 . Thus, in the automatic mode, the motion command 62 has a specified motion profile 68 (eg, acceleration profile, speed profile, deceleration profile, and ultimately a stop in the open position), and is continuously responsive to user feedback (eg, the auto mode enable input 54 ) optimization.

In FIG. 5 , the power closure member actuation system 20 is shown as a portion of the vehicle system architecture 72 corresponding to operation in the automatic mode. Powered closure member actuation system 20 includes user interfaces 74, 76 configured to detect user interface input from user 75 via interface 77 (eg, a touch screen) to modify the movement associated with the closure member of at least one stored motion control parameter. Accordingly, the user modifiable system or the controller 50 of the power closure member actuation system 20 is configured to present at least one stored motion control parameter on the user interface 74 , 76 .

The body control module 52 communicates with the controller 50 via a vehicle bus 78 (eg, a local interconnect network or LIN bus). The body control module 52 may also communicate with the key fob 60 (eg, wirelessly) and a closure member switch 58 configured to output a closure member trigger signal through the body control module 52 . Alternatively, the closing member switch 58 may be directly connected to the controller 50 or otherwise in communication with the controller 50 . The body control module 52 may also communicate with environmental sensors (eg, temperature sensor 80 ). The controller 50 is also configured to modify at least one stored motion control parameter in response to detecting the user interface input. The screen communication interface control unit 82 associated with the user interfaces 74 , 76 may communicate with the closed communication interface control unit 84 associated with the controller 50 , eg, via the vehicle bus 78 . In other words, the closed communication interface control unit 84 is coupled to the vehicle bus 78 and the controller 50 to facilitate communication between the controller 50 and the vehicle bus 78 . Accordingly, user interface input may be communicated from the user interfaces 74 , 76 to the controller 50 .

A vehicle tilt sensor 86 (eg, an accelerometer) is also coupled to the controller 50 for detecting tilt of the vehicle 10 . The vehicle tilt sensor 86 outputs a tilt signal corresponding to the tilt of the vehicle 10 , and the controller 50 is also configured to receive the tilt signal and adjust one of the force command 88 ( FIG. 6 ) and the motion command 62 accordingly. Although the vehicle tilt sensor 86 may be separate from the controller 50 , it should be understood that the vehicle tilt sensor 86 may also be integrated in the controller 50 or another control module such as, but not limited to, the body control module 52 .

Controller 50 is also configured to perform at least one of an initial boundary condition check prior to generation of the command signal (eg, force command 88 or motion command 62 ) and an in-process boundary check during generation of the command signal. This boundary check prevents movement of the closure member and operation of the actuator 22 outside a number of predetermined operational limits or boundary conditions 91 and will be discussed in more detail below.

Controller 50 may also be coupled to vehicle latch 83 . Additionally, the controller 50 is coupled to a memory device 92 having at least one storage location for storing at least one stored motion control parameter associated with controlling movement of the closure member (eg, door 12). The memory device 92 may also store one or more closure member motion profiles 68 (eg, movement profile A 68a, movement profile B 68b, movement profile C 68c) and boundary conditions 91 (eg, a plurality of predetermined operational limits, such as minimum limits 91a and maximum limit 91b). The memory device 92 also stores original equipment manufacturer (OEM) modifiable door motion parameters 89 (eg, door inspection profiles and ejection profiles).

The controller 50 is configured to generate a motion command 62 using at least one stored motion control parameter to control the actuator output force acting on the closure member to move the closure member. The pulse width modulation unit 101 is coupled to the controller 50 and is configured to receive the pulse width control signal and output an actuator command signal corresponding to the pulse width control signal.

Similar to FIG. 5 , FIG. 5A shows the power closure member actuation system 20 as part of another vehicle system architecture 72 ′ operable in automatic and power assist modes. The body control module 52 may also communicate with at least one environmental sensor 80 , 81 for sensing at least one environmental condition 59 . Specifically, the at least one environmental sensor 80 , 81 may be at least one of a temperature sensor 80 or a rain sensor 81 . While temperature sensor 80 and rain sensor 81 may be connected to body control module 52 , they may alternatively be integrated in body control module 52 and/or in another unit such as, but not limited to, controller 50 . Furthermore, other environmental sensors 80, 81 are envisaged.

The controller is also coupled with a latch 83 that includes a tether motor 99 for tethering the closure member 12 to the closed position. The latch 83 also includes a plurality of primary and secondary ratchet position sensors or switches 85, eg, that provide feedback to the controller 50 as to whether the latch 83 is in the latch primary position or the latch secondary position.

Likewise, a vehicle tilt sensor 86 (eg, an accelerometer or inclinometer) is also coupled to the controller 50 for detecting tilt of the vehicle 10 . The vehicle tilt sensor 86 outputs a tilt signal corresponding to the tilt of the vehicle 10 , and the controller 50 is also configured to receive the tilt signal and adjust one of the force command 88 ( FIG. 6 ) and the motion command 62 accordingly. Thus, for example, the motion command 62 may be adjusted so that the door 12 is moved at the same speed and motion profile as if the door 12 was moved by the motion command as if on level terrain. Thus, the actuator 22 may move the door 12 such that the motion profile (eg, velocity versus door position) when in the tilted state is the same as or tracks the motion profile as if the vehicle were not in the tilted state. In other words, the user does not detect a visual difference in the appearance of door motion in terms of speed versus position when the vehicle 10 is in a leaning state or not. Or, for example, the force command 88 may be adjusted accordingly such that a similar user-detected resistance force is applied to move the door 12 as compared to the door being moved by the force command as on level terrain. Thus, the actuator 22 may move the door such that the user would require the same force to move the door 12 when in the tilted state as the user would need to move the door if the vehicle were not in the tilted state. In other words, the user feels the same reaction resistance of the door acting against the user's input force when the vehicle 10 is in the leaning state or not.

The pulse width modulation unit 101 is also coupled to the controller 50 and is configured to receive the pulse width control signal and output an actuator command signal corresponding to the pulse width control signal. Controller 50 includes a processor or other computing unit 110 in communication with memory device 92 . Accordingly, the controller 50 is coupled to a memory device 92 for storing the plurality of automatic closing member motion parameters 68, 93, 94, 95 for the automatic mode and the plurality of power closing members for the power assist mode Motion parameters 96, 100, 102, 106, and the plurality of motion parameters are used by the controller 50 to control movement of the closure member (eg, door 12 or 17). Specifically, the plurality of automatic closure member motion parameters 68, 93, 94, 95 include a plurality of closure member motion profiles 68 (eg, a plurality of closure member velocity and acceleration profiles), a plurality of closure member stop positions 93 (eg, see FIG. 46 ) , a closure member inspection sensitivity 94 and at least one of a plurality of closure member inspection profiles 95 . The plurality of dynamic closure member motion parameters 96 , 100 , 102 , 106 include a plurality of fixed closure member model parameters 96 and a force command generator algorithm 100 and at least one of a closure member model 102 and a plurality of closure member component profiles 106 . In addition, memory device 92 stores date and mileage and cycle count 97 . The memory device 92 may also store boundary conditions (eg, a plurality of predetermined operational limits) for boundary checks that prevent movement of the closure member and operation of the actuator 22 outside of a plurality of predetermined operational limits or boundary conditions.

Accordingly, the controller 50 is configured to receive one of a motion input 56 associated with the power assist mode and an automatic mode activation input 54 associated with the automatic mode. The controller 50 is then configured to send motion commands 62 to the actuator 22 based on the plurality of automatic closure member motion parameters 68, 93, 94, 95 in the automatic mode and based on the plurality of power closure member motions in the power assist mode One of the force commands 88 of parameters 96 , 100 , 102 , 106 to vary the actuator output force acting on the closure member 12 to move the closure member 12 . The controller 50 additionally monitors and analyzes the historical operation of the powered closure member actuation system 20 using an artificial intelligence learning algorithm 61 and adjusts the plurality of automatic closure member motion parameters 68, 93, 94, 95 and the plurality of power closure member motion parameters accordingly 96, 100, 102, 106.

As discussed above, the power closure member actuation system 20 may include environmental sensors 80 , 81 in communication with the controller 50 and configured to sense at least one environmental condition of the vehicle 10 . Accordingly, the historical operation monitored and analyzed by the controller 50 using the artificial intelligence learning algorithm 61 may include at least one environmental condition of the vehicle 10 . Accordingly, the controller is also configured to adjust the plurality of automatic closure member motion parameters 68 , 93 , 94 , 95 and the plurality of powered closure member motion parameters 96 , 100 , 102 , 106 based on at least one environmental condition of the vehicle 10 .

As best shown in FIG. 6 , controller 50 is also configured to receive motion input 56 and enter a power assist mode to output force command 88 as modified by artificial intelligence learning algorithm 61 (eg, according to force command algorithm 100 , door The model 102, the boundary conditions 91, the plurality of closed member component profiles 106 use the force command generator 98 of the controller 50, as discussed in more detail below). The controller 50 is also configured to generate a force command 88 to control the actuator output force acting on the closure member to move the closure member. Accordingly, the controller 50 changes the actuator output force acting on the closure member to move the closure member in response to receiving the motion input 56 . In the power assist mode, the force command 88 has a specified force profile (eg, which can be modified to alter the user's experience of the closure member, such as by making it lighter or heavier, or based on changes in environmental conditions and through artificial intelligence The learning algorithm 61 is modified, eg, by increasing or decreasing the force assistance provided to the user 75). For example, force command 88 is continuously optimized based on current user feedback. User movement sensor 104 is coupled to controller 50 and is configured to sense motion input 56 from user 75 on the closure member to move the closure member. Door motion feedback 105 is also provided back to user 75 from the closure member (eg, door 12). Likewise, the powered closure member actuation system 20 also includes at least one closure member feedback sensor 64 for determining at least one of the position and velocity of the closure member. At least one closure member feedback sensor 64 detects the position and/or velocity of the closure member, as described above for the automatic mode, and may provide corresponding position/motion information or signals to the controller 50 regarding how the user 75 is interacting with the closure member . For example, at least one closure member feedback sensor 64 determines the speed at which the user 75 moves the closure member (eg, door 12). The attitude or tilt sensor 86 may also determine the angle or tilt of the closure member, and the powered closure member actuation system 20 may compensate for such angle to assist the user 75 and counteract any effects on the movement of the closure member caused by the angle change (eg, with respect to How gravity can affect the closure member differently based on the closure member's angle relative to ground level).

Similar to the vehicle system architecture shown in FIG. 5 , a vehicle system architecture 72 ″ corresponding to operation of the power closure member actuation system 20 of FIG. 6 in a power assist mode is shown in FIG. 7 . Likewise, the power closure member The actuation system 20 includes a user interface 74, 76 configured to detect user interface input to modify at least one stored motion control parameter associated with movement of the closure member. The user may modify the system or power closure The controller 50 of the member actuation system 20 is configured to present at least one stored motion control parameter (eg, displayed parameters and functions 111) on the user interfaces 74, 76. The controller 50 is also configured to respond to detecting a user The interface input modifies the at least one stored motion control parameter stored in the memory device 92. Accordingly, the memory device 92 stores the at least one stored motion control parameter and other closure member parameters 106— - eg weight 106a and closure member dimensions 106b, closure member inertia 106c, closure member friction 106d, other closure member properties 106e, any mathematical model of closure member (eg closure member model 102), effects that may change over time due to eg wear Any models of physical components 108 of varying closure member motion (eg, door seal model 108a, actuator time/wear/temperature based model 108b), and door functions 109 (eg, anti-pinch, door inspection).

Accordingly, the controller 50 is configured to generate a force command 88 based on the at least one stored motion control parameter and the at least one environmental condition 59 to control the actuator output force acting on the closure member to move the closure member. Likewise, a closed communication interface control unit 84 is coupled to the vehicle bus 78 and the controller 50 to facilitate communication between the controller 50 and the vehicle bus 78 . The pulse width modulation unit 101 is coupled to the controller 50 and is configured to receive a pulse width control signal and output an actuator command signal corresponding to the pulse width control signal. As in FIG. 5 , the closed communication interface control unit 84 is coupled to the vehicle bus 78 and the controller 50 to facilitate communication between the controller 50 and the vehicle bus 78 .

As best shown in FIG. 8 , the user interfaces 74 , 76 of the powered closure member actuation system 20 may include a mobile device 74 configured to communicate wirelessly with the controller 50 . As an alternative to or in addition to a mobile device, the user interfaces 74 , 76 may include a console 76 provided in the vehicle 10 . In either case, the user interfaces 74 , 76 display at least one stored motion control parameter and communicate user interface input to the controller 50 . The controller 50 includes a processor or other computing unit 110 in communication with a memory device 92 that stores at least one stored motion control parameter.

As best shown in FIG. 9 , at least one stored motion control parameter of the power closure member actuation system 20 may be modified, eg, by the user 75 using the user interfaces 74 , 76 . Accordingly, the at least one stored motion control parameter may include a plurality of user motion control parameters that may be modified by the user 75 using the user interfaces 74 , 76 . However, manufacturers 107 utilizing the power closure member actuation system 20 in the vehicle 10 may tend to limit modification of certain parameters to ensure desired operation of the power closure member actuation system 20 . Accordingly, the at least one stored motion control parameter may also include a plurality of manufacturer motion control parameters that may be modified by the manufacturer 107 (eg, modified using the OEM interface 112 and stored in the memory device 92 as shown in FIG. 5 or in FIG. 7 ). elsewhere shown). Such manufacturer motion control parameters 89 such as the pop-up profile (used to present the motion profile of the closure member to the user 75 ) are not modifiable by the user 75 . For example, latch pop may be adjusted to ensure that latch 83 will properly transition to the open state (eg, the pawl may re-engage too slowly, the pawl of latch 83 may not be able to disengage from the ratchet of latch 83 too quickly).

Discussing the automatic mode in more detail, FIG. 10 shows that the user interface 74 , 76 includes a touch screen 113 of the console 76 provided in the vehicle 10 configured to display at least one stored motion control parameter and receive user interface input. As shown and as previously discussed, the screen communication interface control unit 82 communicates with the closed communication interface control unit 84 . Touch screen controller 114 is coupled to touch screen 113 and screen communication interface control unit 82 and is configured to communicate user interface input to controller 50 using screen communication interface control unit 82 . Figure 10 also shows at least one stored motion control parameter that may be adjusted or modified by the user 75 for the automatic mode. The at least one stored motion control parameter may include one of closure member opening and closing speed, closure member opening stop position, and door check sensitivity; however, it should be understood that additional or other parameters may be used for the at least one stored motion control parameter.

FIG. 11 shows that the at least one stored motion control parameter includes a plurality of stored motion control parameters associated with the automatic mode, which may be mapped to corresponding storage locations in the memory device 92 . One of the storage locations is for speed during detected severe weather 123 . The user interfaces 74, 76 will display the current values stored in the memory device 92, as well as limits that allow the user 75 to modify these values based on system calibration limits, for example. Therefore, the user 75 cannot exceed operating parameter values that may damage the closure member (eg, the door 12) during operation. For example, the user 75 would not be able to set the speed of opening and closing that would cause the closure member to slam hard to stop the open position, which could result in damage to the hinge.

Referring now to FIG. 12, upon receipt of the automatic mode enable input 54, the controller 50 enters the automatic mode. As discussed above with reference to FIGS. 5 and 7 , the pulse width modulation unit 101 is coupled to the controller 50 and is configured to receive a pulse width control signal and output an actuator command signal corresponding to the pulse width control signal. The H-bridge 116 is coupled to the pulse width modulation unit and is configured to apply a control voltage to the actuator 22 based on the actuator command signal. The power signal generator 118 is coupled to the controller 50 (or may be part of the controller 50 itself) and is configured to generate a pulse width modulated control signal to actuate the actuator 22 of the power closure member actuation system 20 to The closure member is moved (eg, using motion command generator 70 of controller 50 triggered by automatic mode activation input 54, door switch 58, or command 55 from vehicle 10, and receiving position feedback 64 from actuator 22). Accordingly, the controller 50 is configured to receive user interface input to modify at least one stored motion control parameter using the user interfaces 74 , 76 . The controller 50 is also configured to modify at least one stored motion control parameter stored in the memory device 92 and to generate one of the force command 88 and the motion command 62 using the at least one stored motion control parameter to provide to the power signal generator 118. Additionally, the user interfaces 74 , 76 , the power signal generator 118 , the memory device 92 and the controller 50 may include, for example, an electronic control system for the power closure member actuation system 20 .

Likewise, the controller 50 is also configured to receive at least one of the position and velocity of the closure member from the at least one closure member feedback sensor 64 in the automatic mode. In response to receiving the automatic mode enable input 54, the controller 50 uses the motion command calculator 124 of the controller 50 in the automatic mode based on at least one of the position and speed of the closure member and the target motion speed 120 and the motion speed adjustment factor 122. function to calculate the motion command 62 . In the automatic mode, the controller 50 generates the pulse width modulation control signal based on the motion command 62 using the duty cycle register 126 and the comparator 128 of the pulse width modulation control signal generator 118 of the controller 50 . The controller 50 is also in communication with a closure member switch 58 that is configured to output a closure member trigger signal (eg, through the body control module 52 ). Thus, the automatic mode enable input 54 may be a closing member trigger signal from the closing member switch 58 .

Figure 13 shows an example change of the duty cycle register corresponding to a change in the pulse width modulation duty cycle from 50% to 55%. This change may be prompted by the calculation of the motion command 62 by the motion command calculator of the controller 50 . Therefore, as shown, the PWM duty cycle of the PWM control signal increases.

FIG. 14 shows the stored motion control parameters stored in the memory device 92 . For example, for each of a plurality of closing member angles, each of the stored motion control parameters may be converted into a change in the motion profile related to the velocity of the closing member. As shown, the ejected position (eg, for presenting the closure member to the user 75 ) is reached by ramping the speed of the closure member to a first predetermined speed. Next, the speed of the closing member is then ramped up to a second predetermined speed Vswing which remains constant for the duration calculated based on the planned stop position. The speed of the closure member is ramped down from the second predetermined speed until the closure member reaches the planned stop position. As shown, the user 75 can adjust this second predetermined or movement speed.

FIG. 15 shows additional stored motion control parameters stored in memory device 92, including door inspection sensitivity and movement profile. The movement or motion profile may be adjusted by a user-selectable deceleration (eg, as the speed of the closure member ramps down from a second predetermined speed until the closure member reaches a planned stop position). For example, the user 75 may change the maximum deceleration rate. For example, the door inspection sensitivity may allow the user 75 to vary the closing member speed (A, B, C, D) and closing member angle or position (ε, δ, γ, β, α, θ) for both the opening and closing directions , α', β').

16A and 16B illustrate the adjustment of the motion profile related to the velocity of the closure member for each of a plurality of closure member angles. Speed and position are affected as shown in response to user 75 changes or adjustments to stored motion control parameters including the closure member open stop position (FIG. 16A) and the adjusted second predetermined speed Vswing (FIG. 16B).

As discussed above, the controller 50 is configured to receive the motion input 56 and in response enter a power assist mode. As in FIG. 10 above, the user interfaces 74 , 76 shown in FIG. 17 include touchscreens of consoles provided in the vehicle 10 . In addition to displaying the at least one stored motion control parameter for the automatic mode, the touchscreen is configured to display the at least one stored motion control parameter and receive user interface input for the power assist mode. For example, the "feel" of the closure member as the user 75 moves it (ie, the motion input 56 ) can be adjusted through the user interfaces 74 , 76 in addition to the closure member checking profile and position. Likewise, the screen communication interface control unit 82 communicates with the closed communication interface control unit 84 . The touch screen controller 114 is coupled to the touch screen and screen communication interface control unit 82 and is configured to communicate user interface input to the controller 50 using the screen communication interface control unit 82 . Accordingly, at least one stored motion control parameter may be adjusted or modified by the user 75 for the power assist mode. FIG. 18 illustrates that a plurality of stored motion control parameters associated with power assist modes may be mapped to corresponding storage locations in the memory device 92 . Such storage locations may, for example, include door inspection locations 115, strong door inspection profiles 117a, and soft door inspection profiles 117b. Likewise, the user interfaces 74, 76 will display the current values stored in the memory device 92, as well as limitations that allow the user 75 to modify these values based on system calibration limitations, for example. Therefore, the user 75 cannot exceed operating parameter values that may damage the closure member during operation. For example, if the closure member is on an extreme slope, the user 75 will not be able to move the closure member more than a given speed.

As best shown in FIG. 19 , the controller 50 is also configured to receive at least one of the position and speed of the closure member from the at least one closure member feedback sensor 64 in the power assist mode. Accordingly, the controller 50 is configured to use the closed member model 102 of the controller 50 and the force command algorithm 100 in the force command calculator module 119 of the force command generator 98 in the power assist mode based on the motion input 56 and the position of the closed member and at least one of velocity to determine force command 88 . Specifically, the motion input 56 may trigger the force command calculator output of the force command calculator module 119 . For example, the force command calculator output may be equal to a function (X (multiplier) x door parameter), eg 1.1 x weight of the door. Accordingly, the controller 50 is configured to generate a pulse width modulated control signal based on the force command 88 using the pulse width modulated control signal generator 118 of the controller 50 in the power assist mode to vary the actuator output force acting on the closing member to assist the movement of the closure member.

More specifically, as shown in FIG. 19 , the controller 50 uses the pre-compensation to calculate the force command 88 and is further configured to, in response to receiving the motion input 56 , in the power assist mode based on the motion input 56 and the force sensitivity factor 130 and The function of the closed member model 102 is used to calculate the force command 88 . The controller 50 is also configured to generate a pulse width modulated control signal based on the force command 88 using the duty cycle register 126 and the comparator 128 of the pulse width modulated control signal generator 118 of the controller 50 in the power assist mode. Thus, for example, based on a change in user sensitivity, the system 20 applies a force sensitivity factor to the force command calculation, which will result in a change in the input value of the duty cycle calculation of the pulse width modulation control signal generator. In this case, the modification of the sensitivity is done as part of the force command calculation (preprocessing). For example, the weight of the closure member increases by a multiplier factor, and the force command 88 will increase to simulate a lighter physical closure member (eg, door 12 ) moving the closure member with greater force.

As best shown in FIG. 20 , the controller 50 may alternatively use post compensation to calculate the force command 88 . For post compensation, the controller 50 calculates the force command 88 in the power assist mode in response to receiving the motion input 56 from the initial force command 132 and the force sensitivity factor 130 calculated from the motion input 56 and the closed member model 102 . The controller 50 is also configured to generate a pulse width modulated control signal based on the force command 88 using the duty cycle register 126 of the pulse width modulated control signal generator 118 of the controller 50 in the power assist mode. Likewise, the force command algorithm 98 and the closed member model 102 are stored in a memory device 92 coupled to the controller 50 . The closed member model 102 utilizes a plurality of model parameters 106 including at least one of a closed member weight attribute and a closed member friction attribute and a closed member inertial attribute and a closed member length attribute. Thus, for example, based on the change in user sensitivity, the system 20 applies the force sensitivity factor 130 to the result of the force command calculation 132, which will result in a change in the input value of the duty cycle calculation of the pulse width modulation control signal generator. Modification of the sensitivity is accomplished by adjusting the force command 88 (post-processing).

