CN114482771B - 动力尾门打开*** - Google Patents

动力尾门打开*** Download PDF

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CN114482771B
CN114482771B CN202111224996.0A CN202111224996A CN114482771B CN 114482771 B CN114482771 B CN 114482771B CN 202111224996 A CN202111224996 A CN 202111224996A CN 114482771 B CN114482771 B CN 114482771B
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tailgate
distance
opening
opening angle
tail gate
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CN114482771A (zh
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M·罗马斯泽克
G·维辛斯基
W·泰普洛维兹
K·霍隆
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Aptiv Technologies Ltd
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    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E05F2015/432—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with acoustical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/334—Position control, detection or monitoring by using pulse generators
    • E05Y2400/336—Position control, detection or monitoring by using pulse generators of the angular type
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/40—Control units therefor
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/456—Control modes for programming, e.g. learning or AI [artificial intelligence]
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/50—Fault detection
    • E05Y2400/51—Fault detection of position, of back drive
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/531—Doors
    • E05Y2900/532—Back doors or end doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/546—Tailboards, tailgates or sideboards opening upwards

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  • Power-Operated Mechanisms For Wings (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)

Abstract

本公开涉及动力尾门打开***，尤其涉及一种具有物体碰撞保护的动力尾门打开***，用于在尾门打开期间降低与物体碰撞的风险。打开***具有物体距离传感器(2)和打开角度传感器(3)，物体距离传感器(2)用于在尾门移动期间感测距物体的距离，打开角度传感器(3)用于感测尾门的打开角度(α)。存储器(6)存储根据尾门的不同打开角度(α)而变化的极限距离值(dth)，并且控制器(4)根据确定在感测的打开角度(α)处的感测距离是否小于针对该感测的打开角度(α)存储的极限距离值(dth)来控制尾门移动驱动机构(5)。