Figure 21 shows the adjustment of the force profile associated with the force experienced by the closure member (eg, measured at the handle of the closure member) for each of a plurality of closure member angles. As previously described, the controller 50 is configured to perform at least one of an initial boundary condition check prior to generation of the command signal and an in-process boundary check during the generation of the command signal. As shown, example boundary conditions 91 (eg, predetermined operating limits) for the power assist mode are shown relative to a predetermined assist force Fswing provided by the actuator 22 throughout movement of the closure member range up to the stop position. The predetermined assist forces may be adjusted as shown, but such adjustments are checked by the controller 50 to ensure that they do not exceed boundary conditions 91 . Accordingly, the controller 50 utilizes the boundary conditions 91 in addition to the closed member model 102 , the force sensitivity compensation factor 130 , and the force command algorithm 98 when generating the force command 88 in the power assist mode.

As best shown in Figures 22-27, methods of controlling the movement of the closure member based on user preferences are also provided. Referring first to FIG. 22 , the method includes the step 200 of initiating a user preference mode and the step 201 of reading at least one stored motion control parameter from the memory device 92 . The method proceeds 202 by presenting at least one stored motion control parameter associated with controlling movement of the closure member using the user interface 74 , 76 . The method also includes the step 204 of receiving user interface input on the user interface 74 , 76 corresponding to the modification of the at least one stored motion control parameter. The method continues with step 206 of modifying at least one stored motion control parameter in response to detecting user 75 interaction using user interfaces 74 , 76 . The next step of the method is 208 : writing the modification to the at least one stored motion control parameter based on the user interface input to the memory device 92 . The method then includes a step 209 of initiating a door command generator function and a step 210 of detecting a motion input 56 moving the closing member and entering a power assist mode in response. The method continues with step 212 of reading the modified at least one stored motion control parameter from the memory device 92 in the power assist mode. The method also includes a step 214 of generating one of the force command 88 and the motion command 62 using the at least one stored motion control parameter (eg, generating a force based on the motion input 56 and using the at least one stored motion control parameter in a power assist mode) Command 88) to control the actuator 22 to act on the closure member to move the closure member. The method may further include a step 216 of commanding movement of the closure member by receiving a force command 88 by the actuator 22 to change the actuator output force acting on the closure member to move the closure member in the power assist mode.

23 and 24, the method of controlling movement of a closure member based on user preference includes the step 200 of starting a user preference mode and the step 201 of reading at least one stored motion control parameter from the memory device 92. The method continues with step 202 of presenting at least one stored motion control parameter associated with controlling movement of the closure member using the user interface 74 , 76 . Next, a plurality of predetermined operating limits for at least one stored motion control parameter based on a plurality of pre-stored calibration limits are displayed 218 on the user interface 74 , 76 . The method continues with step 204 : receiving user interface input on the user interface 74 , 76 , the user interface input being associated with a modification to at least one stored motion control parameter within a plurality of pre-stored calibration constraints (eg, boundary conditions 91 ) Corresponding. The next step of the method is 208 : writing the modification to the at least one stored motion control parameter based on the user interface input to the memory device 92 . The method then includes the steps of: initiating a door actuation mode 220; and detecting one of a motion input 56 moving the closure member and an automatic mode initiation input 54 and entering a power assist mode in response to detecting the motion input 56 and in response to receiving The automatic mode enables the input 54 to enter step 221 of the automatic mode. The method proceeds 212 by reading from the memory device 92 at least one stored motion control parameter that has been modified.

As discussed above, the controller 50 is configured to perform at least one of an initial boundary condition check prior to generation of the command signal and an in-process boundary check during the generation of the command signal. Therefore, the next step of the method is 222: perform an initial bounds check. More specifically, as best shown in FIG. 25, the step 222 of performing an initial boundary check may include the step 224 of determining whether the battery voltage is within a plurality of pre-stored calibration limits. Next, 226 records a battery voltage error in response to the battery voltage not being within the plurality of pre-stored calibration limits. The initial bounds check 222 may continue with step 228 of determining whether the attitude of the vehicle 10 is within the plurality of pre-stored calibration limits in response to the battery voltage being within the plurality of pre-stored calibration limits. The initial bounds check 222 may also include a step 230 of recording a vehicle pose error in response to the pose of the vehicle 10 not being within a plurality of pre-stored calibration limits. Next, the initial bounds check 222 includes the following 232 : in response to the attitude of the vehicle 10 being within the plurality of pre-stored calibration limits, determining whether the ambient temperature is within the plurality of pre-stored calibration limits. The method continues with step 234 of recording an ambient temperature error in response to the ambient temperature not being within a plurality of pre-stored calibration limits. Next, 236 determines whether the obstacle detection is within the plurality of pre-stored calibration limits in response to the ambient temperature being within the plurality of pre-stored calibration limits and 237 defines one of the force command 88 and the motion command 62 to move the closure member. The initial boundary check 222 additionally includes a step 238 of logging an obstacle detection error in response to the obstacle detection being not within a plurality of pre-stored calibration limits and a step 239 of preventing one of the force command 88 and the motion command 62 from being generated.

As best shown in FIG. 26, the method may also include step 240 one of a default force command 88 and a default motion command based on the battery voltage and for a predetermined battery voltage (eg, normal battery voltage, as shown by numeral 240a) to adjust one of the force command 88 and the motion command 62 . The method may also include a step 242 of adjusting based on the attitude of the vehicle 10 and one of the default force command 88 and the default motion command 62 for a predetermined attitude of the vehicle 10 (eg, the vehicle 10 is on a flat surface, as indicated by numeral 242a ) One of the force command 88 and the motion command 62 . Next, 244 adjusts one of the force command 88 and the motion command 62 based on the ambient temperature and one of the default force command and the default motion command 62 for a predetermined ambient temperature (eg, a temperature of 15 degrees Celsius, as indicated by numeral 244a). The method may also include a step 246 of adjusting based on obstacle detection and one of a default force command and a default motion command 62 for predetermined obstacle detection (eg, the obstacle is within a predetermined angular range of the door, as indicated by numeral 246a ) One of the force command 88 and the motion command 62 .

Accordingly, controller 50 performs adjustments to one of force command 88 and motion command 62 . For example, continuous movement of the closure member at a given speed may overheat the motor 36 of the actuator 22 if under extreme vehicle inclination, whereas if the speed of movement of the closure member is varied by the controller 50 according to the preferred speed selected by the user, then The closure member may still open at this tilt but at a lower speed, and the motor 36 does not overheat. Thus, instead of switching to a manual mode (wherein the closure member is only moved by the user 75), the user 75 may still have power operation, but at a reduced performance level so that the system 20, eg, the actuator motor 36, is not damaged. Since user preferences can be implemented on flat surfaces, the bounds check ensures that performance can still be met at other inclinations or states of the vehicle 10 .

Referring back to Figures 23 and 24, the method continues with step 248 of determining if there was an initial error during the initial bounds check. The next steps in the method are preventing 250 the issuance of one of the force command 88 and the motion command 62 and stopping 252 the closure member in response to determining that there was an initial error. The method continues with step 254 of generating one of the force command 88 and the motion command 62 based on at least one of the position and velocity of the closure member and the force command 88 based on the motion input 56 using the at least one stored motion control parameter in response to the initial error not being determined. one.

Next, the method includes a step 256 of performing an in-process boundary check during generation of one of the force command 88 and the motion command 62 . In more detail, as best shown in FIG. 27, the step 256 of performing an in-process bounds check during the generation of one of the force command 88 and the motion command 62 may include a step 258 of determining whether the acceleration profile of the motion profile is within a plurality of Within the acceleration limits of the pre-stored calibration limits or boundary conditions 91 (eg, between the maximum acceleration limit 258a and the minimum acceleration limit 258b). The in-process bounds check 256 may also include a step 260 of recording an acceleration error in response to the acceleration profile not being within the acceleration limits. In-process boundary check 256 may also include step 262: in response to the acceleration profile being within acceleration limits, determining whether the speed profile is within a plurality of pre-stored calibration limits or speed limits of boundary conditions 91 (eg, between maximum speed limit 262a and minimum speed limit 262a). speed limit between 262b). In addition, the in-process boundary check 256 also includes a step 264 of recording a speed error in response to the speed profile not being within the speed limit. Next, the in-process bounds check 256 includes 266 : in response to the deceleration profile being within the deceleration limits, determining whether the deceleration profile is within a deceleration limit of a plurality of pre-stored calibration limits (eg, between the maximum deceleration limit 266a and the minimum deceleration limit 266b ). between). The in-process boundary check 256 additionally includes a step 268 of recording a deceleration error in response to the deceleration profile not being within the deceleration limits. The method proceeds to step 270: in response to detecting an obstacle within the obstacle detection limit, determining that the obstacle is within the plurality of pre-stored calibration limits or boundary conditions 91 (eg, within the maximum range detection limit 270a and the minimum range detection limit 270b) whether an obstacle is detected. The in-process boundary check 256 also includes the steps 271 of determining that one of the force command 88 and the motion command 62 is valid; and in response to the obstacle not being detected within the obstacle detection limit, the step 272 of logging an obstacle detection error; and stopping the closure Step 273 of a component (eg, stop door, check door, or manual mode).

Referring back to FIG. 24, the method proceeds to 274: Determine if there is an in-process error during the in-process bounds check. The method continues with a step 276 of preventing issuance of one of the force command 88 and the motion command 62 in response to a determination that there is a process error, and a step 278 of stopping the closure member. The next steps of the method are: 280 command movement of the closure member by the actuator 22 receiving one of the force command 88 and the motion command 62 to control the actuator output force acting on the closure member to cause the closure member to move in error, and 281 ends the method (FIG. 23). The method also includes step 282 of returning to step 256 of performing an in-process bounds check in response to an in-process error not being determined. Figures 28A and 28B illustrate example profile modifications based on user interface input (user-selectable door stop position in Figure 28A and user-selectable speed in Figure 28B). An example of a number of pre-stored calibration limits for the motion profile 68 is also shown.

Figure 29 illustrates example movement of the closure member outside of a number of pre-stored calibration limits. As shown, due to an in-process error detected during an in-process boundary check, the actuator 22 may be commanded to brake the closure member to ensure that the closure member stops before reaching the hard stop position. As indicated by numeral 284, the door inclination has changed (eg, the user 75 has lifted one side of the vehicle 10 to change a tire, causing the door to gain speed during opening). At number 286, the door speed increases beyond the calibrated limit (boundary limit 91) (eg, if further increases in speed are allowed, the motor 36 will not be sufficient to brake the door before the door reaches a hard stop). At numeral 288, an in-process error is detected, the motor 36 is commanded to brake the door to ensure the door stops before the hard stop position is reached, and the maximum fully traveled position is shown at numeral 290.

Accordingly, the user interfaces 74, 76 may display user-modifiable value limits based on boundary conditions 91 or a plurality of pre-stored calibration limits, and/or control, eg, in response to detecting the state of the vehicle 10 (battery level, inclination, temperature) The controller 50 may check prior to operation that the closure member may be moved (initial boundary check), and the controller 50 may be configured to check during (during) operation, for example, due to the vehicle 10 being in extreme operating conditions (eg, high temperature, extreme Boundary limits for extreme user input when tilted) are not exceeded.

Figure 30 shows the range of movement of the closure member (eg, door 12) between the open and closed positions. Although the open and closed positions are shown as being 90 degrees apart from each other, it should be understood that other configurations and movements of the closure member 12 are contemplated (eg, the open and closed positions may be greater or less than 90 degrees from each other). Based on the position and/or velocity of the closure member 12 detected by the at least one closure member feedback sensor 64, the controller 50 may control the actuator 22 to prevent or minimize slamming of the closure member 12 ( For example, to prevent abuse by user 75). The slam control conditions depend on the direction of the slam (open or closed) and the angle at which the slam is detected. The angles X and Y shown in FIG. 30 are example slam control conditions in the opening and closing directions, respectively, and the full travel angle is indicated at 300 .

Abuse caused by slamming of closure member 12 may result in damage to vehicle latch 83 , door 12 , door hinges 16 , 18 , and may also result when slamming causes actuator 22 to exceed the operating rating of the actuator Damage to the actuator 22. For example, slamming of the closure member 12 may itself cause the actuator 22 to operate above its operating rating, which may result in damage to the actuator 22, resulting in reduced life and performance, and ultimately the need for replacement or repair Failure of the actuator 22. In one example, slamming of the closure member 12 may cause the actuator 22 to operate above the operating rating and, for example, to rotate the motor 36 of the actuator 22 above the maximum rotational speed limit of the motor 36, high Such speed limitations may cause damage to motor 36 in the form of coil winding separation, or other types of damage, due to high centrifugal forces in configurations where actuator 22 includes a DC brushed motor. Such a slamming event of the closure plate 12 may cause this to exceed the maximum rotational speed limit of the motor 36 , especially when the gear reduction unit is coupled to the motor output, the speed of the motor 36 being increased due to the slower movement of the closure member 12 . Furthermore, in order to mitigate damage to vehicle doors, latches, door hinges, etc. caused by slamming, abuse of actuator 22 in response to a slamming event may also cause damage to actuator 22 that is controlled in response, The actuator 22 is controlled to reduce the speed of the closure member 12 caused by slamming regardless of whether the actuator 22 is controlled to An operating limit or rating of the actuator 22 has been exceeded. For example, the present disclosure provides control of the actuator 22 for responding to a slamming event within the operational limits of the actuator 22 to prevent and/or mitigate damage to the actuator 22 caused by the slamming event , and, for example, to provide control of the actuator 22 to maintain operation of the actuator 22 below the maximum rotational speed of the motor 36 (eg, excessive speeds may separate or separate the coil windings), the maximum rated speed of the motor 36 power (eg, excessive power supplied to the motor 36 of the actuator 22 may cause damage to electrical components and/or cause overheating), maximum back electromotive force (EMF) output rating (eg, due to slamming of the closure member 12 ) Whereas allowing the motor 36 to be back driven without reducing the speed of the back driven motor 36 may result in excessive amounts of back EMF voltage generated by the motor 36 resulting in overloading of electronic components such as the controller 50 or other back EMF protection circuitry), Maximum thermal ratings (eg, due to tilting of door 12—actuator 22 must resist movement of tilt control door 12, operating motor 36 for extended periods of time in stalled or slow-moving closure members), and maximum electrical brake rating value (eg, excessive power provided to the motor 36 of the actuator 22 may damage electrical components and/or cause overheating). Other actuator limitations or ratings are contemplated, such as any associated with the reduction gear train coupled to the output of motor 36 .

As shown in Figure 31, there is an example where the closure member 12 is slammed towards the open position. Specifically, at numeral 302, the door begins to open in automatic mode, but the user 75 decides to slam the door toward the open position, causing the initial velocity of the closing panel to exceed a predetermined maximum velocity threshold Vmax, as detected by the controller 50 As shown by peak 304, due to the slamming exceeding the maximum speed rating of the motor 36, the speed of the motor is driven back through the reduction gear train, which may cause damage, such as separation of the motor coils of the brushed DC motor. Furthermore, as a result, the slamming may generate large spikes in the EMF in the motor, causing damage to the electronic components connected to the motor 36 .

Similarly, Figure 32 shows an example of the slamming of the closure member 12 towards the open position. Specifically, at numeral 306, the door begins to open in the automatic mode, but the user 75 decides to slam the door towards the open position, thereby causing the initial speed of the closure member 12 to exceed a predetermined maximum speed threshold Vmax, as detected by the controller 50 As shown by the peak 308 of the slamming exceeding the maximum speed rating of the motor 36, the speed of the motor is driven back through the reduction gear train, which may cause damage, such as separation of the motor coils of the brushed DC motor. Furthermore, as a result, the slamming may generate large spikes in the EMF in the motor 36 , causing damage to the electronic components connected to the motor 36 .

The control techniques described herein will detect such slamming events that cause the closure member 12 to exceed a predetermined maximum speed threshold, and in response, the controller 50 will, for example, by employing dynamic braking or varistor braking control of the motor 36, or DC Injection braking control controls the actuator 22 to resist movement of the closure member 12 towards the open position by way of example. In order that the actuator 22 does not exceed its operating limits or ratings, the controller 50 described herein may be configured to control the actuator 22 such that the closure member 12 may be allowed to move at a speed (eg, a non-zero speed) to a hard The speed has been reduced to some extent by the actuator 22 prior to the stop position or hard stop position (eg, auxiliary latch position) without operating the actuator 22 to a limit that may damage it as shown in FIG. 32 , in response to detection of a slamming event, such as due to closure member 12 exceeding Vmax or a predetermined velocity threshold, actuator 22 is controlled to resist movement of closure member 12 before door 12 is allowed to generate potential energy and increase velocity. Because the actuator 22 is configured to resist door movement, rather than a mechanical brake or clutch or other type of mechanical coupling, rapidly reducing the speed of the closure member 12 due to a user-initiated slam allows the actuator to move the closure member 12 The speed is controlled and reduced to within the safe operating limits of the actuator 22 without causing excessive strain on the actuator 22 (as shown by the dashed lines in Figures 31 and 32). Accordingly, slamming effects on the vehicle door 12 and components such as the latch 83 and hinges 16, 18 can be mitigated, and damage to the actuator 22 can be avoided.

Accordingly, the controller 50 of the powered closure member actuation system 20 is configured to monitor at least one of the position and speed of the closure member 12 using the closure member feedback sensor 64 . The controller 50 is also configured to generate a command to reduce the speed of the closure member 12 based on at least one of the position and the speed of the closure member 12 as the closure member moves toward one of the open and closed positions. The controller 50 is additionally configured to control movement of the closure member 12 by receiving the command through the actuator 22 to vary the actuator output force acting on the closure member 12 to move the closure member 12 . The controller 50 is configured to control movement of the closure member 12 by the actuator 22 based on the position and speed of the closure member 12 determined using the closure member feedback sensor 64 to resist movement of the closure member towards one of the open and closed positions, but The closure member feedback sensor 64 may be, for example, an accelerometer 87 in communication with the controller 50 , without exceeding an operating rating of the actuator, which may damage the actuator. To increase the sensitivity of slam event detection to allow the controller to react quickly and begin to control the actuators to provide resistance to door movement caused by the slam slam, the accelerometer 87 may be positioned opposite the door hinge, for example, and may be positioned as a latch a part of. The control of slamming discussed herein depends on the direction of the slamming (eg, closing member 12 is slammed toward an open or closed position) and the position or angle of closing member 12 (for swing doors) where the slamming is detected. Thus, the speed or velocity of the closure member 12 may be an angular velocity. The first predetermined closing member angle Φ or X° ( FIG. 30 ) is shown as an important condition for slamming in the opening direction (ie, movement of the closing member towards the open position), and the second predetermined closing member angle θ or Y ° ( FIG. 30 ) is shown as an important condition for slamming in the closing direction (ie, movement of the closing member towards the closed position).

As discussed, the controller 50 may operate in at least one of an automatic mode and a power-assisted mode. Additionally, the controller 50 may also operate in an anti-slam mode. In more detail, the controller 50 is configured to control the actuator 22 to move the closure member 12 in one of the automatic mode and the power-assisted mode. The controller 50 then determines whether the speed of the closure member 12 is greater than a predetermined maximum speed threshold. The controller 50 is then configured to continue to control the actuator 22 to move the closure member 12 in one of the automatic mode and the power assist mode in response to the speed of the closure member 12 not being greater than the predetermined maximum speed threshold. Additionally, the controller 50 is configured to exit one of the automatic mode and the power assist mode and enter the anti-slam mode in response to the speed of the closure member 12 being greater than a predetermined maximum speed threshold.

As described above, the controller 50 is coupled to the tether actuator or motor 99 of the latch 83 that moves the closure member (eg, door 12 ) from the latch assist position to the latch primary position. Accordingly, the controller 50 is also configured to detect the direction of movement of the closure member 12 . The controller 50 is configured to determine whether the angle of the closure member 12 is less than the first predetermined closure member angle φ in response to detecting movement of the closure member 12 towards the open position.

As best shown in Figure 33, if the closure member 12 is moved towards the open position, the controller 50 is generally configured to change as the closure member is moved towards the open position as a function of the angle of the closure member 12 in the anti-slam mode The deceleration rate of the closure member 12 . The controller 50 is also configured to ensure that the angular velocity Vswing of the closing member 12 is zero at the first predetermined closing member angle φ before opening the hard stop. A minimum deceleration 310 and a maximum deceleration 312 and an example maximum deceleration 314 are shown. The rate of deceleration of the angular velocity Vswing will depend on the angle at which the slam is detected and ensure that the door angular velocity = 0°/s at a predetermined distance before the hard stop. Therefore, the closer a slam is detected to a hard stop, the faster the door will slow down.

More specifically, the controller 50 is configured to control the actuator 22 to reduce the speed Vswing of the closure member 12 to allow the hard stop to open in response to determining that the angle of the closure member 12 is not less than the first predetermined closure member angle φ. The controller 50 controls the actuator 22 to reduce the velocity of the closure member 12 to zero at or before the open position in response to determining that the angle of the closure member 12 is less than the first predetermined closure member angle φ. The controller 50 then determines whether manual control is detected, and in response to determining that manual control is not detected, determines whether the closure member 12 is in the open position. The controller 50 is configured to return to detecting the direction of movement of the closure member 12 in response to determining that the closure member 12 is not in the open position. The controller 50 exits the anti-slamming mode in response to determining that the closure member 12 is in the open position. Additionally, the controller 50 controls the actuator 22 in the power assist mode and exits the anti-slam mode in response to determining that manual control is detected.

As best shown in FIG. 34, if the closure member 12 is moved towards the closed position, the controller 50 is configured to verify that the angle of the closure member 12 is greater than the second angle when the closure member 12 is moved towards the closed position in the anti-slam mode The predetermined closing member angle θ. The controller 50 is further configured to slow the closure member 12 to a predetermined reference speed Vswing according to the angle of the closure member 12 in response to verifying that the angle of the closure member 12 is greater than the second predetermined closure member angle θ. The controller 50 is additionally configured to maintain the predetermined reference speed Vswing until the closure member 12 is moved to the latch assist position. The controller 50 slows the closure member 12 to the predetermined tether speed Vcinch position in response to verifying that the angle of the closure member 12 is not greater than the second predetermined closure member angle θ. The controller 50 is configured to allow the closure member 12 to move to the latched primary position at a predetermined tethering speed Vcinch. Minimum deceleration 316 and maximum deceleration 318 are shown along with an example deceleration 320 after the Y position (the door will drive directly to the fully closed position).

Therefore, if a slam is detected in the closing direction, the controller 50 will allow the door to close completely. The controller 50 will verify the door angle at the instant the slam is detected. If a slam is detected at any door position greater than angle Y, the controller slows the door to Vswing and maintains Vswing speed until the door enters the latch's tethered range (angle Y is defined as fully closed + TBD degrees). If a slam event is initiated at a starting door position angle less than Y, the controller 50 will slow the door, however, the door will close directly to the fully closed position. The rate of deceleration of the Vswing will depend on the angle at which the slam is detected and ensures that the door angular velocity = Vswing°/s at a predetermined distance before the latch assist position. Therefore, the closer the slam is detected to the latch, the faster the door will slow down.

In more detail, the controller 50 determines whether the angle of the closing member is greater than the second predetermined closing member angle θ in response to detecting movement of the closing member toward the closed position. The controller 50 is configured to control the actuator 22 to reduce the speed of the closure member 12 to allow the closure member 12 to enter the latched primary position in response to determining that the angle of the closure member 12 is not greater than the second predetermined closure member angle θ. The controller 50 controls the actuator 22 to reduce the speed of the closure member 12 to allow the closure member 12 to enter the latch assist position in response to determining that the angle of the closure member 12 is greater than the second predetermined closure member angle Θ. The controller 50 is configured to determine whether manual control is detected. The controller 50 controls the actuator 22 in the power assist mode and exits the anti-slam mode in response to determining that manual control is detected. Additionally, the controller 50 determines whether the closure member 12 is in the latch assist position in response to determining that no manual control is detected. The controller 50 is also configured to control the tether actuator 99 to move the closure member 12 to the latch primary position in response to determining that the closure member 12 is in the latch assist position. The controller 50 is also configured to generate an alarm signal (eg, provide audible or tactile feedback to the user 75 ) during control of the tethered actuator 99 and return to detect the direction of movement of the closure member 12 . In response to determining that the closure member 12 is not in the latch assist position, the controller 50 returns to control the actuator 22 to reduce the speed of the closure member 12 to allow the closure member 12 to enter the latch assist position.

As best shown in Figure 35, the controller 50 implements hysteresis by dynamically updating the comparison limits in the algorithm for significant switching points. More specifically, the controller 50 is configured to allow the closure member 12 to continue to move in the automatic mode as long as the angular velocity of the closure member 12 is: (i) at the predetermined reference speed Vswing; or (ii) at the predetermined reference speed Vswing and automatic Within the automatic mode upper gap UG between the upper angular velocity UL; or (iii) within the automatic mode lower gap LG between the predetermined reference speed Vswing and the automatic lower angular velocity LL. The controller 50 enters the power assist mode in response to the angular velocity of the closure member 12 being less than the automatic lower angular velocity LL or greater than the automatic upper angular velocity UL. The controller 50 is configured to transition to the anti-slamming mode once the angular velocity of the closure member 12 is a high speed upper threshold HSB that is greater than the predetermined maximum velocity threshold SL. Additionally, the controller 50 is configured to transition back to the power assist mode once the angular velocity of the closure member 12 slows to a high speed lower threshold HSA that is less than the predetermined maximum speed threshold SL. This operation helps avoid the algorithm jumping back and forcing switching with small noise and speed measurement tolerances.

36A and 36B illustrate the operation of the controller 50 in both the power assist mode and the anti-slam mode. Specifically, as shown in FIG. 36B , an anti-slamming gap (ASG) range 321 associated with the anti-slamming mode and a manual power assisting range 322 associated with the power assist mode are shown, and the controller 50 may be based on closing The speed of the member 12 is switched between these two modes. In other words, when anti-slamming is performed, the controller 50 should be able to switch back to the power assist mode if the speed returns to the normal reference value. This is shown by arrows in Figure 36B to illustrate the ability to switch between modes and should not be confused with the speed gap during acceleration/deceleration.

Figure 37 shows the relationship between the speed of the closing member and the mode in which the controller 50 operates. The arrow labeled 323 instructs the user 75 to accelerate the door out of the Vswing range, and the arrow labeled 324 instructs the user 75 to decelerate the door out of the Vswing range. Ranges for power assist: Anti-slam mode is shown at 326, power assist mode is shown at 328, automatic mode is shown at 330, and automatic speed range is shown at 332. 37A shows a method 401, eg, performed by the controller 50, for operating in an automatic mode based on a detected deviation from a reference speed profile exceeding a speed threshold, eg, from an upper (UL) speed threshold and a lower (LL) speed threshold and power assist mode as a result of the user manually moving the door 12 . A non-contact detection system may be used in conjunction with method 401 for confirming whether door 12 is moved due to a user approaching door 12 . The method 401 may include the steps of: providing a reference velocity profile 403, eg retrieving from a memory such as memory 92 a stored door motion/velocity profile according to which the door 12 moves, and then comparing at step 405 Or determine the difference between the reference speed profile and the actual detected speed 407 of the door 12 to determine any deviation or error in the movement of the door from the reference speed profile, then next in step 409 determine if the deviation is greater than a threshold speed level, in actual The door angle is above the reference speed predetermined threshold or the actual door angle is below the reference speed predetermined threshold. If at step 409 the controller 50 does not determine that the deviation exceeds the predetermined threshold, the method proceeds at step 411 where the controller 50 continues to control the door 12 in the automatic mode and returns to step 403 . If at step 409 the controller 50 does determine that the deviation exceeds the predetermined threshold, the method proceeds at step 413 the controller 50 transitions to the power assist mode. If the controller 50 determines next at step 415 after receiving an automatic mode command, eg, a door closing command using automatic mode, the controller 50 will determine whether the speed of the door is zero, or in other words whether the door is stationary. If the door is stationary, the controller 50 may continue to control the door in the automatic mode at step 411 . If the controller 50 does not determine that the door is stationary when the automatic mode command is received, the controller 50 may continue to control the door in the power assist mode at step 413 . Verifying that the door is stationary prior to controlling the door in automatic mode ensures that the power assist mode is not overridden, eg via an automatic mode command from a switch inside the vehicle, via a remote FOB etc. as an example to ensure that a user moving the door using the power assist mode remains Control of the doors in the power assist mode is not overridden by another mode of operation of the system 20 . Therefore, the power assist mode whereby the user controls and accesses the door takes precedence over other sources of control.

As best shown in FIGS. 38 and 39 , there is also provided for controlling movement of the closure member 12 of the vehicle 10 relative to the body 14 between an open position and a closed position based on at least one of a position and a speed of the closure member 12 Methods. The method includes steps 400 of initiating a door command generator function; and moving the closure member 12 relative to the body 14 (eg, toward opening) using the actuator 22 of the powered closure member actuation system 20 coupled to the closure member 12 and the body 14 position) in step 401. As discussed, the controller 50 may operate in at least one of an automatic mode, a power assist mode, and an anti-slam mode. Accordingly, the method also includes the step of controlling the actuator 22 to move the closure member 12 in one of the automatic mode and the power-assisted mode. The method continues with step 402 of determining at least one of the position and velocity of the closure member 12 using the closure member feedback sensor 64 of the powered closure member actuation system 20 . The next step of the method is 404 : monitoring at least one of the position and velocity of the closure member 12 using the controller 50 of the powered closure member actuation system 20 coupled to the closure member feedback sensor 64 and the actuator 22 .

Next, it is determined 406 whether the speed of the closure member 12 is greater than a predetermined maximum speed threshold. The method also includes a step 408 of continuing to control the actuator 22 to move the closure member 12 in one of the automatic mode and the power-assisted mode in response to the speed of the closure member 12 being not greater than the predetermined maximum speed threshold. The next step in the method is to exit 410 one of the automatic mode and the power assist mode and 412 enter the anti-slam mode in response to the speed of the closure member 12 being greater than a predetermined maximum speed threshold.

Typically, the method further includes the step of using the controller 50 to generate a velocity that reduces the closure member 12 based on at least one of the position and velocity of the closure member 12 as the closure member 12 moves toward one of the open position and the closed position The command. The method continues by controlling movement of the closure member 12 by receiving the command by the actuator 22 to vary the actuator output force acting on the closure member 12 to move the closure member 12 .

Referring to FIG. 39 , the method further includes a step 414 of detecting the direction of movement of the closure member 12 . Accordingly, if the closure member 12 is moving towards the open position, the method continues with step 416 of determining whether the angle of the closure member 12 is less than the first predetermined closure member angle φ in response to detecting movement of the closure member 12 towards the open position. The next step of the method is 418 : in response to determining that the angle of the closure member 12 is not less than the first predetermined closure member angle φ, control the actuator 22 to reduce the speed of the closure member 12 to allow the hard stop to be opened. The method then includes a step 420 of controlling the actuator 22 to reduce the velocity of the closure member 12 to zero at or before the open position in response to determining that the angle of the closure member 12 is less than the first predetermined closure member angle φ. The method proceeds as follows: step 422 determines whether manual control is detected; and step 424 determines whether the closure member 12 is in the open position in response to determining that manual control is not detected. The next step of the method is 426 : in response to determining that the closure member 12 is not in the open position, return to detecting the direction of movement of the closure member 12 . The method proceeds as follows: step 428, in response to determining that the closure member 12 is in the open position, exit the anti-slam mode; and step 430, in response to determining that manual control is detected, control the actuator 22 in the power assist mode and exit the anti-slam mode click mode.

If the closure member 12 is moving towards the closed position, the method includes a step 432 of determining whether the angle of the closure member is greater than a second predetermined closure member angle θ in response to detecting movement of the closure member 12 towards the closed position. The method continues through 434: in response to determining that the angle of the closure member 12 is not greater than the second predetermined closure member angle Θ, the control actuator 22 reduces the speed of the closure member 12 to allow the closure member 12 to enter the latched primary position. The method also includes step 436 of controlling the actuator 22 to reduce the speed of the closure member 12 to allow the closure member 12 to enter the latch assist position in response to determining that the angle of the closure member 12 is greater than the second predetermined closure member angle θ. The method additionally includes the steps of: determining 438 whether manual control is detected; and controlling 439 the actuator 22 in the power assist mode and 440 to exit the anti-slam mode in response to determining that manual control is detected. The next step of the method is 442 : in response to determining that no manual control is detected, determine whether the closure member 12 is in the auxiliary position. The method continues with step 444 : in response to determining that the closure member 12 is in the latch assist position, the tether actuator 99 is controlled to move the closure member 12 to the latch primary position. Next, 446 generates an alarm signal during control of the tethered actuator 99 and 448 returns to detect the direction of movement of the closure member 12 . The method proceeds to 450: In response to determining that the closure member 12 is not in the latch assist position, the return control actuator 22 reduces the speed of the closure member 12 to allow the closure member 12 to enter the latch assist position.

As previously discussed, the controller 50 implements hysteresis by dynamically updating the comparison limits in the algorithm for significant switching points. Accordingly, the method further includes the step of allowing the closure member 12 to continue to move in the automatic mode as long as the angular velocity of the closure member 12 is: (i) at a predetermined reference speed Vswing; or (ii) at a predetermined reference speed Vswing and automatic on Within the automatic mode upper gap UG between the angular velocity UL; or (iii) within the automatic mode lower gap LG between the predetermined reference speed Vswing and the automatic lower angular velocity LL. The method continues by entering the power assist mode in response to the angular velocity of the closure member 12 being less than the automatic lower angular velocity LL or greater than the automatic upper angular velocity UL. The method also includes the step of transitioning to the anti-slamming mode once the angular velocity of the closure member 12 is a high speed upper threshold HSB that is greater than a predetermined maximum velocity threshold SL. The method additionally includes the step of transitioning back to the power assist mode once the angular velocity of the closure member 12 has slowed to a high speed lower threshold HSA that is less than a predetermined maximum speed threshold SL.

Referring back to FIGS. 12 and 13 , the controller 50 is configured to receive at least one environmental condition for adjusting the force command 88 and/or the motion command 62 . Accordingly, the controller 50 generates one of the force command 88 and the motion command 62 using at least one environmental condition to provide to the power signal generator 118 . The motion speed adjustment factor 122 may be related to environmental conditions. For example, a sensed environmental condition for a temperature reading below 0 degrees Celsius may be associated with a speed adjustment factor 122 that is adjusted to cause a ten percent increase in the target movement speed, and for example, a sensed environmental condition for a temperature reading below -10 degrees Celsius The environmental conditions may be associated with a speed adjustment factor 122 that is adjusted to result in a fifteen percent increase in the speed of the target movement. Likewise, the automatic mode enable input 54 may be a closing member trigger signal from the closing member switch 58 . It should be appreciated that the controller 50 may be configured to generate motion commands 62 in other ways based on environmental conditions.

Specifically, FIG. 13 shows an example change of the duty cycle register corresponding to a change in the pulse width modulation duty cycle from 50% to 55%. Such changes may be prompted by the motion command calculator of controller 50 , which calculates motion commands 62 based on at least one environmental condition. Also, as shown, the PWM duty cycle of the PWM control signal is increased.

Referring back to FIG. 19 , as an example, when the ambient condition is sensed to a temperature reading below 0 degrees Celsius, the force command 88 based on the ambient condition may be increased, and in response to a simulated lighter physical closure member from the user 75 (eg, , door 12), the force command 88 is adjusted to move the closure member with greater force. For example, the weight of the closure member is increased by a multiplier factor related to environmental conditions. It should be appreciated that the controller 50 may be configured to generate the force command 88 in other ways based on environmental conditions.

Referring back to FIG. 20 , controller 50 may alternatively use post-compensation to calculate force command 88 . For post compensation, the controller 50 calculates the force command in the power assist mode in response to receiving the motion input 56 from the motion input 56 , the closed member model 102 , the initial force command 132 calculated from the at least one environmental condition, and the force sensitivity factor 130 88.

FIG. 40 illustrates the adjustment of the motion profile associated with the motion of the closure member for each of a plurality of closure member angles relative to a normal or default speed 500 according to sensed environmental conditions. For example, as indicated by numeral 502 (eg, if the detected temperature is hotter or colder than a predetermined threshold), the predetermined speed Vswing of the closure member may be increased or decreased depending on the temperature.

41 illustrates adjustment of the force profile associated with the force experienced by the illustrated closure member (eg, measured at the handle of the closure member) for each of a plurality of closure member angles in accordance with sensed environmental conditions. A predetermined assisting force Fswing is provided by the actuator 22, which extends through the range of motion of the closing member until the check position where the assisting force increases to the higher predetermined assisting force Fcheck, and then returns to Fswing until where the assisting force Fstop is applied to the stop position of the closing member. This assist force may increase or decrease depending on environmental conditions such as temperature. For example, the assist force may be increased according to environmental conditions, such as windy environmental conditions, to help maintain the closure panel in the door inspection position during sensed windy conditions.

As best shown in FIG. 42 , a method of controlling movement of the closure member 12 based on at least one environmental condition of the vehicle 10 is also provided. The method includes the steps 600 of receiving one of the motion input 56 and the automatic mode activation input 54 to control movement of the closure member 12 in the power assist mode in response to receiving the motion input and to activate the automatic mode activation input in response to receiving the automatic mode activation input. The movement of the closure member 12 is controlled in the mode. The method continues with step 602 of detecting at least one environmental condition of the vehicle 10 using environmental sensors. The method proceeds 604 by generating one of the motion command 62 in the automatic mode and the force command 88 in the power assist mode based on at least one environmental condition. As discussed above, the environmental sensors 80 , 81 may be temperature sensors 80 , so the method may also include step 606 adjusting one of the motion command 62 and the force command 88 based on the ambient temperature of the vehicle 10 . Similarly, if the environmental sensor is the rain sensor 81, the method may further include step 608: adjusting one of the motion command 62 and the force command 88 based on the detected rain. The next step of the method is 610 : command movement of the closure member 12 by receiving one of the motion command 62 and the force command 88 by the actuator 22 to change the actuator output force acting on the closure member 12 to move the closure member 12 .

Referring now to FIG. 43 , a communication system 699 is shown showing the environmental sensors 80 , 81 being replaced or supplemented by a network connection to a remote server 701 that provides local weather information or environmental conditions 705 via a cellular or wireless network 706 . The BCM 52 may be provided with a communication interface 700 and a GPS module 702 configured to receive GPS data, eg, from GPS satellites 704 . Communication interface 700 may be a wireless interface, such as a cellular network-based wireless interface operating as a client, for providing current GPS information (eg, location information 707 ) retrieved by GPS module 702 to remote server 701 over wireless network 706, the remote server 701 is configured to respond based on the current GPS location information provided and send environmental data, such as temperature, wind speed, precipitation, humidity, pressure, etc., to the communication interface 700 via the wireless network 706 . The controller 50 will use the environmental data provided by such a network to perform the door control techniques and methods described herein above.

Referring now to FIG. 44 , the motor vehicle 10 is shown including a body 14 defining an opening 814 leading to an interior passenger compartment. A closure member such as the rear passenger door 17 is illustratively shown pivotally mounted to the vehicle body 14 for movement between an open position (shown) and a fully closed position for opening and closing with the latch assembly 83 accordingly. Opening 814 is closed. An example of a latch assembly 83 can be found in US Publication No. 2018/0100331, which is incorporated herein by reference. While the rear passenger door 17 is shown, it should be understood that the latch assembly 83 may alternatively or additionally be used with the door 12 and/or the power closure member actuation system 20 may be used with the rear passenger door 17 . The latch assembly 83 is shown secured to the rear passenger door 17 adjacent the edge portion 17A of the rear passenger door and includes a latch mechanism 83 ( FIG. 45 ) that can be fixedly secured to the opening 814 The catch pin 820 of the recessed edge portion 814A is releasably engaged. As will be described in detail, the latch assembly 83 is operable to engage the catch pin 820 and releasably retain the closure member 17 in the fully closed position of the closure member 17 . An outer handle 822 and an inner handle 824 are provided for selectively actuating the latch release mechanism of the latch assembly 83 to release the catch pin 820 from the latch mechanism 830 and allow subsequent movement of the closure member 17 to closed The open position of member 17. An optional locking knob 826 provides a visual indication of the locked state of the closure latch assembly 83 and may also be operable to mechanically change the locked state of the latch assembly 83 . Weather resistant or door seal 828 is mounted on edge portion 814A of opening 814 in body 14 and is adapted to be held in closure member 17 by latch mechanism 830 of latch assembly 83 at closure member 17 is elastically compressed in engagement with the mating sealing surface of the closure member 17 in the fully closed position to provide a sealed interface between the weather resistant or door seal 828 and the mating sealing surface of the closure member 17, the sealing The interface is configured to prevent rain and mud from entering the passenger compartment, for example, while minimizing audible wind noise.

As best shown in FIG. 45, the latch assembly 83 includes a latch mechanism 830, a latch release mechanism 832, a latch tether mechanism 134, a power release actuator 136, a tether motor or power tether actuator 99, Tether disconnect mechanism 840 and powertrain disengage actuator. Although shown separately and schematically, those of ordinary skill in the art of vehicle closure latches will appreciate that the Certain functions may be combined to provide coordinated actuation of any two or more of the indicated mechanisms.

In FIG. 45, the various components of the latch assembly 83 are oriented and/or positioned to establish an unlatched mode when the door 17 is in its open position wherein the closing latch assembly 83 is removed from the catch 820. The various components of the power close latch assembly 83 may be replaced when the door or rear passenger door 17 is in the first or "soft closed" (ie, partially closed) position in which the catch pin 820 is retained by the latch mechanism 830 Oriented and/or positioned to establish a latch-untethered or "auxiliary latch" mode. In addition, the various components of the power close latch assembly 83 may also be oriented and oriented when the door 17 is in the second or "hard closed" (ie, fully closed) position in which the catch pin 820 is retained by the latch mechanism 830 . /or positioned to establish a latch-tether or "primary latch" mode. Movement of the vehicle door 17 from its partially closed position to its fully closed position may be accomplished manually based on the closing force applied to the vehicle by the vehicle operator, or alternatively may be based on a powertrain pull actuating the latch pull mechanism 834 Actuator 99 is accomplished via a power-operated tether operation configured to provide a "soft close" feature.

The latch assembly 83 is shown to include a frame plate 850 and a plate cover 852 (FIG. 44) that support and enclose the mechanisms and powered actuators described above. The frame panel 850 is a rigid member configured to be fixedly secured to the edge portion 17A of the door 17 and define an access aperture 854 through which the catch pin 820 travels as the door 17 is moved relative to the body 14 . Latch mechanism 830 is shown in this non-limiting example as a single ratchet and pawl arrangement including ratchet 856 and pawl 858 . Ratchet 856 is supported for rotational movement relative to frame plate 850 via ratchet pivot pin 160 . Ratchet 856 is configured to include: a contoured guide channel 862 terminating in a detent capture sleeve 864; a ratchet engagement member or closure notch 866; a cinch notch 868; Extended first cam surface 870 . The ratchet 856 is also configured to include an arcuate extension 872 having a second cam surface 874 extending between the nose tip portion 876 and the tether notch 168 . A ratchet biasing member, shown schematically at arrow 878, is adapted to generally bias ratchet 856 to rotate about ratchet pivot pin 860 in a first or "release" direction (ie, counterclockwise in Figure 45). Ratchet 856 is shown in FIG. 45 rotated to a detent release position with guide channel 862 generally aligned with access aperture 54 in frame plate 850 . As will be described in detail, the ratchet 856 is movable within a range of motion between its detent release position, two different detent capture positions, and a ratchet overtravel position, including A secondary catch (ie, "soft close") position and a primary catch (ie, "hard close") position.

The pawl 858 is supported for rotational movement relative to a pawl pivot pin 880 extending from the frame plate 850 . The pawl 858 is configured to include a body portion having a latch shoulder 884 adapted to abut ( ride against) on the first cam surface 870 of the ratchet wheel 856. The latch shoulder 884 on the pawl 858 is also configured to engage the closing notch 866 when the ratchet 856 is in its primary catch catch position. The pawl 858 also includes a release tab portion 886 and a switch tab portion 888 . The power release actuator 836 acts on or is coupled to the release tab portion 886 of the pawl 858 via the latch release mechanism 832 and is operable to cause the latch Release mechanism 832 selectively moves pawl 858 between a ratchet release position and a ratchet hold position. A pawl switch 890 (one of the plurality of primary ratchet position sensors or switches 85 and secondary ratchet position sensors or switches 85 shown in FIG. 5A ) is mounted to the frame plate 850 and aligned with the switch tab portion 888 of the pawl 858 to A determined pawl position signal is provided when pawl 858 is in its ratchet release position. A pawl biasing member (not shown) is provided for generally biasing the pawl 858 toward its ratchet holding position in a first rotational direction (eg, clockwise in FIG. 45 ). The pawl 858 is shown in its ratchet release position in FIG. 45 and can be moved to its ratchet hold position.

The latch release mechanism 832, although only shown schematically, is understood by those skilled in the art to be operable in a first or "non-actuated" state to have the pawl 858 in its ratchet-holding position and to be able to operate in a second or "non-actuated" state. or "actuated" state so that the pawl 858 is in its ratchet release position. Typically, the latch release mechanism 832 is configured to be actuated by one or more manually actuated release mechanisms other than the power release actuator 836 . For example, FIG. 45 schematically shows an inboard release mechanism 833 arranged to interconnect the inboard handle 824 with the latch release mechanism 832 to allow selective release of the latch mechanism 830 via actuation of the inboard handle 824 . Also shown schematically is an outboard release mechanism 835 arranged to interconnect the outboard handle 822 with the latch release mechanism 832 to allow selective release of the latch mechanism 830 via actuation of the outboard handle 822 . Power release actuator 836, although only shown schematically, is understood to include any type of power operating device (ie, electric motor, etc.) that can be actuated to provide a power release function.

As noted, the latch assembly 83 also includes a latch tether mechanism 834 controlled by a powertrain pull actuator 99 and a tether release mechanism 840 controlled by a powertrain pull disengagement actuator (not shown). Latch tether mechanism 834 generally includes tether rod 200 and tether link 202, while tether release mechanism 840 generally includes release lever 204 and an actuation lever (not shown). The tether link 202 is operatively coupled to the disconnect lever 204 such that selective actuation of at least one of the powertrain pull actuator 99 and the powertrain pull disconnect actuator will cause cooperative movement of these two components. Furthermore, the powertrain pull actuator 99 and the powertrain pull disconnect actuator, although only shown schematically, are envisioned as power-operated actuators such as electric motors to provide control of the latch pull mechanism 834 . Selective control of actuation and/or actuation of the tether release mechanism 140 .

Tie rod 900 is shown rotatably mounted to frame plate 850 via tie rod pivot pin 910 . Tether link 902 is an elongated member having a first end portion, a second end portion, and an intermediate portion between the first and second end portions. The middle portion of the tie link 902 includes an elongated wavy guide groove 922 . A tie pulley 924 is rotatably mounted on the tie rod pivot pin 910 and includes a peripheral flange 926 that defines a notch and an opening 928 within which the tie rod 900 is retained. Due to this arrangement, rotation of the tether pulley 924 in the tether (ie, counterclockwise) direction via controlled actuation of the power tether actuator 99 will cause the tie rod 900 to be in its tether start position and its tether stop position rotation between. The tethered disengagement mechanism 840 is operable to pivot the tethered link 902 (when in its untethered position) between its tethered link engaged position and its tethered link disengaged position.

The breakaway lever 904 is rotatably mounted to the frame plate 850 via a breakaway lever pivot pin 940 and is configured to include a follower tab 942, an actuation tab 944, and a switch tab portion 946, the follower tab 942 holding in the guide groove 922 of the tie rod 902. The split lever switch 948 is mounted to the frame 850 and is oriented to provide a determined split lever position signal regarding the position of the split lever 904 . It should also be noted that the latch assembly 83 includes a retaining pin 980 mounted to the frame plate 850 proximate the second end portion of the tether link 902 . Retaining pin 880 provides a hard stop to tether link 902 in the event of a crash accident.

46 shows various positions 1000, 1002, 1004, 1006, 1008, 1010, 1012, 1014, 1016, 1018 of a closure member (eg, door 12 or 17), including mechanical hard stop position 1000, fully open position 1002 , an example of the expected position 1004 of the closure member 12 , 17 , an example of the actual position 1006 of the closure member 12 , 17 , and the difference or delta 1008 between the expected position 1004 and the actual position 1006 . The positions 1000, 1002, 1004, 1006, 1008, 1010, 1012, 1014, 1016, 1018 of the closure members 12, 17 shown in Figure 45 also include an eject position 1010, a closure member or latch open position 1012, a latch assist or Auxiliary detent capture position 1014 (corresponding to secondary closure member position), closure member or latch fully closed position or primary detent capture position 1016 (corresponding to primary closure member position), and closure member or latch overtravel position 1018 . The positions 1000, 1002, 1004, 1006, 1008, 1010, 1012, 1014, 1016, 1018 shown are intended to be examples only, other positions and configurations of the closure members 12, 17 are contemplated.

47A-47D illustrate the latch state switch state of the latch assembly 83 (eg, using sensors 190, 248). Thus, for example, the sensors 190, 248 of the latch assembly 83 may be used to determine the position of the closure members 12, 17. As discussed, at least one closure member feedback sensor 64 and/or a motor position sensor associated with the actuator 22 may alternatively or additionally be used to determine the position and/or velocity of the closure member.

Figure 48 shows an example closure member motion profile 68 showing how the speed of the closure members 12, 17 may be affected by aging seal loads. As discussed above, the controller 50 is configured to receive one of a motion input 56 and an automatic mode activation input 54 to control movement of the closure members 12, 17 to the open position. The controller 50 is also configured to control movement of the closure members 12 , 17 by commanding the actuator 22 using one of the motion input 56 and the automatic mode enable input 54 . As shown, receipt of motion input 56 and/or automatic mode enable input 54 may also cause power closure member actuation system 20 to command latch assembly 83 to unlock/unlatch (eg, using release actuator 836 ), This allows the closure members 12, 17 to open to the ejected position under sealing load. The closure members 12, 17 will move seamlessly and continuously under power (eg, by the actuator 22) to satisfy the opening request, eg, at a pre-planned angle. The sealing load of the aged seal 828 reduces the ejection speed (ie, the speed difference shown by the dashed line and indicated by numeral 1020) until the ratchet 156 will not rotate from its primary or secondary position.

Accordingly, the controller 50 is additionally configured to monitor the actual speed and the actual position of the closure members 12, 17 using at least one closure member feedback sensor 64 (or using a latch status switch as shown in Figures 47A-47D ) at least one. The controller 50 also calculates the position difference between the expected position 1004 of the closure members 12 , 17 and the actual position 1006 of the closure members 12 , 17 (eg, shown as increments 1008 in FIG. 46 ) and the expected position of the closure members 12 , 17 At least one of the speed difference between the speed and the actual speed of the closure members 12, 17 (eg shown in Figure 48). The controller 50 may then adjust the command to the actuator 22 to compensate for at least one of a position difference and a speed difference to move the closure members 12, 17 to at least one of a desired position and a desired speed. Accordingly, the controller 50 of the power closure member actuation system 20 may maintain consistent performance of the actuator 22 by adding varying levels of power (eg, from the actuator 22 ) to supplement the supply from the door seal 828 over the life of the vehicle. or loss of other components from wear or lubrication changes. Controller 50 may also take into account the date and mileage and cycle count 97 stored in memory device 92 (FIG. 5) when determining the amount of compensation that may be required.

The controller 50 is also configured to determine whether the closure members 12, 17 have moved to the desired position. Then, in response to determining that the closure members 12 , 17 have not moved to the desired position, the controller 50 may return to adjust the command to the actuator 22 to compensate for at least one of the position difference 1008 and the velocity difference to move the closure members 12 , 17 back Move to at least one of the expected position and the expected speed. The controller 50 is additionally configured to determine whether the closure members 12, 17 are moved to the final position in response to determining that the closure members 12, 17 are moved to the desired position. Then, in response to determining that the closure members 12 , 17 have not moved to the open position, the controller 50 may return to monitoring at least one of the actual speed and the actual position of the closure members 12 , 17 using the at least one closure member feedback sensor 64 . The controller 50 is also configured to command the actuator 22 to stop movement of the closure members 12, 17 in response to determining that the closure members 12, 17 are moved to the final position. Since the controller 50 can also communicate with the latch 83 , the controller 50 is also configured to issue a release command to the latch 83 . For example, the controller 50 may be configured to command the power release actuator 836 (FIG. 45) to move the pawl 158 to the ratchet release position.

As best shown in FIGS. 49 and 50 , a method of controlling the movement of the closure members 12 , 17 of the vehicle 10 is also provided. The method includes a step 1100 of receiving one of a motion input 56 and an automatic mode activation input 54 to control movement of the closure members 12, 17 to the open position. The method may also include step 1102 : issuing a release command to the latch 83 . The method may then include a step 1104 of controlling movement of the closure members 12 , 17 by commanding the actuator 22 using one of the motion input 56 and the automatic mode activation input 54 . The method continues through 1106 by monitoring at least one of the actual velocity and the actual position of the closure members 12 , 17 using at least one closure member feedback sensor 64 configured to sense the closure members 12 , 17 (eg, the actual position of the closure member may be monitored via a latch signal, a door position signal, or a door actuator position signal). Next, the method includes a step 1108 of calculating the position difference between the expected position of the closure members 12 , 17 and the actual position of the closure members 12 , 17 and the expected speed of the closure members 12 , 17 and the actual speed of the closure members 12 , 17 . at least one of the speed differences between (eg, the load of the seal 828 cannot move the closure member such that the latch 83 moves out of the secondary position). The method continues with step 1110 of adjusting the command to the actuator 22 to compensate for at least one of a position difference and a speed difference to move the closure members 12, 17 to at least one of a desired position and a desired speed (eg, the closure member moves to the desired position as the load from 828 moves it to, eg, using Proportional Integral Derivative (PID) control). As discussed, such compensation may also take into account the date and mileage and cycle count 97 stored in memory device 92 (FIG. 5A), for example.

49, if the closure members 12, 17 do not work as expected, eg, due to increased friction around the hinge or lack of lubrication in the actuator gear train, changes in the operation of the motor (eg, motor brush wear, etc.) moving in the same manner, the power closure member actuation system 20 can compensate. Accordingly, the method may additionally comprise a step 1112 of determining whether the closure members 12, 17 have moved to the desired position. The next step of the method is 1114: In response to determining that the closure members 12, 17 have not moved to the desired position, return to the step of adjusting the command to the actuator 22 to compensate for the calculated difference to move the closure members 12, 17 Move to at least one of the expected position and the expected speed. The method may continue with step 1116 of determining whether the closure members 12, 17 moved to the final position in response to determining that the closure members 12, 17 moved to the desired position. The method then includes step 1118: in response to determining that the closure members 12, 17 have not moved to the final position, returning to the step of monitoring the actual speed and the actual position of the closure members 12, 17 using the at least one closure member feedback sensor 64 At least one, the at least one closure member feedback sensor 64 is configured to sense at least one of an actual speed and an actual position of the closure members 12 , 17 . The method also includes a step 320 of commanding the actuator 22 to stop movement of the closure members 12, 17 in response to determining that the closure members 12, 17 moved to the final position.

As discussed above, the seal load may vary depending on the temperature and aging of the seal 828 . Accordingly, the method may continue with step 1122 of determining whether the closure members 12, 17 are moved to the open position (eg, causing the load of the seal 828 to move the closure member to a position where the latch 83 has moved past the secondary position). The method may continue to step 1124: in response to determining that the closure members 12, 17 have not moved to the open position, returning to the step of monitoring one of the speed and position of the closure members 12, 17 using the at least one closure member feedback sensor 64, said At least one closure member feedback sensor 64 is configured to sense the actual position of the closure members 12 , 17 . The method also includes a step 1126 of commanding the actuator 22 to move the closure members 12, 17 in one of the automatic mode and the power assist mode in response to determining that the closure members 12, 17 are moved to the open position (ie, normal door control can begin) .

Referring back to FIG. 12 , the controller 50 is further configured to receive at least one environmental condition for use in adjusting the force command 88 and/or the motion command 62 , and the force command 88 and/or the motion command 62 may also be based on the artificial intelligence learning algorithm 61 The controller 50 is modified by monitoring and analysis of historical operation of the power closure member actuation system 20 . Accordingly, the controller 50 generates one of the force command 88 and the motion command 62 as modified by the artificial intelligence learning algorithm 61 to provide to the power signal generator 118 .

According to an example of operation, the motion speed adjustment factor 122 may be related to environmental conditions and/or modified by the artificial intelligence learning algorithm 61 . For example, a sensed environmental condition for a temperature reading below 0 degrees Celsius may be associated with a speed adjustment factor 122 that is adjusted to cause a ten percent increase in the target movement speed, and for example, a sensed environmental condition for a temperature reading below -10 degrees Celsius The environmental conditions may be associated with a speed adjustment factor 122 that is adjusted to result in a fifteen percent increase in the speed of the target movement. The speed adjustment factor 122 may also be modified by the artificial intelligence learning algorithm 61 based on the monitoring and analysis of the historical operation of the power closure member system 20 by the controller 50 . Specifically, the controller 50 may use the artificial intelligence learning algorithm 61 to adjust the plurality of automatic closure member motion parameters 68 , 93 , 94 , 95 used to determine the motion command 62 based on monitoring and analysis of historical operation of the powered closure member system 20 . . Likewise, the controller 50 generates the pulse width modulation control signal based on the motion command 62 using the duty cycle register 126 and the comparator 128 of the pulse width modulation control signal generator 118 of the controller 50 in the automatic mode. It should be appreciated that the controller 50 may be configured to generate motion commands 62 in other ways based on environmental conditions and/or as modified by the artificial intelligence learning algorithm 61 .

Referring back to FIG. 13 , changes in the duty cycle registers corresponding to changes in the pulse width modulation duty cycle may be modified by the motion command calculator of the controller 50 based on at least one environmental condition and/or as modified by the artificial intelligence learning algorithm 61 The calculation of the motion command 62 is prompted. Therefore, as shown, the PWM duty cycle of the PWM control signal increases.

Referring back to FIG. 19 , the controller 50 is also configured to receive at least one of a position and a velocity of the closure member from the at least one closure member feedback sensor 64 in the power assist mode. Accordingly, the controller 50 is configured to use the force command algorithm 98 of the controller 50 and the closure member model 102 to determine the force command 88 based on at least one of the motion input 56 and the position and velocity of the closure member in the power assist mode. Based on monitoring and analysis of historical operation of the power closure member system 20 , the controller 50 may use the artificial intelligence learning algorithm 61 to adjust the plurality of power closure member motion parameters 96 , 100 , 102 , 106 used to determine the force command 88 . Accordingly, the controller 50 is configured to generate a pulse width modulated control signal based on the force command 88 using the pulse width modulated control signal generator 118 of the controller 50 in the power assist mode to vary the actuator output force acting on the closing member to assist the movement of the closure member.

The controller 50 also uses the pre-compensation to calculate the force command 88 and is further configured to, in response to receiving the motion input 56, in the power assist mode based on the motion input 56 and the force sensitivity factor 130 modified by the artificial intelligence learning algorithm 61, at least The force command 88 is calculated as a function of the environmental conditions and the closed component model 102 . For example, when the sensed ambient condition is below a temperature reading of 0 degrees Celsius, the force command 88 based on the sensed ambient condition may be increased, and in response to a simulated lighter physical closure member (eg, door 12 ) from the user 75 , the force command 88 is adjusted to move the closure member with greater force. For example, the weight of the closure member is increased by a multiplier factor related to environmental conditions. It should be appreciated that the controller 50 may be configured to generate the force command 88 in other ways based on environmental conditions and/or as modified by the artificial intelligence learning algorithm 61 .

Referring back to FIG. 20 , as discussed, controller 50 may alternatively use post-compensation to calculate force command 88 . For post-compensation, the controller 50 operates in the power assist mode in response to receiving the motion input 56 according to the initial force command 132 calculated from the motion input 56 , the closed member model 102 , at least one environmental condition, and as modified by the artificial intelligence learning algorithm 61 . The force sensitivity factor of 130 is used to calculate the force command 88. The closure member model 102 utilizes a number of model parameters 106 including, for example, closure member weight properties and closure member friction properties and closure member inertial properties and closure member length properties. For example, the controller 50 will determine the desired change in sensitivity based on the sensed environmental conditions, the system 20 will apply the force sensitivity factor 130 to the result of the force command calculation 132, which will result in a pulse width modulation of the duty cycle of the control signal generator Calculated change in input value. Modification of the sensitivity is accomplished by adjusting the force command 88 (post-processing).

Referring back to Figure 40, the adjustment of the motion profile associated with the motion of the closure member for each of a plurality of closure member angles is shown. Such adjustments may be a function of sensed environmental conditions and/or adjustments to automatic closure member motion parameters 68 , 93 , 94 , 95 due to artificial intelligence learning algorithms 61 . For example, the predetermined speed Vswing of the closing member may be increased or decreased depending on the temperature. Similarly, referring back to FIG. 41 , the adjustment of the force profile associated with the force experienced by the closure member (eg, measured at the handle of the closure member) for each of a plurality of closure member angles is also shown. Such adjustments may be a function of sensed environmental conditions and/or adjustments to powered closure member motion parameters 96 , 100 , 102 , 106 due to artificial intelligence learning algorithms 61 . A predetermined assisting force Fswing is provided by the actuator 22, which extends through the range of motion of the closing member until the check position where the assisting force increases to the higher predetermined assisting force Fcheck, and then returns to Fswing until where the assisting force Fstop is applied to the stop position of the closing member. This assisting force can be increased or decreased according to environmental conditions such as temperature, and can also be modified by the artificial intelligence learning algorithm 61 . For example, the assist force may be increased according to environmental conditions, such as windy environmental conditions, to help maintain the closure panel in the door inspection position during sensed windy conditions.

Referring back to FIG. 43 , the power closure member actuation system 20 may also include a wireless network interface 700 in communication with the controller 50 and configured to receive from the remote server 701 at least the location of the vehicle 10 at the vehicle 10 . An environmental condition 705 . Accordingly, the historical operation monitored and analyzed using the artificial intelligence learning algorithm 61 includes at least one environmental condition 705 of the vehicle 10 . Accordingly, the controller 50 is also configured to adjust the plurality of automatic closure member motion parameters 68 , 93 , 94 , 95 and the plurality of powered closure member motion parameters 96 , 100 , 102 , 106 based on at least one environmental condition of the vehicle 10 . Similarly, the powered closure member actuation system 20 may include a global positioning system module 702 configured to receive global positioning system data and at least one environmental condition 705 of the vehicle 10 from global positioning system satellites 704 . Accordingly, the historical operations monitored and analyzed using the artificial intelligence learning algorithm 61 include GPS data, and the controller 50 is further configured to adjust a plurality of automatic closure member motion parameters 68, 93, 94, 95 and more based on the GPS data. A power closure member motion parameter 96 , 100 , 102 , 106 .

FIG. 53 illustrates an exemplary system 1200 for performing artificial intelligence learning algorithms 61 using a neural network 1202 and/or for training a neural network. In more detail, as discussed above, the controller 50 may include a memory device 92 and a processor or other computing unit 110 . Controller 50 also includes data storage 1204 . Code 1206 (eg, software instructions for artificial intelligence learning algorithm 61), neural network 1202 (eg, trained), training code 1208, and historical dataset 1210 (eg, previous inputs and associated vehicle states) are stored in memory device 92 .

An example neural network 1202 is shown in FIG. 54 and includes a first input node 1212 (eg, an input to operate on), a second input node 1214 (eg, an environmental state or environmental condition), a third input node 1216 (eg, an environmental state or condition) , vehicle location) and a fourth input node 1218 (eg, time of day). The neural network 1202 also includes a first hidden layer 1220, a second hidden layer 1222, a third hidden layer 1224, a fourth hidden layer 1226, a fifth hidden layer interconnected with the input nodes 1212, 1214, 1216, 1218 and each other 1228 and the sixth hidden layer 1230. Neural network 1202 additionally includes a first output node 1232 (eg, closing member opening/closing velocity), a second output node 1234 (eg, door stop position) interconnected with hidden layers 1220, 1222, 1224, 1226, 1228, 1230 , a third output node 1236 (eg, a window open command) and a fourth output node 1238 (eg, an automatic closing member closing after a timeout period). However, other configurations of layers and nodes are contemplated.

As best shown in FIGS. 51-52 , methods of using the powered closure member actuation system 20 to control movement of the closure member 12 of the vehicle 10 are also provided. Referring first to FIG. 51 , the method includes the step 1300 of receiving one of a motion input 56 associated with a power assist mode and an automatic mode activation input 54 associated with an automatic mode. Next, the method includes a step 1302 of sending a motion command 62 to the actuator 22 based on the plurality of automatic closing member motion parameters 68 , 93 , 94 , 95 in the automatic mode and the power assisted mode based on the plurality of power closing member motion parameters 96 , 100 , 102 , 106 of the force commands 88 to vary the actuator output force acting on the closure member 12 to move the closure member 12 . The method proceeds to step 1304 : monitoring and analyzing historical operation of the power closure member actuation system 20 using the artificial intelligence learning algorithm 61 and adjusting the plurality of automatic closure member motion parameters 68 , 93 , 94 , 95 and the plurality of power closure members accordingly Movement parameters 96, 100, 102, 106.

As discussed above, the plurality of automatic closure member motion parameters 68 , 93 , 94 , 95 include a plurality of closure member velocity and acceleration profiles 68 and a plurality of closure member stop positions 93 and a plurality of closure member check sensitivities 94 and a plurality of closure member checks At least one of contours 95 . The plurality of powered closure member motion parameters 96 , 100 , 102 , 106 include at least one of a plurality of fixed closure member model parameters 96 and a force command generator algorithm 100 and a door model 102 and a plurality of closure member component profiles 106 .

As best shown in FIG. 52, if the environmental sensor 80, 81 is a rain sensor 81, the method may further include a step 1306 of determining whether rain is detected using the rain sensor 81 (eg, the user history data shows the following Manual override of the power open cycle to open the closure member 12 faster in the rain). The method also includes a step 1308 of moving the closure member 12 using the first speed algorithm in response to determining that rain is not detected using the rain sensor 81 . The method may proceed to step 1310 of moving the closure member 12 using a second speed algorithm (eg, the second speed algorithm may achieve a higher speed of the closure member 12 than the first speed algorithm) in response to determining that rain is detected using the rain sensor 81 . . Therefore, the second speed algorithm can optimize performance based on user historical data.

Additionally, since the powered closure member actuation system 20 may also include a global positioning system module 702 (FIG. 43) configured to receive global positioning system data from global positioning system satellites 704, the method may further include the step of using a wireless link via The wireless network interface 700 of the road ( 707 , 705 ) communication receives from the remote server 701 at least one environmental condition of the vehicle 10 at the location of the vehicle 10 . The method may further include the step of adjusting a plurality of automatic closure member motion parameters 68 , 93 , 94 , 95 and a plurality of powered closure member motion parameters 96 , 100 , 102 , 106 based on at least one environmental condition of the vehicle 10 .

Thus, the described artificial intelligence learning enhancements to the door motion control algorithm allow the ability of the controller 50 (eg, in software) to modify the motion algorithm output 62 and the force algorithm output 88 . For example, as an example, the neural network shown in FIG. 54 implemented in software may be employed. Can be modified based on historical user data to determine usage trends (door swing speed, door opening angle, door opening angle based on vehicle location (GPS input - home, office, parking lot), environmental conditions (rain, cold, heat), etc.) . The controller 50 then predicts the user's expectation of the door function based on the historical data. The ultimate intent is for the controller 50 to open the power open door 12, the same as the user 75 would do manually in any given situation. Accordingly, the power closure member actuation system 20 disclosed herein provides a highly optimized power door solution unique to each driver. Therefore, instead of hard-coding certain door performance values or parameters into the algorithm, the power closure member actuation system 20 disclosed herein provides for modifying the actual algorithm. The power closure member actuation system 20 disclosed herein advantageously improves the user interface with the vehicle 10 by adjusting performance settings to suit individual usage situations rather than a single setting for all situations. Additionally, the controller 50 may learn and incorporate user patterns to anticipate and optimize interactions (eg, if the user always opens the door 12 to cool the vehicle 10 on hot days, the system 20 may choose to lower before the operator physically reaches the vehicle 10 ) windows and/or open doors 12 to save time). For example, if the operator is continuously overriding the power-off at 5:00 pm (ie, in a hurry), the system 20 may choose to implement a higher speed power-off at 5:00 pm than at other times.

Referring now additionally to FIGS. 55A-66 , some illustrative flow diagrams of the power closure member actuation system 20 in operation are provided. For example, referring to Figures 55A and 55B, a method 1400 of moving a door from a fully latched position when operating in an automatic mode is shown. The method begins at step 1402 with the controller 50 receiving an automatic open command, eg, from an interior door handle switch or a wireless device such as a FOB, cell phone, or the like. Next, the method continues to step 1406: the latch 83 is controlled to release the door from its primary latched position. For example, an electronic signal may be transmitted from controller 50 to latch 83 for commanding latch 83 to control a power release motor of latch 83 . Next, the method continues to step 1408: do not control the actuator 22 after the latch 83 has been released, eg, control the power reset function of the latch 83 to return the pawl to a state where it can block the ratchet, or control the latch Lock 83 to maintain its power release state. This method allows the expansion sealing force applied to the door by the weather resistant seal around the perimeter of the body 14, the closure member being configured to close due to its compressed state between the body 14 and the door 12 when the door is fully closed, to The door 12 is pushed out of its primary latched position and toward the ejected position of the door 12 (eg, at a door opening angle of 3 degrees) without assistance from the actuator 22 . In other words, the actuator 22 is not energized until the door 12 moves away from its primary closed position to its ejected position under the force of the seal load. Accordingly, a power closure member actuation system 20 is provided having a controller 50 in communication with the power release mechanism of the latch 83 and the actuator 22 for moving the door 12, wherein the controller 50 is configured to The power release mechanism is controlled to release the latch 83 to allow the door to move to the eject position under the influence of the door seal without controlling the actuator 22, or in other words, the actuator 22 does not operate during ejection under the sealing load of the door 12. is energized, and the controller is further configured to control the actuator 22 to move the door 12 after the door 12 has reached the eject position. Next, the method continues to step 1410 by detecting whether the door has moved to an eject position such as position 1012 of FIG. 46 . If the controller 50 detects that the door 12 has moved to the eject position, at step 1412 the method proceeds with the steps of controlling the activation of a contactless obstacle detection system, eg, at least one contactless obstacle detection sensor 66 . In one possible configuration, the contactless obstacle detection system is only activated during automatic door mode, and will be disabled or enabled, but in power assist mode, the signal from the contactless obstacle detection system to the controller 50 Will be ignored by the controller 50 so as not to trigger an interruption of door motion due to a user approaching the door 12, which would be detected by the contactless obstacle detection system, during the power assist mode. If the controller 50 does not detect that the door 12 has moved to the eject position, the method proceeds at step 1414 by determining whether the controller 50 has received a stop command before the eject position of the door 12 is reached. If the controller 50 does not receive a stop command similar to the automatic mode start input 54 but intends to stop the door 12 before the door 12 is moved to the eject position, then at step 1416 the method does the following: for example by receiving from the latch 83 Hall sensor signals indicative of the various positions of the latch 83 components determine whether the door 12 has moved out of the primary latch position (see Figure 46). If the controller 50 determines that the door 12 has moved out of the primary latch position, the method returns to step 1410 of detecting whether the door 12 has moved to the eject position. If the controller 50 has determined that the door 12 has not moved out of the primary latching position, the method proceeds to the following: it has been determined that the door 12 is in a blocking state, such as if an object is leaning on the door 12, or the door 12 is in a frozen state, such as if the door With icing between 12 and the body 14, a block or freeze door routine (as illustratively shown in FIGS. 65 and 66 ) is performed at step 1420 . After the method has executed a block or freeze door routine (eg, of FIGS. 65 and 66 ), the method will return to step 1416 to determine whether the door 12 has been successfully executed as a result of executing the block or freeze door routine Move from the primary latch position. If at step 1416 the controller 50 receives a stop command before the door 12 has moved to the eject position, the method proceeds to step 1424: reset the latch 83 and allow the ratchet when the ratchet returns to the primary latch holding position The pawl returns to locking engagement with the ratchet. Next, after step 1424 , the method continues with the step of not controlling the tethered actuator 99 at step 1426 . Next, following step 1426, the method continues with the step of transitioning the operating state of the power closure member actuation system 20 from an automatic mode to a manual or power-assisted mode. Following step 1412, the controller 50 may determine in step 1430 whether an obstacle is detected alongside the vehicle 10 and, for example, within the swing path of a door using the non-contact detection system. If the controller 50 determines at step 1430 that no obstruction is detected beside the vehicle 10 or the door 12 , then at step 1432 the controller 50 may command the power door actuator 22 to move the door 12 away from the eject door position and toward open position, or control the latch 83 to allow the door to move to the eject position and switch the operating mode to the power assist mode. The controller 50 may control the actuator 22 to move the door in step 1432 to a planned door position, which may be a predetermined position, such as a door angle of 75 degrees. The method continues to step 1436, whereby the controller 50 continues to determine whether an obstacle is detected alongside the vehicle 10 and, for example, within the swing path of the door 12 using the non-contact detection system during door movement. For example, while an obstacle may not be detected in step 1430 or an obstacle within the swing path of door 12 may not be detected in step 1430, the obstacle may then move into the swing path of door 12 during door opening. If no obstacle is detected at step 1436, the method continues with the following steps: at step 1438 the controller 50 monitors the door position and detects whether the door position has moved to its planned door position. If an obstacle is detected in step 1436, the method continues to step 1440 by executing an unplanned stop routine to stop door movement. Next at step 1441, once the controller 50 has received an automatic mode resume command - for example due to the user pressing the interior handle switch a second time, the method may return to step 1432 and when the system 20 is operating in the automatic mode , the door motion profile, such as the position versus velocity motion profile as discussed in some examples herein, is restored from the point at which the door motion ceased. Provides transition continuity, or in other words, provides the property of operational continuity from exactly the same "operating point" without any discrete changes in state and control variables to ensure that the door does not experience any sudden jerk, thus Provides smooth unobtrusive transitions between modes. Upon repeating the original open command, the door 12 will continue to move tracking to the opening profile and end the operation with the base opening profile. The controller 50 may control the door movement after recovery by converging the door movement profile shown at block 897 in FIG. 58A to the profile before initiating recovery within the final 20% of the final door angle. The controller 50 may initiate the door movement after receiving a door recovery command having the same profile, eg, the same slope as the original open door movement profile prior to recovery. The door movement after the restore command can be controlled so as not to exceed the door profile movement speed to reduce the occurrence of door oscillations, thereby providing smooth door movement. For example, at the point of interruption, system variables and data may be stored into memory prior to the interruption and invoked after a resume command is received to provide operational continuity from the same point of operation before the interruption and after recovery from the interruption . When switching between automatic and power-assisted modes, such as switching from automatic to power-assisted mode when the automatic mode is interrupted, or from power-assisted mode to automatic mode after a restore command, the power closure member actuation system 20 may There is operational continuity from the same operating point, and in other words, without any discrete changes in state and control variables. Accordingly, a power closure member actuation system 20 is provided having a controller 50 in communication with the actuator 22 configured to control the actuator 22 to move the door 12 according to the door motion profile, wherein the controller 50 The actuator 20 is configured to control the actuator 20 according to the door motion profile prior to the interruption after control of the actuator 22 is interrupted, without exceeding the maximum operating limit of the door motion profile after recovery from the interruption. For example, this overrun limit is shown in FIG. 58A as line 999 above automatic mode door motion profile 997 prior to interruption at position 1001 . The post-recovery motion indicated by line 995 below the operational limit containing line 997 is targeted. 58A shows a speed versus door angle graph 991 of door movement showing door movement 993 in the opening direction 899 prior to interruption during automatic mode operation, in automatic mode operation, according to an illustrative embodiment Door movement 995 during power assist operation following an interruption of 995 , followed by resumption 996 of automatic mode operation with a motion profile that does not exceed the door motion prior to the interruption. If at step 1438 the controller 50 does not detect or determine that the door 12 has moved to its final door open position, the method returns to step 1430 : monitoring using a non-contact obstacle sensor to determine whether detection is made next to the vehicle 10 obstacle. If the controller 50 has detected or determined that the door has moved to its planned door opening position at step 1438 , the controller 50 may control the actuator 22 to stop the door 12 at step 1444 . The controller 50 may pre-anticipate the door 12 reaching the planned position at a position prior to the planned position in accordance with the exemplary teachings herein above and reduce the speed of the door 12 to match or nearly match the tether speed, thereby providing a powered mode of operation Seamless transition to and from tethered mode. Accordingly, a power closure member actuation system 20 is provided having a controller 50 with the actuator 22 and an auxiliary actuator for controlling movement of the door (eg, actuation of a door presenter or ice breaker 2717 ). actuator, tether actuator 99) communication, wherein the controller 50 is configured to switch control between the actuator 20 and the auxiliary actuator so that the door 12 is controlled by the actuator 20 or the auxiliary actuator. The speeds are matched or substantially matched during transitions of control. After step 1444, the method continues with the following steps: at step 1446 the controller 50 activates the door check operation of the actuator 22 (see FIG. 60) to check the door while the door 12 is stationary, eg, as described above 12 is in the planned location. If the door is biased (eg, due to the geometry of the hinges) to swing slightly towards one of the open or closed positions under gravity depending on the position at which the door is stopped, the actuator 22 may need to be supplied sufficient to resist the A certain degree of power for the movement of the door motion caused by the offset. Over time, the supply of such power used to power the actuator 22 operating in such a door check mode may deplete any such power source, such as backup battery power or the like. Accordingly, the controller 50 may be configured to control the actuator 22 to move the door to one of the fully open position or the fully closed position after a timeout period such as, for example, 15 minutes. If the door is moved to the fully closed position, the door check function to prevent movement of the door will now be assumed by the door latch 83 and the actuator 22 can be de-energized or deactivated, and the energy used for the power source preserved. If a separate door inspection device is provided and the device is not a door inspection function resulting from the control of the actuator 22, but rather a door inspection function resulting from, for example, a friction-based braking or detent mechanism, the controller 50 The door checking device may be activated instead of controlling the actuator 22 to check whether the door 12 is in the planned position. If at step 1430 the controller 50 determines that an obstacle is detected alongside the vehicle 10 during the door movement, then at step 1432 the controller 50 may command the door to stop. After step 1446, the method may end and the door may remain in the planned stop position until the controller 50 receives the next automatic door mode command, or the user controls the door 12 in the power assist mode.

Referring now to FIGS. 56A and 56B , a method 1500 illustrating the operation of the power closure member actuation system 20 for closing a door from an open position is shown. The method 1500 begins with the controller 50 monitoring a user or person-initiated indication that he intends to close the door 12, such as by monitoring at step 1502 such as from an interior door handle switch, or a key FOB button, in the manner described above by way of example only. , or an auto-off command entered by a remote device. The door 12 may be in any open position when the controller 50 receives the auto-close command. If at step 1502 the controller 50 determines that the person has intended to move the door 12 to the closed and fully latched position, then at step 1504 the controller 50 may use a non-contact obstacle detection system to determine whether the user is beside or near the door 12 . The controller 50 may be able to better distinguish between human objects and non-human objects based on signals detected by the non-contact obstacle detection system, eg, if the non-contact obstacle detection system includes a radar sensor, Reflectivity properties, the size of objects - as determined by the difference between the transmitted radar waves received by the radar sensor after reflection by objects that may detectably alter the transmitted waves as humans - to distinguish humans from non-humans human objects. If at step 1504 the controller 50 determines that the user is approaching the door 12, eg, within a threshold distance from the door, eg, 1 meter, then at step 1506 the method may proceed as follows: the controller 50 determines whether the door 12 is stationary. This step 1506 may optionally be performed to ensure that the user has not manually moved the door, thereby avoiding a conflict situation between manual movement of the door by the user being overridden by the automatic control of the door. If at step 1506 the controller 50 does not determine that the door 12 is stationary, the controller 50 may proceed to step 1508 where the controller 50 may monitor for detection that the door 12 has stopped moving, and if not, then The controller 50 may continue to monitor whether the door 12 is stationary. If the controller 50 determines at step 1508 that the door is stationary, the method may proceed to the next step: detecting at step 1510 whether the door has not moved from stationary for a predetermined period of time. If at step 1510 the controller 50 determines that the door 12 has not remained stationary for a predetermined period of time, the method may return to step 1508 to determine whether the door 12 has stopped moving. If at step 1510 the controller 50 determines that the door has remained stationary for a predetermined period of time, or continues from step 1506, then the method proceeds to the following: at step 1516, the controller 50 uses a non-contact obstacle detection system Determines if an obstacle is detected within the closing path of the door. If at step 1516 the controller 50 determines that an obstacle is detected within the closing path of the door 12 using the non-contact obstacle detection system, the controller 50 may proceed to step 1518 in a manner illustratively described herein (eg, at Before contacting the obstacle, before allowing some contact with the obstacle) a planned stop position routine is executed to stop the door 12 . If at step 1516 the controller 50 determines using the non-contact obstacle detection system that no obstacle is detected within the closing path of the door 12, the controller 50 may proceed to step 1520 to control the actuator 22 to move the door toward the auxiliary latch lock position. If at step 1504 the controller 50 determines that the user is not approaching the door, the method may proceed to bypass steps 1506 and 1516 and proceed to step 1520 . Optionally, such a bypass mode is provided to allow reducing any door closing delay due to non-stationary door states. Additionally, the bypass mode may employ a door motion profile that moves the door as fast as possible without the smooth transition between the accelerated and constant speed portions of the door as employed during the automatic mode, a smooth transition may provide the user Provides visualization of smooth door closures. In the event that the non-contact obstacle detection system detects that no user is approaching the door 12 to observe this smooth door movement, the door movement can be controlled to optimize the movement in less time than door movement in automatic mode rapidity. In a possible configuration, only contact-based obstacle detection sensing may be employed during this bypass. In another possible configuration, both contact-based obstacle detection and non-contact-based detection may be employed, where the actuator 22 controls door movement with an overall reduced speed when no user is detected in the vicinity of the vehicle, In order to increase safety during a possible unsupervised closing of the door 12 if such a configuration is expected to meet any prescribed safety requirements. Next after step 1520, the method proceeds to step 1524: if a user is detected near the door 12, determine the closing path of the door 12 during the closing of the door towards the auxiliary latch position before the door moves to the auxiliary latch position whether an obstacle is detected. If at step 1524 the controller 50 determines that an obstacle is detected in the closing path of the door 12, the method may proceed as follows: at step 1526 the controller 50 performs an unplanned stop routine. If at step 1524 the controller 50 determines that no obstruction is detected in the closing path of the door 12, the method may proceed as follows: at step 1528 the controller 50 controls the actuator 22 to prior to reaching the auxiliary latch position Decreasing the door speed, and may include, for example, controlling the actuator 22 to decrease the door speed before reaching the auxiliary latch position so that the door speed may match or may be slightly greater than the predetermined tethering speed determined by the tethering actuator 99, thereby Provides a smooth transition between door closing modes (eg, between automatic mode and tethered mode when each is controlled by a different actuator). Next, after step 1526, the method proceeds to the step of: at step 1530 the controller 50 determines whether a restore command has been received. If at step 1530 the controller 50 determines that a resume command has been received at step 1532, the method next proceeds at step 1534 with the controller 50 determining whether the door angle has stopped at a position less than the small angle position. For example, the small angular position may be 10 degrees of the angle of the door 12 relative to the body 14 . If at step 1532 the controller 50 determines that the door angle has stopped at a position less than the low angle position, the method may proceed as follows: at step 1534 the controller 50 executes a low angle closing routine (see Figure 59). If at step 1532 the controller 50 determines that the door angle has not stopped at a position less than the small angle position, the method may proceed back to step 1520 to control the actuator 22 to move the door to the auxiliary latch position but not more than the amount before the movement was interrupted Door movement silhouette. The controller 50, when controlling the actuator 22 to move the door to the auxiliary latch position, may control the actuator 22 to move the door no higher than a door speed that is greater than the door speed during tethering of the door by the tether mechanism . In other words, the door motion will not be controlled to return to the door motion profile prior to the tracking interruption to prevent door oscillations, but will be controlled not to exceed the operating limits of the next operating mode, in this particular example the tethered mode. From steps 1528 and 1534, the method proceeds to a step 1536 where the controller 50 detects whether the door 12 has moved to the auxiliary latch position. If at step 1536 the controller 50 does not detect that the door 12 has moved to the auxiliary latched position, the method may proceed back to step 1520 to control the actuator 22 to move the door 12 toward the auxiliary latched position. If at step 1536 the controller 50 detects that the door 12 has moved to the auxiliary latch position, the method may proceed to step 1538 where the controller 50 disables the actuator 22 . Next, the method may proceed by activating the tethered actuator 99 at step 1542 to move the door 12 from the secondary latched position toward the primary latched position. Next, the method may proceed as follows: in step 1546 the controller 50 uses the contact obstacle detection system and/or the non-contact obstacle detection system to determine whether an object is detected during tethering and whether a tethering is occurring or is about to occur pull the situation. If in step 1546 the controller 50 determines that an object was detected during the tethered mode of operation, the method may proceed to step 1548 : the controller 50 deactivates the tethered actuator 99 . The method may then proceed at step 1550 to activate the actuator 22 to reverse the movement of the door toward the assist position. Auxiliary actuators, such as door presenter 2717, may additionally or alternatively be activated. If no obstruction is detected at step 1546, the method may proceed to step 1552 where the controller 50 determines whether the door 12 has reached the fully closed position due to actuation of the pull motor 99. If in step 1552 the controller 50 does not detect that the door 12 has reached the fully closed or primary latched position, the method may return to step 1542. If at step 1502 the controller 50 determines that the human did not intend to move the door 12, eg, the command to close the door originates from a vehicle control system, such as an autonomous vehicle control system, the method may bypass the steps associated with the human initiated command, and Proceeding to step 1558 : The controller 50 uses detection sensors in and around the vehicle 12 to determine whether the user has exited the cabin, eg, the vehicle 12 . For example, the controller 50 may communicate with a passenger seat sensor that indicates when the user is no longer sitting in the seat due to the detected weight being lifted off the sensor. Next, the method proceeds to step 1560: the controller tracks the user's movement out of the vehicle 12 using an obstacle detection system, which may include an obstacle detection system that senses the area adjacent to the door 12 and other remote Sensor systems - such as sensor systems for ADAS systems and other detection or vision systems if the vehicle 12 is equipped with such a system. Next, the method proceeds to step 1562: the controller 50 determines whether the user is a predetermined distance from the closure member 12, eg, the user is outside the vicinity. For example, non-contact detection systems capable of detecting ranges, such as FMCW radar based systems, may be employed. Next at step 1564, once the controller 50 determines at step 1525 that the user has moved out of the vicinity of the vehicle, the method may proceed as follows: the controller 50 controls the doors in the maximum operating mode, eg, at maximum closing and opening speeds, because at The risk of any obstacle from the user is reduced after detecting that the user has moved out of the vicinity of the vehicle's natural distance mitigated, or if additional security is required for an unsupervised shutdown of the user, the controller 50 may proceed with increased obstacle detection The slower speed of operation of the sensitivity and door stop reaction time controls the door 12 . Additionally, additional steps can be bypassed and not performed, such as sounding an alarm during door closing, adding noise to the environment, ensuring doors are stationary to avoid conflicts between power assist and automatic modes, scanning for obstacles to reduce false detections Opportunity. Accordingly, there is provided a powered closure member actuation system 20 having a controller 50 in communication with an obstacle detection system (eg, a non-contact based obstacle detection system) and the actuator 22, wherein the controller 50 communicates with when The controller 50 is configured to control the actuator 20 in the bypass mode to control the actuator 20 more quickly or for a shorter period of time than when the user's approach to the door is not detected using the obstacle detection system Move the door from the start position to the end position.

Referring now to FIG. 57 , there is shown a flowchart of a method 1600 illustrating the power closure member actuation system 20 for moving a door from a stopped door position when the power closure member actuation system 20 is operating in a power assist mode operation. The method begins with the following operations: at step 1602, the controller 50 monitors whether a user or person is within the proximity detection area detected by the non-contact obstacle detection system, and whether the user or person is likely to approach the door within the proximity detection area, The proximity detection area indicates that the user may desire to move the door 12 in the power assist mode. The system 20 may already be operating in an automatic mode, or may be stationary during this step. Next, the method proceeds to step 1604: the controller 50 determines whether the user has been detected approaching the door 12 by the contactless detection system. If at step 1604 the controller 50 determines that the user has been detected approaching the door by the non-contact detection system, the method may proceed at step 1606 to the controller 50 reducing or eliminating the holding force of the door check force, such as by an actuator 22 or other braking mechanism (if the door 12 is so subjected) - where the door check function is effective in anticipation of the user attempting to manually move the door and allowing the user to avoid detecting any hold. If in step 1604 the controller 50 determines that the user is not detected approaching the door by the contactless detection system, the method may return to step 1604 . Next, the method proceeds to step 1608: the controller 50 monitors whether the user has manually controlled the door and, for example, if the door has come to rest, by using a door motion system (eg, a sensor system) for door movement. If at step 1610 the controller 50 determines that the user has manually controlled the door at step 1612, the controller 50 may transition to the power assist mode at step 1610 and control the actuator 22 in the power assist mode, as herein Described in more detail, for example once the user has moved beyond the position limit of the door check function, the position limit has overcome the resistive door check force that may have been reduced or eliminated in step 1606. For example, the controller 50 may detect a change in door position or door motion, or both, as a condition for transitioning to a power assist mode. After step 1612, the method will proceed to step 1614: the controller 50 disables the NCOD (Non-Contact Obstacle Detection) system or ignores any signal from the NCOD system indicating that due to the constant proximity of the door by the user during power assist operation Instead, an object is detected, and since the user manually controls the door and can control the door to determine whether the door should stop or move accordingly to avoid collision with the obstacle, it replaces the non-contact obstacle detection system. Accordingly, a powered closure member actuation system 20 is provided having a controller 50 in communication with an obstacle detection system (eg, a non-contact based obstacle detection system) and the actuator 22, wherein the controller 50 is controlled by is configured to control the actuator 20 and process the signal from the obstacle detection system in the automatic mode, and is also configured to control the actuator 20 and ignore the signal from the obstacle detection system in the power assist mode. In another possible configuration, the controller 50 may ignore the signal from the obstacle detection system for a subset of the detection area, such as for example when the user is standing outside the vehicle and the door closes the vehicle, the obstacle detection system has the detection area , the detection area is the exterior, outward-facing space adjacent to the vehicle in which the user will be required to stand in order to move the door to the closed position using sensors such as provided in the exterior door handles or side mirrors, indicating Such signals of detected obstacles in the form of the user are ignored, and the controller 50 may consider signals from obstacle detection system sensors facing inward from the door to detect objects between the door and the body 14, such as from facing inward The signal of the sensor is, for example, an inward-facing radar sensor arranged behind the interior trim panel or an outward-facing sensor located on the rocker panel. In a possible configuration, the controller 50 may consider signals from contact-based sensors, such as signals from anti-pinch bars as one example, when operating in the power assist mode. When the system 20 is operating in manual mode, signals from the obstacle detection system may be ignored. After step 1614, the method may proceed as follows: at step 1616 the controller 50 detects whether the user has ceased manual control of the door at a position between the fully open position and the auxiliary latch position. For example, the user may stop the door under his manual control during the power assist mode, or the user may release the door to stop any manual user input to the door. If in step 1616 the controller 50 determines that the user has ceased manual control of the door, the method will next proceed to step 1618 where the controller 50 controls the actuator 22 in the door inspection mode. If provided as part of the power closure member actuation system 20, the controller 50 may alternatively or additionally control further electromechanical door inspection devices or braking devices. Next after step 1618, the method may proceed as follows: enable the contactless detection system in step 1620, and return to step 1604 to detect if the user has moved out of range of the door, or if the user remains at the door to assist the controller 50 in making any further decisions regarding the control of the door, for example, to determine whether an automatic closing command has been received to control the door accordingly - if the wind may be moving the door to ensure proximity the safety of the user of the door. After step 1614, the method may proceed as follows: at step 1622 the controller 50 detects whether the user has ceased manual control of the door at a position between the secondary latched position and the primary latched position. For example, a user may apply a force to the door prior to the secondary door position that can drive the door past the secondary position and directly into the primary latch position. If at step 1622 the controller 50 determines that the user has ceased manual control of the door at a position between the secondary and primary latched positions, the method may proceed at step 1624 to not control the actuator 22 to A door check function is provided on the door between these positions. Next, the method may proceed at step 1626 to activate a non-contact obstacle detection system for detecting pinching events. When it has been detected that the door has moved to the auxiliary door position, the controller 50 may activate the non-contact obstacle detection system or the contact anti-pinch sensor system. Next, the method may proceed at step 1628 to activate the tether actuator 99 to tether the door 12 to the primary latch position. The door 12 will be in the primary latched position and the method can end. Accordingly, a powered closure member actuation system 20 is provided having a controller 50 that communicates with obstacle detection systems (eg, non-contact-based obstacle detection systems and contact-based obstacle detection systems) and for use in communicating with at least one actuator of the moving door, wherein the controller 50 is configured to process or receive detection from an obstacle based on a mode of operation of the door in at least one of a power-assisted mode, an automatic mode, a manual mode, and a tethered mode system signal.

Referring now to FIG. 58, there is shown a flow diagram illustrating the power closure member actuation system 20 for controlling the door during an unplanned stop when the door is moved by the power closure member actuation system 20 configured in the automatic mode method of operation. At step 1710, the unplanned stop routine begins, where the controller 50 must determine the cause of the interruption of travel and control the actuator 22 or another braking mechanism (if provided), or both, to stop the movement of the door. Next, the method may proceed from step 1710 to step 1728, where the controller 50 awaits receipt of an automatic door mode command to resume door motion prior to the interruption of travel at step 1726. Once an automatic mode command to resume door motion in automatic mode is received, the method may proceed to step 1746 described below. At step 1710, the controller 50 may determine that the cause of the travel interruption is from an external source, such as detected by the controller 50 sensing an incremental current from the detected actuator signal control line, the incremental current is caused by an external force acting on the door 12 for a predetermined period of time. If at step 1728 the controller 50 determines that the cause of the interruption of travel originated from an external source, then at step 1732 the controller 50 determines whether the contactless obstacle detection system detected an object, which may be the user as the object. If the controller 50 determines at step 1730 that the non-contact obstacle detection system has detected an object, the method may proceed at step 1732 to interpret the intervention as a manual input of a user command (eg, a request to open, close, or stop a door) , where the user is detected by the contactless obstacle detection system. Next, the method proceeds to step 1734: the controller 50 transitions to a power assist mode to assist the user in manually moving the door in a manner as illustratively described above. Next, the method proceeds to step 1736: the controller 50 disables the contactless obstacle detection system, since it is now assumed that the user has control of the door and is able to stop and move the door to avoid any obstacle touching the door, and therefore when in power assist mode No interruption of door motion, such as braking or stopping the door, occurs when an obstacle is detected. If at step 1732 the controller 50 determines that the non-contact obstacle detection system does not detect an object, the method may proceed at step 1738 to interpret the intervention as a non-operator input (eg, a non-user force may be applied on the door, such as through wind gusts or mechanical disturbances). Next, the method proceeds to step 1740: the controller 50 controls the actuator 22 to stop the door movement. Next, the method proceeds to step 1742: the controller 50 determines whether an automatic door mode command or a power assist door mode command has been received. Accordingly, there is provided a powered closure member actuation system 20 having a controller 50 that interacts with an obstacle detection system (eg, a contact-based obstacle detection system or a non-contact-based obstacle detection system), door motion Sensing systems (eg, such as an absolute position sensor for detecting door motion, or a Hall sensor for detecting motor shaft position, or a ripple count for counting ripples in the motor current that, for example, indicate rotation of the motor) system, or other circuitry and sensing configuration), and the actuator 22, wherein the controller 50 is configured to control based on the absence of an obstacle detected using the obstacle detection system and the detection of door movement using the door motion sensing system The actuator 20 stops the door. If at step 1742 the controller 50 determines that the controller received an automatic mode command, the method will proceed to step 1746: the controller 50 controls the actuator 22 to continue moving the door to the planned door open position in the automatic mode. If at step 1742 the controller 50 determines that the controller 50 received a power assist mode command, the method will proceed to step 1748 where the controller 50 executes a power assist mode routine to control door 12 movement.

Referring now to FIG. 59, there is shown a method 1760 of controlling the door 12 from a small angle stop position greater than the assist position in automatic mode, also referred to as the small angle position close command routine. The method begins with the following operation: at step 1762 the controller 50 determines whether a command to close the door has been received, eg, whether the door 12 has previously stopped at a small door opening angle position and whether the controller 50 has received a command in the automatic mode Door recovery command. Next, the method proceeds as follows: at step 1764, when the controller 50 receives the door closing command, the actuator 22 is controlled in the automatic mode and, for example, the actuator 22 is controlled to accelerate the door for moving the door 12. The speed to the auxiliary latch position. The controller 50 may control the actuator 22 to stop the door 12 at the auxiliary latch position at zero speed, or may control the actuator 22 to move the door to the auxiliary latch position at approximately zero speed. The controller 50 may control the actuator 22 to move the door 12 in the auxiliary latch position at a speed that matches the tether speed as described above. Next, the method proceeds to step 1766, where the controller 50 will determine or detect whether the door 12 has moved to the auxiliary latch position. If at step 1776 the controller 50 detects that the door 12 has moved to the auxiliary latch position, the method will proceed to step 1768 where the controller 50 disables the actuator 22. Alternatively, the controller 50 may monitor the door position as the door approaches the assist closed position and control the actuator 22 to slightly reduce the speed of the door 12 before the door reaches assist such that the door 12 is at or near zero speed or Move to the assisted closed position to match the speed of the tether. Alternatively, the controller 50 may control the actuator 22 to allow some speed of approach of the door to ensure that the latch 83 will be latched at least into the auxiliary latch position. If at step 1776 the controller 50 does not detect that the door 12 has moved to the auxiliary latch position, the method will return to step 1774 . Next, the method proceeds to step 1770 to activate the tethered actuator 99 to move the door 12 from the secondary latched position toward the primary latched position in the manner described in detail above. Accordingly, a power closure member actuation system 20 is provided having a controller 50 in conjunction with a door motion sensing system (eg, such as a latch 83 disposed within the latch 83 for detecting the position indicative of the door 12 ) Hall sensors for the state of The actuator 50 is configured to control the actuator 22 to move the door 12 to the tether start position at a speed that matches (eg, approximately or exactly matches) the tether speed.

Referring now to FIG. 60, a method 1800 of checking or maintaining the door 12 after controlling the door in an automatic mode or a power assist mode, also referred to as an infinite door check function or routine, is shown. The method begins at step 1802 : the controller 50 controls the actuator 22 to inspect the door 12 in a stopped position, or in other words, use the door inspection function of the actuator 22 to open. Next at step 1806 the controller 50 will monitor the door movement. If the controller 50 does not detect door movement at step 1806, eg after 0.75 seconds, the method will not control the actuator 22 to resist movement or move the door to save power at step 1808, or alternatively Alternatively, if the actuator 22 is provided, for example, with a brushless motor, the controller 50 may control the actuator 22 to apply some resistance to movement, for example, using a field-oriented control (FOC) braking method, and then return to step 1806, or Alternatively, for example, if the door is biased in a direction away from the stopped position due to hinge orientation or configuration, the controller 50 may control the actuator 22 to apply some resistance to movement to at least prevent the bias from causing the door 12 to be in the Move while in inspection position. If the controller 50 does detect door movement at step 1808, the method will proceed to step 1810 to detect whether the user is approaching the door 12 using a non-contact obstacle detection system. In other words, after the door has stopped and the door check function is activated, the controller 50 will not supply power, or only increase the power delivery to the actuator 22 if the controller 50 detects a deviation from the stop position to Hold/check the door at this stop position. Thus, the door inspection function performed by the controller 50 may not continuously apply a force to the door to maintain the door in the inspection position, but only when movement of the door 12 away from the inspection position is detected. The door may be configured to be balanced and not biased toward one of the closed and open positions. Accordingly, there is provided a power closure member actuation system 20 having a controller 50 in communication with the door motion sensing system and the actuator 22, wherein the controller 50 is configured to operate when the door is not moving from a resting position Control the actuator 20 not to apply a check force to the door 12, and to apply a check force to the door when the door is sensed using the door motion sensing system to be moving out of the rest position, the force check force counteracting the external force moving the door out of the rest position . At step 1810 , for example, the controller 50 may be configured to sense characteristics such as size, reflectivity, based on tracking the user in the area proximate the door 12 (in a contactless obstacle system, the user is proximate the door 12 based on radar system), and/or use any PKE/FOB system in conjunction with identifying wireless devices the user may be carrying to determine if the obstacle is not the user. If at step 1810 the controller 50 detects an obstacle or a non-user approaching the door 12, the method will proceed to step 1812: the controller 50 controls the actuator 22 to check the force based on the door position and the door above the power assist force The profile increases the inspection door force or resistance to movement of the door 12 using, for example, the force profiles exemplarily described herein. Next, the method will proceed to step 1814: the controller 50 determines or detects whether the door position is at a predetermined position or a predetermined distance from a stop position (before the door has moved). If at step 1814 the controller 50 determines or detects that the door position is at a predetermined position or a predetermined distance from the stop position, then the method at step 1816 deactivates the door check function, and in other words does not control the actuator 22 to Stop the door from moving. Thus, if the door deviation does not exceed the angular change in door position, the controller 50 will control the actuator 22 to return the door 12 to the initial door check position. During this angular change, the controller 50 will increase the resistance against the force that moves the door away from the door inspection position until the door exceeds a predetermined position or a predetermined distance from a stop position, as shown in Figure 60A. During this process, in one possible configuration, the controller 50 may cap the maximum power delivery to the actuator 22 to save power, eg, 30 watts. Next, the method proceeds to step 1818 of controlling the door 12 in the power assist mode. If at step 1810 the controller 50 does not detect that the user is approaching the door 12, the method will proceed to step 1820 where the controller 50 controls the actuator 22 to prevent movement of the door to stop the movement of the door. For example, a gust of wind may move a door when no user is detected. Next, the method will proceed to step 1822: the controller 50 controls the actuator 22 to return the door to the position before the door was moved. This possible configuration can be contrasted with a configuration where the user intentionally moves the door to a new position where, when the door stops in such a new position, the door check function is reset if the NCOD system detects a user adjacent to door 12 , such a new position can be allowed, however, configurations where the door is moved by a user-applied external force not detected using the obstacle detection system can return to its initial resting position in order to avoid position creep, which over time , the door can move away from its initial door check position and eventually hit the obstacle, or move to a position where it can be in the obstacle's path, such as into a traffic lane or pedestrian or bicycle walkway. Next, the method will proceed to step 1824 where the controller 50 checks the door profile using a door with increased holding force or a more aggressive door check profile. For example, the controller 50 will apply a greater resistance for a smaller angle of door movement, or the response time will decrease and the resistance response force will increase. Next, the method will proceed to step 1826: the controller 50 uses the non-contact obstacle detection system to determine whether a user has been detected in proximity to the door 12, in other words, whether the user has now entered the vicinity of the door 12, where the user may wish to manually or under power assist Control the door in mode. If at step 1826 the controller 50 determines that a user has been detected, the method will proceed to step 1828: the controller 50 uses a normal door check profile or normal response force and time or even an expected less aggressive door check profile and the user manually controls the door to allow the user to not have to overcome the lower response force of the door check force increased in step 1824. The method proceeds from step 1828 back to step 1806. If at step 1826 the controller 50 determines that the user is not detected, eg the user has moved outside the vicinity of the door 12, then the method will proceed to step 1832: the user is not detected at the controller 50 using the contactless obstacle detection system After a predetermined time has elapsed, the controller 50 uses a normal door check profile, or even a less aggressive door check profile. The method proceeds from step 1832 back to step 1806. Accordingly, there is provided a powered closure member actuation system 20 having a controller 50 in communication with the obstacle detection system and the actuator 22, wherein the controller 50 is configured to control the actuator 20 to use the obstacle A first check force is applied to the door 12 when the obstacle detection system detects an obstacle, such as a user, adjacent to the door, and a different first check force is applied to the door when no obstacle or user is detected near the door 12 using the obstacle detection system, such as A second inspection force greater or less than the first inspection force. Referring additionally to FIG. 60A, it is shown that after the actuator 22 has been moved to the stop position 1801 by the controller 50 in the automatic mode or the power assist mode - at the stop position, the door check function is activated - by actuating Exemplary force profile 1799 of the actuator 22 applied to the door 12 . During operation in the door check mode, the controller 50 will control the actuator 22 with the reference force D produced in the power assist mode or in the automatic mode until the door 12 reaches the final angle 1801 at which the reference force D Jump to the higher value of the check force C, which will be held as the reference force when the door position is between door angles 1803, 1805. Alternatively, the door 12 may be controlled to stop at the final angle 1801, at which point the actuator 22 is not energized after the door has come to rest until a deviation from the final angle 1801 is detected, at which point the control The gate 50 will detect the door movement and control the reference force D to increase to a higher check force C value. As an infinite check function, the check force C should be higher than the normal swing force D to maintain the door position 1801 unless a larger amount of force (eg, external force applied by the user) is applied to the door 12 . When the door position reaches knee angle 1803 or 1805, the reference force begins to increase. Any user attempting to manually move the door will sense increased resistance against the user's manual force input to the door. At certain door angles 1807, 1809, the resistance will remain constant over the angular movement of the door 12 and thereafter return to the reference force D generated. Further beyond the release angular position 1811, the door check function may be deactivated or deactivated. If the door position does not exceed the release angle position 1811, the actuator 22 can be controlled to return the door to the final angle 1801, or the door check profile, or in other words the door check force of Figure 60A, can be reinitialized at this new final angle 1801 The contour is re-centered around the new final angle 1801. As shown in FIG. 60A , the controller 50 may increase or decrease the check force (in the range between A and C) according to various considerations such as the state of the vehicle 10 or the door 12 to provide asymmetric and dynamic Infinite door check function. For example, in response to detecting that the vehicle 10 is in a tilted state that tends to apply gravity to the door 12 to push the door toward the closed position, the controller 50 may change or increase the door check force B to further resist movement of the door in the closing direction only, thereby resisting External gravity tends to exert the door closing motion on the door. And likewise, the door inspection force B can be changed or reduced to further resist movement of the door in the opening direction only, so that the user does not have to overcome both external gravity and the door inspection force B when the user attempts to move the door in the opening direction. Figure 60A shows such an asymmetric door inspection force profile, which can also be provided as a symmetric door inspection force profile. Accordingly, a power closure member actuation system 20 is provided having a controller 50 in communication with vehicle sensors and actuators 22 for detecting a state of the vehicle, such as the tilt or orientation of the vehicle, wherein the controller 50 is controlled by The actuator 20 is configured to control the door inspection force during one direction of door movement that is different from the door door inspection force during another direction of door movement (eg, the opposite direction).

Referring now to FIG. 61, a method of determining a travel override state of operation of the power closure member actuation system 20 operating in an automatic mode to move a door, such as grasped by a user during door movement, is shown The intention is to move the door 12 manually or in power assist mode and stop the automatic mode operation of the door 12, ie interrupt the door operation in the automatic mode. The method begins with the controller 50 determining or detecting an unexpected change in the position or acceleration or velocity of the door at step 1902 . This determination may be made based on detection of unintended changes in door position using door position sensors, or detection of current spikes in the actuator signal lines, as described in greater detail herein below. Next, the method proceeds as follows: at step 1904 the controller 50 determines or detects whether the user is proximate the door 12 using a non-contact obstacle detection system to determine whether the user may cause an unexpected change in the position or acceleration or velocity of the door 12 . If the controller 50 does not determine or detect that the user is next to the door 12 at step 1904, the method may proceed to the following steps: at step 1906 the controller 50 determines that the interruption or intervention in door motion is a force applied by a non-user, Caused for example by forces exerted by wind gusts or mechanical disturbances. Next, the method proceeds to step 1908: the controller 50 uses the actuator 22 to stop the door and, for example, controls the actuator 22 to immediately stop the door 12 within the shortest possible distance, for example, without damaging the actuator. . If at step 1904 the controller 50 does determine or detect that the user is next to the door 12, the method may proceed to step 1910: the controller 50 determines or detects whether the door is being accelerated in the same direction as the door movement. If at step 1910 the controller 50 does not determine or detects that the door is being accelerated in the same direction as the door movement, then at step 1912 the controller 50 may control the actuator 22, for example by increasing resistance to unintended door movement to compensate for unplanned door movement. If at step 1910 the controller 50 does determine or detect that the door is being accelerated in the same direction as the door is moving, then at step 1914 the controller 50 may determine or detect whether the door is accelerating beyond an automatic door operating range or threshold. 61A shows an example of current and position signals received by controller 50, eg, from actuator 22 or a position sensor as described in detail above, for illustratively identifying a travel override by a user. In this case movement in the opening direction is shown, but the example also applies to the closing direction. In exemplary FIG. 61A, the current may decrease due to the input of a force from the operator that causes the velocity in the actuator 22 to decrease, while the door position (and rate of change of position) may increase. If at step 1914 the controller 50 does not determine or detects that the door is accelerating beyond the automatic door operating range or threshold, the method may proceed to step 1912 . If at step 1914 the controller 50 does determine or detects that the door 12 is accelerating beyond the automatic door operating range or threshold, then at step 1918 the controller 50 may determine that a manual override has occurred. If at step 1904 the controller 50 does determine or detect that the user is next to the door, the method may proceed to step 1920: the controller 50 determines or detects whether the door is being decelerated in the same direction as the door movement. If at step 1920 the controller 50 does not determine or detect that the door is being decelerated in the same direction as the door movement, then at step 1912 the controller 50 may control the actuator 22 to compensate or increase resistance against unintended door movement . If at step 1920 the controller 50 does determine or detect that the door is being accelerated in the same direction as the door is moving, then at step 1924 the controller 50 may determine or detect whether the door is decelerating beyond an automatic door operating range or threshold. If at step 1924 the controller 50 does not determine or detects that the door is accelerating beyond the automatic door operating range or threshold, the method may proceed to step 1912 . If at step 1924 the controller 50 does determine or detects that the door is decelerating beyond the automatic door operating range or threshold, then at step 1928 the controller 50 may determine whether the door direction has been reversed, eg, from the open direction to the close direction. Figure 61B shows an example of current and position signals used to identify travel reversal. The current shown in FIG. 61B may increase due to the input of a force from the operator that causes resistance to movement of the open door, while the door position may decrease. If at step 1928 the controller 50 does determine or detect a reverse direction of door movement, then at step 1918 the controller 50 may determine that a manual override has occurred. If at step 1928 the controller 50 does not determine or detect a reverse direction of door motion, the method may proceed to step 1912 . The method may proceed from step 1918 to the following steps: In step 1932, the controller 50 transitions from the step of controlling the door in the automatic door mode to the power assisted door mode. Thus, the power closure member actuation system 20 may allow a user to override the automatic door mode at any time during automatic door motion and, for example, move the door more rapidly than is controlled during the automatic power door mode. Accordingly, there is provided a power closure member actuation system 20 having a controller 50 operable in both a power assist mode and an automatic mode, the controller 50 also interacting with the obstacle detection system, the door motion sensing system and the actuator The actuator 22 communicates with the actuator 22, wherein the controller 50 is configured to: when the controller 50 senses the user using the obstacle detection system and detects the door movement using the door motion sensing system when the controller moves the door in the automatic mode, from the automatic mode Switch to power assist mode.

Referring additionally now to FIG. 62A , the powered closure member actuation system 20 may utilize at least one angle sensor to detect the position and movement of the closure member 12 . It should be understood that door position and movement may be detected in other ways as illustratively described herein. Accordingly, the controller 50 may be configured to detect movement of the closure member 12 . Since the powered closure member actuation system 20 may also detect obstacles or persons in the vicinity of the closure member 12 (eg, using at least one non-contact obstacle detection sensor 66 . Three sensors 66 are illustratively shown, the sensors having Using a separate field of view (FOV), illustrated illustratively by dashed lines, the controller 50 may determine that any detected movement of the closure member 12 may be due to wind force (WF), for example, an external non-user force, for example. Therefore, after the controller 50 detects, using a non-contact obstacle detection sensor or system, that no one is touching the door or that no one is approaching the door, which may cause movement of the door and thus movement of the closure member 12 , As a result, the motion of the closure member 12 may be stopped or otherwise altered by the powered closure member actuation system 20 (eg, by the actuator 22). Thus, upon detection of movement of closure member 12, if controller 50 detects the absence of an obstacle using at least one non-contact obstacle system, controller 50 may control actuator 22 to change in response to no obstacle being detected Movement of the closure member 12 (eg, stops movement). Thus, instead of the power closure member actuation system 20 being only operated to sense an obstacle to stop the door or closure member in the presence of the obstacle, the power closure member actuation system 20 may additionally detect that the closure member 12 is not physically located by a person Move it for example by wind, and without the use of additional and specialized wind sensors such as wind vanes or anemometers or other complex motion detection calculations and algorithms. Therefore, any manual movement of the door can be discerned from the wind (WF) to allow the user to properly switch the mode of the power closure member actuation system 20 from the door check mode to the manual or power assist mode without interpreting the manual control of the door For wind forces that would cause the actuator 22 or another braking device to be controlled to stop or prevent movement of the door 12 .

As best shown in Figure 62B, a method 2000 of operating the powered closure member actuation system 20 to detect movement of the closure member 12 due to non-physical contact with the closure member, and for example due to act on a door, is additionally provided Movement of the closure member 12 caused by wind such as a sudden gust of wind. The method begins with step 2002 of determining whether the closure member 12 is in the open position. The next step of the method is 2002: determining whether the closure member 12 is moving (eg, when in the open position). The method continues with step 2004: using a non-contact obstacle detection system to determine if no obstacle is detected. The method proceeds to step 2006 of using the actuator 22 to vary the movement of the closure member in response to the closure member moving and no obstacle being detected. Specifically, the step of changing the movement of the closure member in response to movement of the closure member and no detection of an obstacle may be further defined at step 2008 as: in response to movement of the closure member and no detection of an obstacle (by way of example and not limitation, Movement of the closure member 12 is stopped using the actuator 22, or another braking mechanism such as an electromechanical braking device in or away from the actuator, such as an electromechanical braking device provided on a door inspection device. For example, movement of the closure member 12 against the effects of wind (WF) may be provided by individually controlling the actuators 22 and/or using a separate braking mechanism.

As best shown in Fig. 62C, an operation of the powered closure member actuation system 20 is additionally provided to detect movement of the closure member 12 due to the user's physical contact with the closure member to allow the user, eg, in manual mode or powered A method 2100 of controlling a door 12 in an assist mode. The method may include steps performed by the controller 50, and begins at step 2102: determining whether the closure member 12 is moving (eg, by the controller 50 monitoring a change in a door position signal from a position sensor or other position sensing device or technique) ( For example, when in the open position). The method continues with step 2104 of monitoring the contactless obstacle detection system, followed by a determination at step 2105 whether an obstacle is not detected using the contactless obstacle detection system. The method proceeds to step 2106 of changing the motion of the closure member 12 by controlling the actuator 22, eg, by the controller 50, in response to the closure member moving and no obstacle being detected. In particular, the step of changing the movement of the closure member 12 in response to movement of the closure member 12 and no obstacle is detected may be further defined as ceasing movement of the closure member 12 in response to movement of the closure member 12 and no detection of an obstacle. For example, movement of the closure member 12 caused by non-user-applied forces on the door 12 or external system forces may be provided by individually controlling the actuators 22 and/or using a separate braking mechanism. In response to closure member 12 movement and detection of an obstacle or user in step 2107, the method may proceed to step 2109: transition the powered closure member actuation system to a power assist mode, such as controller 50 as described herein above Door movement will be controlled in power assist mode. Thus, if a user is detected next to the door 12, the door check function will not be applied or will be disabled when the user moves the door, where the controller 50 has determined that the wind or the like does not inadvertently move the door. Next, the method proceeds to step 2108: the movement of the door within a predetermined time period (eg, seconds) is verified by the controller 50. If movement of the door at step 2108 within the predetermined period of time is detected at step 2110 , the method returns to step 2104 . If no movement of the door at step 2108 within the predetermined period of time is detected at step 2112 , the method proceeds to step 2101 where the actuator 22 is controlled in the door inspection mode, and then returns to step 2102 .

As best shown in Figure 63, a method 2200 of operating the powered closure member actuation system 20 to detect movement of the closure member 12 due to non-physical contact with the closure member is additionally provided. The method begins with step 2202 of determining whether the closure member 12 is in the open position. The next step of the method is 2204: Determine if the closure member 12 is moving (eg, when in the open position). The method continues with step 2206 of using a motion sensor (eg, such as an accelerometer/inclinometer) to determine changes in motion or tilt of the vehicle 10 that may cause the closure member 12 to move unintentionally, for example due to a person on the opposite side of the vehicle 10 Entry into the vehicle 10 thereby moves the closure member 12 , or otherwise moves the closure member 12 . The method proceeds to step 2208 to vary the movement of the closure member 12 , eg, by controlling the actuator 22 , in response to movement of the closure member 12 and detection/determination of the presence of movement of the vehicle 12 . In particular, the step of changing the movement of the closure member 12 in response to movement of the closure member 12 and detecting/determining the presence of movement of the vehicle 10 may be further defined as 2208: stop in response to movement of the closure member 12 and detecting/determining the presence of movement of the vehicle 10 Movement of the closure member 12 .

As best shown in Figure 64, in conjunction with the steps of Figures 62 and 63 described above, there is additionally provided an operation of the powered closure member actuation system 20 to detect the closure member due to non-physical contact with the closure member 12. Method 2300 of moving. The method begins with step 2302 of determining whether the closure member is in the open position. The next step of the method is 2304: Determine if the closure member is moving (eg, when in the open position). The method continues with step 2306 of determining if an obstacle is detected using the NCOD system, eg a person can stand next to the closure board 12 and be detected without the intention of moving the closure board 12 or any interaction with the closure board 12 . The method continues with step 2308 : using motion sensors (eg, such as an accelerometer/inclinometer) to determine changes in motion or tilt of the vehicle that may cause the closure member to move unintentionally, such as due to a person entering the vehicle on the opposite side of the vehicle The closing member is thus moved, or for example due to movement of unstable ground. The method proceeds to step 2310 of changing the movement of the closure member in response to movement of the closure member and detection/determination of the presence of movement of the vehicle and detection of an obstacle. Specifically, the step of changing the movement of the closure member in response to movement of the closure member and detection/determination of movement of the vehicle 12 present and detection of an obstacle may be further defined as ceasing in response to movement of the closure member and detection/determination of movement of the vehicle 12 present Movement of the closing member.

Referring now to FIG. 65, a method 2400 for moving a door 12 from a closed door position when the door 12 is in a frozen state is provided. The method includes a step 2402 of receiving, by the controller 50, an open door command, such as an open door command, eg, for automatic mode movement of the door 12, as described herein above. Next, the method proceeds to the following steps: At step 2404, the non-contact obstacle detection system is monitored using the controller 50 to determine whether an object is detected adjacent to the door. If at step 2406 the controller 50 determines that an object is detected adjacent the door, the controller 50 will determine that the door is in a blocking state, eg, a large object is against the door. Therefore, at step 2408, the controller 50 will not control the actuator 22 to move the door 12 toward the open position. The controller 50 may activate an alarm, such as a chime to indicate to the user the actuation status of the door. In one possible configuration, the controller 50 may control the interface devices 74, 76 to display the status of the door system 20 to provide more information to the user than non-informative bells or beeps. For example, the interface devices 74, 76 may be controlled to display to the user the next allowed input: "Door is operating in power assist mode" or "Door has stopped, press switch to continue in automatic mode, or take door control " or "Obstruction detected, door has moved to open position. Manual control of rest of door movement" or "Door is frozen and cannot be energized to open. Door is controlled manually only". Such a display of the user interface device may be provided at other locations on the vehicle, such as on a decal on the exterior of the vehicle, as an example of a user identifying the status of a door from outside the vehicle. At step 2410, the controller 50 determines that no object is detected adjacent to the door, and the controller 50 will determine that the door can be opened without colliding with the obstacle. Therefore, in step 2412, the controller 50 will control the actuator 22 to move the door toward the open position. The method may proceed as follows: at step 2414 it is determined whether the controller 50 received an error signal. If the controller 50 receives an error signal (eg, an overload signal) at step 2414, the controller 50 may control the actuator 22 to stop and not move the door at step 2415, having determined that, for example, an electrical or other error has occurred. The controller 50 may sound an alarm as a chime for indicating the actuation state of the door to the user. If the controller 50 does not receive an error signal at step 2416, the controller 50 may proceed to step 2418: determine or detect whether there is movement of the door, and whether there is movement of the door detected within a predetermined period of time, eg, 3 seconds . If the controller 50 does not detect motion at step 2418, the method continues with step 2420 of verifying the temperature of the vehicle or door. If at step 2422 the controller 50 determines that the detected temperature is less than a predetermined temperature, eg, 0.5 degrees Celsius, then the method may proceed to the next step 2426: the controller 50 controls the ice breaker or door presenter mechanism (eg, one with a movable plunger) Presenter 2717, the movable plunger is a device separate from the actuator 22) to move the door 12 out of the closed position to overcome a frozen door condition, for example to break any ice, and/or and may control the actuator 22 to output Output force higher than normal (eg compared to during normal power assist or automatic mode) eg at least 400N force measured from door handle for ice breaking to release frozen door condition. If at step 2428 the controller 50 determines that the detected temperature is greater than a predetermined temperature, eg, 0.5 degrees Celsius, the method may proceed to the next step 2430: the controller 50 determines that the door is mechanically stuck and prevents the door from moving away, eg, due to icing The primary closed position, and the controller 50 does not control the actuator 22 (eg, primary door mover) or door presenter 2717 or other auxiliary door mover to move the door to prevent damage. The controller 50 may activate an alarm such as a chime to indicate to the user the actuation status of the door.

Referring now to FIG. 66, a method 2500 is provided for moving a door from a closed door position when the door is in a mechanically blocked or blocked or jammed state. This condition may occur, for example, if the vehicle has been in a collision and a portion of the door or frame becomes deformed preventing the door from moving normally out of the closed position (by way of example only). The method includes a step 2502 of receiving, by the controller 50, an open door command, eg, an open door command as described herein above, eg, in an automatic mode. Next, the method proceeds to the following steps: At step 2504, the controller 50 uses a non-contact obstacle detection system to determine whether an object is detected adjacent to the door. If at step 2506 the controller 50 determines that an object is detected adjacent to the door, the controller 50 will determine that the door is in a blocking state such as a large object is against the door and the door is not mechanically jammed or blocked. Therefore, at step 2507, the controller 50 will not control the actuator 22 to move the door toward the open position. The controller 50 may activate an alarm, such as a chime to indicate to the user the actuation status of the door. If at step 2508 the controller 50 determines that no object is detected adjacent to the door, then the controller 50 will determine that the door can be opened without colliding with the obstacle. Therefore, in step 2510, the controller 50 will control the actuator 22 to move the door towards the open position. The method may proceed as follows: at step 2512 it is determined whether the controller 50 received an error signal. If the controller 50 receives an error signal at step 2512, the controller 50 may control the actuator to stop and not move the door at step 2514, having determined that, for example, an electrical error has occurred. The controller 50 may sound an alarm as a chime for indicating the actuation state of the door to the user. If the controller 50 does not receive an error signal at step 2516, the controller 50 may proceed to step 2518: determine or detect whether there is movement of the door, and whether there is movement of the door detected within a predetermined period of time, eg, 3 seconds . If the controller 50 does not detect movement of the door at step 2518, the method continues to step 2520 by verifying that the door remains stationary for a predetermined period of time while the controller 50 controls the actuator 22 to attempt to move the door 12. If at step 2520 the controller 50 determines that the door remains stationary for a predetermined period of time while the controller 50 controls the actuator 22 to attempt to move the door, the method may proceed to the next step 1422 where control The controller 50 determines that the door is in a mechanically jammed door state and stops the activation of the control actuator 22 . Alternatively, the controller 50 may control both the actuator 22 and a separate mechanism such as the door presenter 2717 in tandem in an attempt to move the door 12 away from its mechanism before concluding that the door is mechanically stuck. Blocked position for a period of time. If at step 2524 the controller 50 determines that the door is moving due to actuation of the actuator 22 or the door presenter is activated together with the actuator 22 , the method may proceed to the controller 50 continuing to use the actuator 22 to move the door Go to next step 2526 at the planned location. Accordingly, there is provided a powered closure member actuation system 20 having a controller 50 with a primary actuator (eg, actuator 22) for moving the door between an open position and a closed position and a controller 50 for A secondary actuator (eg, renderer 2717) that moves the door between a partially open position and a partially closed position communicates with the controller 50 configured to be individually controlled (eg, one is controlled to move the door and the other does not is controlled for moving the door) for moving the door within a first range of motion (eg from the ejected position to the open position) and the primary actuator for movement within the second range of motion (eg from the closed position to the ejected position) Auxiliary actuator for doors. In another possible configuration, the controller 50 may simultaneously control the primary and secondary actuators to move the door in the second range of motion, which may be when the controller 50 detects a frozen state or blocking state of the door case.

Referring now to FIG. 67, a method 2600 performed by the controller 50 for calculating the force command 88 for controlling the actuator output force to move the door and, for example, to move the door in a power assist mode, is shown. The method begins at step 2602: the controller 50 receives a signal indicative of the force applied by the user to the closure plate using, for example, the feedback sensor 64 or a feedback system more generally, as described in more detail above. The method continues at step 2604 with the controller 50 determining relative torques with respect to a common reference point for calculation. For example, a common reference point for relative torques is around the door pivot axis 2650 (see Figure 70). In other words, the method includes using the controller 50 to determine at least one torque value about the pivot axis 2650 of the closure plate 12 that affects, hinders or facilitates pivoting of the closure plate 12 about the pivot axis. Step 2604 may also include a sub-step 2606 that includes the controller 50 determining whether any auxiliary door systems are active, eg, if the renderer 2717 is active due to the frozen door condition or the blocking door condition described in detail above. For example, the controller 50 may determine whether a door presenter 2717 or an auxiliary door mover is activated to also help move the door 12, or whether an electromechanical brake is active to help slow or brake the movement of the door. Such an auxiliary door system may be selectively activated by the controller 50 to act on the door at a portion of the door angle, at discrete door angles, or throughout the movement of the door 12 during different operations of the power closure member actuation system 20 . 12 and may be configured to complement the actuator 22 for moving or slowing the door, or to provide other functions for the door 12. Step 2604 may also include sub-step 2608 that includes controller 50 determining a change in state of door 12 . For example, the controller 50 may determine if the door weight has increased or decreased, such as the example of adding or removing a spare wheel from the tailgate or liftgate; Additional door seals do not have to be acted upon during closing; if a crash situation occurs, for example the controller 50 would assume some damage that would increase the torque against the door opening. The method continues to step 2610: the controller 50 receives door and vehicle status information from sensors or stored in memory for use in updating the calculation of the force command 88 in real time during door movement. For example, the controller 50 will receive door angle data for use in updating the relative torque in real time during door movement control. For example, the controller 50 will receive stored data on door cycles for use in real-time updating of relevant torques related to wear and tear during door movement, eg, torque due to friction may change over time or door open/close cycles increases and may affect torque at different door angles. Thus, the door movement may not be simulated until the door is opened, but the controller 50 will use updated data received from various sensors and data stored in memory to calculate the relevant torque during door movement. The method continues to step 2612: the controller 50 separately calculates each torque in real-time based on the received door and vehicle status information. The method continues to step 2614: The separately calculated torques are summed to determine the net torque response about the door pivot axis. In other words, step 2616 includes the controller 50 determining the net torque response using at least one torque value about the pivot axis 2650 to determine the net torque response. For example, the controller 50 can detect a frozen door because the calculations are performed in real-time rather than simulated during the door opening from the closed position, and also include in the overlay calculations due to the door renderer or auxiliary mover to help overcome the frozen door condition resulting torque. Once the door has thawed, the controller 50 will not include torque due to the door renderer or auxiliary door mover in its overlay calculations. Since the frozen state cannot be simulated in advance, in other words the controller 50 cannot determine when the frozen door state will end based on the amount of icing and where in the door opening angle, the controller 50 will be able to remove from its calculation step the The torque produced by the renderer 2717 without having to recalculate other torque values, resulting in a less complex force calculation process. The method continues to step 2616 : the controller 50 calculates a compensated net torque response about the door pivot axis 2650 based on the sum of the torques calculated in step 2612 . And in other words, the controller 50 will calculate a force command that counteracts the net torque response value to assist the user in moving the closure while providing the user with a controllable resistance sensed by the user. Such resistance experienced by the user can be quantified, for example, by using force sensors to detect forces measured at locations on the door, such as on the door handle or at the edge of the door. The method next continues to step 2618 : the controller 50 uses the calculated compensated net torque response determined in step 2618 to control the actuator 22 . Therefore, the actuator 22 can be controlled in real time with precise torque to compensate for other torques acting on the door 12 . In other words, the controller 50 will control the output torque from the actuator via the transmission of the force command 88 from the controller 50 to the actuator 22 to offset or reduce the net torque response to assist the user in moving the closure plate. In one possible configuration, the controller 50 may modify the output torque from the actuators to completely counteract the net torque response, thereby providing the user with the feeling of a weightless door, wherein the user does not experience a force input in response to exerting a force on the door resistance or substantially no resistance. In another possible configuration, the controller 50 may modify the output torque from the actuators so as not to cancel the net torque response, thereby providing the user with a feeling of weighting the door, where the user experiences resistance in response to exerting a force input on the door . In some cases, with the development of doors 12 made of lightweight materials such as composite materials, it may be desirable for a system 20 operating in a power-assisted mode to use the actuator 20 to normally increase resistance to the user to increase the sense of The door weight is measured so that the user experiences door motion similar to that during moving a conventional weight door, such as a door made of metal. In this case, the system 20 in the power assist mode is configured to normally introduce resistance to door movement, rather than reduce resistance and provide assistance.

Referring now to FIG. 68, according to another exemplary configuration of the power closure member actuation system 20, 2700, the controller 50, 2702 is configured to receive a power closure member actuation system 20, 2700 associated with operating in a power assist mode One of the motion inputs 56, 2704. The controller 50, 2702 is then configured to send a force command 88 to the actuator 22, 2705 in the power assist mode based on the torque 2705 calculated from at least one of the torque models 2708 stored in the memory of the controller 50, 2702 , 2706 to vary the output force of the actuator 22 , 2705 acting on the closure member 12 , 2710 to move the closure member 12 , 2710 . Furthermore, the powered closure member actuation system 20, 2700 includes at least one closure member feedback sensor 64, 2712 for determining at least one of the position and velocity of the closure member 12, 2710 and the attitude. Accordingly, the at least one closure member feedback sensor 64, 2712 detects a signal from the actuator 22, 2705 by counting the number of revolutions of the electric motor 36, 2714, the absolute position of the extendable member (not shown), or from Signals of the door 12 , 2710 (eg, an absolute position sensor on a door hinge as an example) to provide position information to the controller 50 , 2702 . Other types of feedback systems may be provided for sensing the position of door 12 . The controller 50, 2702 is also configured to receive the motion input 56, 2704 and enter a power assist mode to output a force command 88, 2706 (eg, as described above, according to the force command algorithm 100 configured to be stored in memory, for example). The superposition algorithm 2718 uses the force command generators 98, 2716 of the controllers 50, 2702). The stacking algorithm 2718 is configured to receive the output of a torque calculator 2720 that is configured to determine a net torque response about the door pivot axis 2650 using a torque model 2708 also stored in memory, the torque model 2708 is based on receiving feedback sensors 64 , 2712 signals representing the position and velocity of the closure member 12 , 2710 and possibly also from other sensors 2713 such as, for example, environmental sensors 80 , 81 and related to the current state of the closure member 12 , 2710 . Other parameters are updated in real time. The stacking algorithm 2718 will output the compensated net torque response and the controller 50 , 2702 is configured to generate the force command 88 , 2706 based on the calculated net torque response to control the actuator output force acting on the closure member 12 , 2710 to move the closure member while providing a change in the resistance felt by the user to move the door compared to moving a normally unpowered controlled door. Accordingly, there is provided a power closure member actuation system 20 having a controller 50 operable in a power assist mode, the controller 50 being in communication with the actuator 22, wherein the controller 50 is configured to control the actuation The damper 22 varies the resistance detectable at the door inconsistently during door movement. In another possible configuration, inconsistent changes in the resistance detectable at the door, such as detected by a user or force sensor, replicate that at the door when the door movement is not controlled by the actuator 22 Inconsistent changes in detectable resistance.

Referring now to FIGS. 69 and 70 , an example of a superposition algorithm ( FIG. 69 ) executed by the controller 50 using the at least one correlation torque 2705 is shown. For example, shown in FIG. 69 is: the relative torque 2705a associated with tilt or hinge bias, as an example of action about the door pivot axis 2560, which may illustratively act to cause the door 12 to act as an arrow in FIG. 70 Swing open shown at 2800 (clockwise); associated torque 2705b related to the inertia of the door, which initially acts on the door to move it towards the open position, but as the door speed increases, its effect is to continue to push the door towards the open position , as indicated by arrow 2802 in FIG. 70; the associated torque 2705c related to friction, which acts to resist the opening of the door toward the open position, as indicated by arrow 2804 in FIG. 70, counterclockwise about axis 2650; The door checks whether the vehicle is equipped with an associated torque 2705d related to a stop that tends to prevent the door from moving towards the open position only at a predetermined angular position of the door, such as indicated by arrow 2806 in FIG. 70 . Show. Other relevant torques 2705 may be included in the superposition calculation, such as, for example, damping torque 2705e applied by damping struts or devices that may affect door motion. The stacking algorithm 2718 may calculate the compensated net torque response 2707 to cancel the sum of the respective related torques as provided by the torque of the actuator 22, and the controller 50 is configured to generate the force command 88 based on the calculated net torque response to Control the actuator output force acting on the closure member to generate a compensated net torque response 2707 and thus move the closure member in order to control the resistance the user feels when moving the door with power assist or the assist the user feels when moving the power door , as shown by arrow 2808 in FIG. 70 . Arrow 2808 is shown clockwise to provide assistance in moving the door toward the open position, but may be counterclockwise to provide resistance to door movement toward the open position. The compensated net torque response 2707 may be variable with the angle of the door to provide a consistent door feel to the user throughout the movement of the door 12 regardless of the weight of the door, the weight of the door, which may vary with the angle of the door 12 the speed of motion, the effect of gravity, etc. In another possible configuration, the compensated net torque response 2707 may be variable as the angle of the door changes to provide the user with a non-uniform door feel throughout the movement of the door 12 to induce a change in the angle of the door 12 by User-sensed changes in resistance or assist. For example, this inconsistency may provide a sensation to the user by increasing the force around the simulated detent position. As another example, the controller 50, 2702 may provide a disparity of resistance and assistance such that the user feels the same force during moving the door in manual mode, but where such force is scaled to provide the user with a familiar door opening experience , such as moving a manual unpowered door, but with a reduced force sensed by the user. For example, the controller 50, 2702 may be configured to vary the resistance such that the user still feels the force associated with overcoming the inertia of the door at rest, or for example the controller 50, 2702 may be configured to vary the resistance such that the user still feels to the force associated with the constant inertia of the door as it moves, or, for example, the controller 50, 2702 may be configured to vary the assistance so that the user still feels associated with overcoming the force of gravity while the door is being moved and the vehicle 10 is tilted force so that the door does not feel as if it is on a level surface. This purposeful introduction of non-uniformity in door resistance and assist is provided to mimic the forces typically associated with unpowered doors with which users are familiar, in order to provide the user with variation compared to consistent powered assist throughout door movement With a degree of haptic feedback, the user may be less familiar with powered assistance than when moving an unpowered door. During door movement, the compensated net torque response 2707 can be positive to provide assist force to the door and negative to provide resistance to the door so that the user will feel the same throughout the door movement during manual interaction of the door or scaling force. In some cases, the controller 50 may calculate the compensated net torque response 2707, such as by applying an internal scaling variable, such that the drag felt by the user is reduced to almost zero to provide a weightless door feel, and in other configurations, the controller 50 The compensated net torque response 2707 may be calculated such that the drag felt by the user is increased to provide the user with a heavier door feel. In this illustrative example, the clockwise torque about axis 2650 caused by actuator 22 will be used to move the door while also reducing the resistance on the door felt by the user, or in other words, the user must input Required opening torque 2709 about axis 2650 to move door 12 . Thus, depending on the user's desired experience, the control of the actuators may allow the user to experience a heavier door (the user feels more resistance when moving the door) or a lighter door (the user feels less when moving the door) resistance) and a door that simulates normal unpowered door motion but has a scaling force sensed by the user moving the door. As discussed above, force sensors may be used to measure the force sensed by the user. Figure 70 shows the actuator 22 as a rack and pinion type actuator with an extendable rack, as only one type of actuation that can be employed in the power closure member actuation system 20 described herein device 22. In one possible configuration, the actuator 22 described herein is not provided with a clutch, and otherwise has a continuously engaged drive (eg, always coupled) between the motor 2711 and the mounting bracket 2713 on the body 14 )connect. Thus, in both the power assist mode and the automatic mode, the controller 50 may, in one possible configuration, control the door in real-time based on the door's position to determine the force command 88 or the motion command 62 . While the user may have quasi-manual control of the door when moving the door in the power assist mode, the power closure member actuation system 20 may limit the speed at which the user may move the door when operating in the power assist mode, eg, the controller 50 may The speed of the door is limited or limited to a maximum of 60 degrees per second, and can be switched to anti-slamming mode above this speed as described above.

Referring now to FIG. 71, an example is shown in which the controller 50, 2702 determines whether any auxiliary door systems are active and updates the associated torque to include the relevant torques associated with the auxiliary door systems, such as, as described above, using Door presenter 2717 at door angle, door presenter 2717 will be activated, for example to assist with ice breaking functions. For example, the controller 50, 2702 may determine whether the door renderer is activated to also assist in moving the door, and include the relative torque 2902 of the assist system acting about the axis 2650 updated in real time based on the door angle to include as part of the overlay calculation function 2718. Such an auxiliary door system may be selectively activated to act on the door for a portion of the door angle as indicated by arrow 2808 in FIG. 70 . By way of example and not limitation, such as if a separate door inspection mechanism acts on the door, if a separate brake mechanism acts on the door, if another door interacts with the door - such as in the absence of a B-pillar door system , other door systems with associated associated torques 2904 may be included or removed by controller 50 when performing overlay function 2718 . Accordingly, the controller 50 , 2702 may perform a summation 2906 of the net torque response 2908 as illustratively determined in method step 2612 described above, which illustratively includes the sum of the torques 2705a to 2705d with reference to FIG. 69 . , the compensation torque 2910 as illustratively determined in method step 2616 and illustratively including the torque of the actuator 22 about the axis 2650 described above, and proceeding to use the force command generator 2914 to calculate the amount to be supplied to the motor 2916's force commands 2912. When this other relevant torque does not affect normal (no auxiliary door system affects the doors) due to the fact that the auxiliary system is not activated (eg based on door angle) or unavailable (eg not installed on the vehicle, or disabled due to damage) When the door presenter 2717 is affecting door movement, any inclusion or exclusion of related torques such as torque 2902 may be added or removed when calculating the power assist compensation. Accordingly, the power closure member actuation system 20 may support the expansion of additional door motion influencing functions during door movement, such as functions that are only operable during certain ranges of movement of the door or during certain states of the door, or support the power closure member Modularity of different configurations of actuation system 20, such as the installation of additional mechanisms such as mechanical door checks, dampers such as balance struts, electromechanical braking mechanisms, etc., without limitation.

Obviously, however, changes may be made to what is described and illustrated herein without departing from the scope defined in the appended claims. The foregoing description of the embodiments has been presented for the purposes of illustration and description. This is not intended to be exhaustive or to limit the present disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. Various elements or features of particular embodiments may also vary in various respects. Such variations are not considered to be a departure from the present disclosure, and all such modifications are intended to be included within the scope of the present disclosure.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" may also be intended to include the plural forms unless the context clearly dictates otherwise. The terms "comprising", "comprising", "containing" and "having" are inclusive and thus specify the presence of stated features, integers, steps, operations, elements and/or components, but not excluding one or more The presence or addition of other features, integers, steps, operations, elements, components and/or combinations thereof. Unless method steps, processes, and operations described herein are specifically identified as an order of performance, they should not be construed as necessarily requiring that they be performed in the particular order discussed or shown. It should also be understood that additional or alternative steps may be employed.

When an element or layer is referred to as being "on," "bonded to," "connected to," or "coupled to" another element or layer, it can be directly on the other element or layer, joined, connected or coupled to another element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being "directly on" or "directly joined to," "directly connected to," or "directly coupled to" another element or layer, there may be no intervening elements present. element or layer. Other words used to describe the relationship between elements should be interpreted in a like fashion (eg, "between" versus "directly between," "adjacent" versus "directly adjacent," etc.). As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be affected by these terms limits. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. When terms such as "first," "second," and other numerical terms are used herein, they do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, Second layer or second part.

For ease of description, spatially relative terms such as "inner," "outer," "below," "below," "lower," "above," "upper," "top," "bottom," etc. may be used herein. to describe the relationship of one element or feature to another element or feature as shown. Spatially relative terms may be meant to include different orientations of the device in use or operation than the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

Components of the exemplary apparatus, systems, and methods employed in accordance with the illustrated embodiments may be implemented, at least in part, in digital electronic circuitry, analog electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. These components may be implemented as a set of instructions to be executed by a processing device, eg as a computer program product, such as tangibly embodied in an information carrier or machine-readable storage device to be executed by, for example, a programmable processor, microprocessor, computer or multiple A computer program, program code or computer instructions that execute or control the operation of the data processing apparatus of a computer. The term "controller" as used in this application is any such computer, processor, microchip processor, whether single or multiple, capable of carrying programs for carrying out the functions, methods and flowcharts provided herein , integrated circuits or any other components. The controller may be a single such component located on a printed circuit board with other electronic components. Alternatively, the controller may exist remote from the other element systems described herein. For example and without limitation, the at least one controller may take the form of programming in the vehicle's onboard computer in a door, a latch, or elsewhere in the vehicle as an example. A controller may also exist in multiple locations or include multiple components.

A list of instructions such as a computer program may be written in any form of programming language, including compiled or interpreted languages, and it may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or suitable for use in a computing environment. other units. A computer program can be deployed to be executed on one computer or on multiple computers at one station or distributed across multiple stations and interconnected by a communication network. Furthermore, functional programs, codes, and code segments for implementing the illustrative embodiments can be easily construed by programmers skilled in the art to which the illustrative embodiments pertain to be within the scope of the claims illustrated by the illustrative embodiments. Method steps associated with the illustrative embodiments may be performed by execution of computer programs, code, or instructions by one or more programmable processors to perform functions (eg, by operating on input data and/or generating output). For example, method steps may also be performed by special purpose logic circuitry such as an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit), and the apparatus of the illustrative embodiments may be implemented as such special purpose logic circuitry.

The various illustrative logical blocks, modules, algorithms, steps and circuits described in connection with the embodiments disclosed herein can be implemented or executed by a general purpose processor, digital signal processor (DSP), ASIC, FPGA or other programmable Logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, by way of example, the processor may be any conventional processor, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors and a DSP core, or any other such configuration.

By way of example, processors suitable for the execution of a computer program include both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Typically, a processor will receive instructions and data from read-only memory or random access memory, or both. The essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include or be operatively coupled to receive data from, transfer data to, or both, one or more mass storage devices for storing data, such as magnetic, magneto-optical or optical disks. Information carriers suitable for the implementation of computer program instructions and data include all forms of non-volatile memory including, by way of example, semiconductor memory devices such as electrically programmable read only memory or ROM (EPROM), electrically erasable programmable ROM ( EEPROM), flash memory devices, and data storage disks (eg, magnetic disks, internal hard or removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks). The processor and memory may be supplemented by or incorporated in special purpose logic circuitry.

Those of skill in the art would understand that information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols and chips that may be referred to throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

Those skilled in the art will also appreciate that the various illustrative logical blocks, modules, circuits, algorithms, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the claims exemplified by the illustrative embodiments. A software module may reside in random access memory (RAM), flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be an integral part of the processor. In other words, the processor and storage medium may reside in an integrated circuit or be implemented as discrete components.

Computer-readable non-transitory media includes all types of computer-readable media, including magnetic storage media, optical storage media, flash memory media, and solid-state storage media. It should be understood that the software may be installed in and sold with a central processing unit (CPU) device. Alternatively, software may be obtained and loaded into a CPU device, including through physical media or distribution systems, including, for example, from a server owned by the software creator or from a server not owned by the software creator but created by the software the server used by the user to obtain the software. For example, software may be stored on a server for distribution over the Internet.

Claims (20)

CLAIMS 1. A powered closure member actuation system for moving a closure member of a vehicle relative to a body between an open position and a closed position, the power closure member actuation system comprising: an actuator coupled to the closure member and the body, the actuator configured to move the closure member relative to the body; a closure member feedback sensor for determining at least one of a position and a velocity of the closure member; and a controller in communication with the closure member feedback sensor and the actuator, the controller configured to control the actuator based on the position and velocity of the closure member determined using the closure member feedback sensor movement of the closure member against movement of the closure member towards one of the open and closed positions without exceeding the operating rating of the actuator, which exceeds the operating rating of the actuator value can damage the actuator. 2. The power closure member actuation system of claim 1, wherein the actuator comprises a motor operatively coupled to a reduction gear train operatively coupled to the closure member. 3. The power closure member actuation system of claim 2, wherein the power closure member actuation system is configured without a mechanical brake or mechanical coupling to assist the resisting the closure member towards the open position and movement of one of the closed positions. 4. The powered closure member actuation system of claim 1, further comprising a tilt sensor in communication with the controller, the tilt sensor configured to detect tilt of the closure member, wherein the controller further is configured to control movement of the closure member by the actuator based on the tilt of the closure member determined using the tilt sensor. 5. The power closure member actuation system of claim 2, wherein the operating ratings include a maximum rotational speed of the motor, a maximum power rating of the motor, a maximum back EMF output rating, a maximum thermal rating value and at least one of the maximum electric brake rating. 6. The powered closure member actuation system of claim 2, wherein the controller is further configured to determine whether the speed of the closure member is greater than a predetermined value that results in exceeding a maximum speed operating rating of the actuator a maximum speed threshold, and controlling the actuator to reduce the speed of the closure member in response to the speed of the closure member being greater than the predetermined maximum speed threshold to return the motor to a speed lower than that of the actuator The maximum speed operating rating. 7. The power closure member actuation system of claim 1, wherein the controller is operable in an automatic mode and at least one of a power assist mode and an anti-slam mode, and the controller is Configured to: controlling the actuator to move the closure member in one of the automatic mode and the power assist mode, determining whether the speed of the closure member is greater than a predetermined maximum speed threshold, responsive to the speed of the closure member not being greater than the predetermined maximum speed threshold, continuing to control the actuator to move the closure member in one of the automatic mode and the power assist mode, and In response to the speed of the closure member being greater than the predetermined maximum speed threshold, one of the automatic mode and the power assist mode is exited and the anti-slamming mode is entered. 8. The powered closure member actuation system of claim 1, wherein the position of the closure member is an angle of the closure member, and the controller is further configured to: detecting the direction of movement of the closure member, in response to detecting movement of the closure member toward the open position, determining whether the angle of the closure member is less than a first predetermined closure member angle, In response to determining that the angle of the closure member is not less than the first predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to allow opening of a hard stop, In response to determining that the angle of the closure member is less than the first predetermined closure member angle, the actuator is controlled to reduce the speed of the closure member to zero at or before the open position. 9. The powered closure member actuation system of claim 1, wherein the position of the closure member is an angle of the closure member, and the controller is further configured to: in response to detecting movement of the closure member toward the closed position, determining whether the angle of the closure member is greater than a second predetermined closure member angle, In response to determining that the angle of the closure member is not greater than the second predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to allow the closure member to enter the latched primary position of the latch, In response to determining that the angle of the closure member is greater than the second predetermined closure member angle, the actuator is controlled to reduce the speed of the closure member to allow the closure member to enter a latch assist position. 10. The powered closure member actuation system of claim 9, wherein the position of the closure member is an angle of the closure member, and the controller is coupled to a latch for moving the closure member from the closure member a tethered actuator that moves the latch secondary position to the latch primary position, and the controller is further configured to: detecting the direction of movement of the closure member, in response to detecting movement of the closure member toward the open position, determining whether the angle of the closure member is less than a first predetermined closure member angle, In response to determining that the angle of the closure member is not less than the first predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to allow opening of a hard stop, in response to determining that the angle of the closure member is less than the first predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to zero at or before the open position, determine if manual control is detected, in response to determining that the manual control is not detected, determining whether the closure member is in the open position, in response to determining that the closure member is not in the open position, returning to detecting the direction of movement of the closure member, in response to determining that the closure member is in the open position, exiting the anti-slamming mode, in response to determining that the manual control is detected, controlling the actuator in the power assist mode and exiting the anti-slam mode, in response to detecting movement of the closure member toward the closed position, determining whether the angle of the closure member is greater than a second predetermined closure member angle, in response to determining that the angle of the closure member is not greater than the second predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to allow the closure member to enter the latched primary position, In response to determining that the angle of the closure member is greater than the second predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to allow the closure member to enter the latch assist position, determining whether the manual control is detected, in response to determining that the manual control is detected, controlling the actuator in the power assist mode and exiting the anti-slam mode, In response to determining that the manual control is not detected, determining whether the closure member is in the latch assist position, in response to determining that the closure member is in the latch assist position, controlling the tether actuator to move the closure member to the latch primary position, generating an alarm signal during control of the tethered actuator and returning to detect the direction of movement of the closure member, and In response to determining that the closure member is not in the latch assist position, returning the control to the actuator reduces the speed of the closure member to allow the closure member to enter the latch assist position. 11. The powered closure member actuation system of claim 9, wherein the position of the closure member is the angle of the closure member, and the velocity of the closure member is the angular velocity of the closure member, and the closure member The controller is also configured to: changing the rate of deceleration of the closure member as a function of the angle of the closure member as the closure member moves towards the open position in the anti-slam mode, and It is ensured that the angular velocity of the closure member is zero at the first predetermined closure member angle before opening the hard stop. 12. The powered closure member actuation system of claim 9, wherein the position of the closure member is the angle of the closure member, and the velocity of the closure member is the angular velocity of the closure member, and the closure member The controller is also configured to: verifying that the angle of the closure member is greater than a second predetermined closure member angle when the closure member is moved towards the closed position in the anti-slam mode, in response to verifying that the angle of the closure member is greater than the second predetermined closure member angle, slowing the closure member to a predetermined reference speed according to the angle of the closure member, maintaining the predetermined reference speed until the closure member moves to the latch assist position, and slowing the closure member to a predetermined tethering speed in response to verifying that the angle of the closure member is not greater than the second predetermined closure member angle, and The closure member is allowed to move to the latch primary position at the predetermined tether speed. 13. A powered closure member actuation system for moving a closure member of a vehicle relative to a vehicle body between an open position and a closed position, the power closure member actuation system comprising: an actuator coupled to the closure member and the body, the actuator configured to move the closure member relative to the body; a closure member feedback sensor for determining at least one of a position and a velocity of the closure member; a controller in communication with the closure member feedback sensor and the actuator, the controller configured to: controlling the actuator to move the closure member in one of an automatic mode and a power assist mode, determining whether the speed of the closure member is greater than a predetermined maximum speed threshold, responsive to the speed of the closure member not being greater than the predetermined maximum speed threshold, continuing to control the actuator to move the closure member in one of the automatic mode and the power assist mode, and In response to the speed of the closure member being greater than the predetermined maximum speed threshold, one of the automatic mode and the power assist mode is exited and an anti-slam mode is entered. 14. The power closure member actuation system of claim 13, wherein the controller is configured to be based on usage when in the automatic mode and one of the power assist mode and the anti-slam mode The closure member feedbacks the position and velocity of the closure member as determined by the sensor, controls movement of the closure member by the actuator to resist movement of the door towards one of the open and closed positions but not more than Operating ratings beyond which the actuator can be damaged. 15. The powered closure member actuation system of claim 14, further comprising a tilt sensor in communication with the controller, the tilt sensor configured to detect tilt of the closure member, wherein the controller further is configured to control movement of the closure member by the actuator based on the tilt of the closure member determined using the tilt sensor. 16. The powered closure member actuation system of claim 13, wherein the position of the closure member is the angle of the closure member, and the velocity of the closure member is the angular velocity of the closure member, and the closure member The controller is also configured to: Continued movement of the closure member in the automatic mode is permitted as long as the angular velocity of the closure member is: (i) at a predetermined reference velocity, or (ii) in the automatic mode between a predetermined reference velocity and an automatic upper angular velocity within the upper gap, or (iii) within the automatic mode lower gap between said predetermined reference velocity and the automatic lower angular velocity, Entering the power assist mode in response to an angular velocity of the closure member being less than the automatic lower angular velocity or greater than the automatic upper angular velocity, transitioning to the anti-slamming mode once the angular velocity of the closure member is a high speed upper threshold greater than the predetermined maximum velocity threshold, and Transitioning back to the power assist mode is performed once the angular velocity of the closure member has slowed to a lower high speed threshold that is less than the predetermined maximum speed threshold. 17. A method of controlling movement of a closure member relative to a vehicle body between an open position and a closed position based on at least one of a position and a velocity of a closure member of a vehicle using a powered closure member actuation system, the method comprising The following steps: moving the closure member relative to the body using an actuator of the powered closure member actuation system coupled to the closure member and the body; monitoring at least one of a position and a velocity of the closure member using a controller of the powered closure member actuation system coupled to a closure member feedback sensor and the actuator; and Movement of the closure member by the actuator to resist movement of the door toward one of the open and closed positions is controlled based on the position and velocity of the closure member determined using the closure member feedback sensor But do not exceed the operating rating of the actuator, which would damage the actuator. 18. The method of claim 17, wherein the controller is operable in an automatic mode and at least one of a power assist mode and an anti-slam mode, and the method further comprises the steps of: controlling the actuator to move the closure member in one of the automatic mode and the power assist mode, determining whether the speed of the closure member is greater than a predetermined maximum speed threshold, responsive to the speed of the closure member not being greater than the predetermined maximum speed threshold, continuing to control the actuator to move the closure member in one of the automatic mode and the power assist mode, and In response to the speed of the closure member being greater than the predetermined maximum speed threshold, one of the automatic mode and the power assist mode is exited and the anti-slamming mode is entered. 19. The method of claim 18, wherein the position of the closure member is an angle of the closure member, and the controller is coupled to a latch 83 for moving the closure member from the latch assist position a tethered actuator moving toward a latched primary position, and the method further comprising the steps of: detecting the moving direction of the closing member; In response to detecting movement of the closure member toward the open position, determining whether the angle of the closure member is less than a first predetermined closure member angle; In response to determining that the angle of the closure member is not less than the first predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to allow opening of a hard stop; In response to determining that the angle of the closure member is less than the first predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to zero at or before the open position; determine if manual control is detected; in response to determining that the manual control is not detected, determining whether the closure member is in the open position; in response to determining that the closure member is not in the open position, returning to detecting the direction of movement of the closure member; In response to determining that the closure member is in the open position, exiting the anti-slam mode; responsive to determining that the manual control is detected, controlling the actuator in the power assist mode and exiting the anti-slam mode; In response to detecting movement of the closure member toward the closed position, determining whether the angle of the closure member is greater than a second predetermined closure member angle; In response to determining that the angle of the closure member is not greater than the second predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to allow the closure member to enter the latched primary position; In response to determining that the angle of the closure member is greater than the second predetermined closure member angle, controlling the actuator to reduce the speed of the closure member to allow the closure member to enter the latch assist position; determining whether said manual control is detected; responsive to determining that the manual control is detected, controlling the actuator in the power assist mode and exiting the anti-slam mode; in response to determining that the manual control is not detected, determining whether the closure member is in the latch assist position; in response to determining that the closure member is in the latch assist position, controlling the tether actuator to move the closure member to the latch primary position; generating an alarm signal during control of the tether actuator and returning to detect the direction of movement of the closure member; and In response to determining that the closure member is not in the latch assist position, returning the control to the actuator reduces the speed of the closure member to allow the closure member to enter the latch assist position. 20. The method of claim 19, wherein the position of the closure member is the angle of the closure member and the velocity of the closure member is the angular velocity of the closure member, and the method further comprises the step of : Continued movement of the closure member in the automatic mode is permitted as long as the angular velocity of the closure member is: (i) at a predetermined reference velocity, or (ii) in the automatic mode between a predetermined reference velocity and an automatic upper angular velocity within the upper gap, or (iii) within the automatic mode lower gap between said predetermined reference velocity and the automatic lower angular velocity, Entering the power assist mode in response to an angular velocity of the closure member being less than the automatic lower angular velocity or greater than the automatic upper angular velocity, transitioning to the anti-slamming mode once the angular velocity of the closure member is a high speed upper threshold greater than the predetermined maximum velocity threshold, and Transitioning back to the power assist mode occurs once the angular velocity of the closure member has slowed to a high speed lower threshold less than the predetermined maximum speed threshold.

Images