Description

动力尾门打开***
技术领域
本公开涉及一种动力尾门打开***，尤其涉及一种具有物体碰撞保护的***，用于在尾门打开期间降低尾门与物体的动力碰撞的风险。
背景技术
当机动车辆的尾门被动力***打开时，如果尾门被驱动并与位于尾门从完全关闭位置向完全打开位置移动时尾门扫过的移动空间(扫掠范围)内的物体(例如墙壁、天花板或人)碰撞，则会发生损坏。应当理解，术语尾门包括后备箱和封闭车辆开口的其它机动车辆面板。
已知的动力尾门打开***包括朝向车辆后部定向的距离传感器***。这种距离传感器***通常在停车时提供距离警告，或者用于在驾驶时确定到后面车辆的距离。然而，该动力尾门打开***还可以使用来自距离传感器***的数据来确定物体是否位于尾门的扫掠范围内，并相应地控制用于驱动尾门的驱动功率。
通常，动力尾门打开***的距离传感器***的传感器位于尾门上，并且检测到物体的距离。尾门在扫掠范围期间的预定最大距离范围是在零打开角度处确定的。如果在检测到的物体距离与最大距离范围之间存在至少最小距离，则打开***将继续驱动尾门打开。
然而，已知的动力尾门打开***在尾门不具有均匀轮廓的情况下会存在问题。在这种情况下，设置这种最小距离并不总能防止与物体的碰撞。
发明内容
本公开涉及一种具有物体碰撞保护的动力尾门打开***，其降低了具有独特轮廓的尾门与物体碰撞的风险。
根据第一方面，提供了一种动力尾门打开***，包括：
一个或更多个物体距离传感器，用于在尾门移动期间感测距物体的距离；
打开角度传感器，用于感测尾门的打开角度；
用于存储根据尾门的不同打开角度而变化的极限距离值的装置；
控制器，用于根据确定在感测的打开角度处的感测距离是否小于针对该感测的打开角度存储的极限距离值来控制尾门移动驱动机构。
在一个实施方式中，针对给定打开角度的极限距离值如下进行计算：
使用等式1的旋转矩阵R(α)建立尾门的旋转形状：
计算最大水平坐标xmax和垂直坐标ymax；
将虚拟墙壁和/或天花板定位成与尾门间隔一个标记为margin的误差因子：
xwall＝xmax+margin
yceiling＝ymax+margin。
根据将被所述一个或更多个物体距离传感器检测到的距所述虚拟墙壁和/或天花板的距离值来计算极限距离值。
特别地，旋转矩阵R(α)可以基于尾门的四个坐标。
在另一实施方式中，动力尾门打开***还包括尾门移动驱动机构。
附图说明
现在将参照附图来描述说明性实施方式，其中：
图1示出了具有均匀轮廓的汽车尾门；
图2示出了建立距离极限值的过程中的步骤；
图3示出了动力尾门防碰撞***；
图4示出了不具有均匀轮廓的尾门；以及
图5示出了角度相对于由图2的过程提供的距离阈值(距离极限值)的曲线图。
具体实施方式
图1示出了具有规则轮廓的汽车尾门或提升式尾门。可以基于参考系来定义基于尾门的坐标系。在当前情况下，x轴(与地面平行)的原点位于尾门顶部的铰接点，y轴(垂直，与地面垂直)的原点也位于尾门顶部的铰接点。
定义了尾门在空间中的三个坐标(x1,y1)、(x2,y2)和(x3,y3)，其中，(x3,y3)位于尾门的最远边缘。显然，可以定义更多的坐标。
此外，还可以基于参考系来定义尾门的打开角度。在当前情况下，零打开角度被定义成尾门处于完全关闭位置时。尾门打开角度传感器3(图1中未示出)被设置和定位成以刚刚定义的零打开角度感测尾门的打开角度。打开角度传感器可以采用许多不同的形式，其细节对于本领域技术人员来说是显而易见的。
单个物体距离传感器2设置并定位在尾门上，靠近尾门的最远边缘，以在尾门的移动范围期间与尾门一起移动。距离传感器具有坐标(xs1,ys1)。距离传感器具有感测视场，优选地具有相对较高的视场FOVhigh和相对较低的视场FOVlow。
物体距离传感器2可以感测其感测视场内的任何物体，并且可以以已知的方式建立距所感测到的物体的距离。应当理解，本公开不限于单个距离传感器，并且可以设置另外的传感器。此外，传感器可以采用本领域技术人员已知的许多形式，例如雷达、超声波、激光雷达(LIDAR)、光学、摄像机识别。
图4示出了具有不均匀轮廓的尾门的情况。可以看出，在这种情况下，有四组坐标(x1,y1)、(x2,y2)、(x3,y3)和(x4,y4)以及距离传感器坐标(xs1,ys1)。
如上所述，现有技术使用尾门在零打开角度α处的预定最大距离范围，并为物体设定超出该范围的最小距离以避免碰撞。然而，这将无法防止坐标(x2,y2)碰到诸如天花板的物体。
参照图3，其示出了具有改进的物体碰撞保护的动力尾门打开***1的实施方式。提供了控制器4，其控制尾门驱动机构5(图1中未示出)的驱动，尾门驱动机构5能够使尾门在完全关闭位置和完全打开位置之间移动。这种尾门驱动机构可以采用本领域技术人员已知的许多形式。
还提供了存储器6。本实施方式的存储器存储作为尾门的打开角度的函数的极限距离值或阈值，其中距离极限值的大小随着尾门的打开角度增加而减小。下文将讨论距离极限值的大小的确定。
图2示出了建立将存储在存储器6中的距离极限值的过程中的步骤。
首先，在步骤S1中，定义尾门的坐标，即(x1,y1)、(x2,y2)、(x3,y3)和(x4,y4)以及传感器坐标(xs1,ys1)和传感器视场FOV(FOVhigh,FOVlow)。
然后，在步骤S2中，尾门打开角度α被设定为零。此后，在步骤S3中，使用旋转矩阵R(α)建立旋转后的尾门形状：
由此，在步骤S4中求出当前尾门打开角度α的最大水平坐标xmax和最大垂直坐标ymax。然后，在步骤S5中，虚拟墙壁和天花板被定位成与它们间隔一个标记为margin的误差因子：
xwall＝xmax+margin
yceiling＝ymax+margin。
在步骤S6中，在初始角度α1(初始设置为零)下，计算将由该传感器或各个传感器检测到的距墙壁或天花板的距离值以给出针对该角度α1的dth(1)的值。该值dth(1)作为针对该角度α1的距离极限值存储在存储器6中。α的角度在步骤S7中增加到α2，并且在步骤S8中，根据尾门驱动机构5作出关于增加的角度α2是否可行的评估。
如果可行的话，该算法分支回到步骤S3以重复步骤S3至步骤S6并且评估最大水平坐标xmax和最大垂直坐标ymax的新值，并且评估针对该角度α2的dth(2)的另一个值。dth(2)的该值作为针对角度α2的距离极限值存储在存储器6中。
重复步骤S3至步骤S7，直到根据尾门驱动机构5无法达到α的值，并且该过程分支到步骤S8并结束。因此，可以获得距离极限值dth的值相对于角度α的查找表。应当理解，随着角度α增大，距离极限值的值减小。
图5示出了针对图4的尾门由图2的过程提供的角度相对于距离阈值(距离极限值)的关系曲线图。由于这些值是针对每个打开角α评估的，因此图3的动力尾门打开***能够防止坐标(x2,y2)碰到诸如天花板的物体。它还能够更精确地检测在打开尾门期间可能遇到的物体。
在打开尾门的操作中，控制器4接收打开指令。此时，控制器4开始打开过程，其中它检查由距离传感器2感测的距离值是否大于存储器6中对应于当前由角度传感器3感测的角度的距离极限值。假设是这种情况，控制器4将启动尾门驱动机构5以打开尾门。
打开过程继续，控制器4继续检查由距离传感器2感测的距离值是否大于存储器6中对应于当前由角度传感器3感测的特定角度的特定距离极限值。如果由距离传感器感测的距离值保持更大，则控制器4继续打开尾门。但是，如果距离值变得更小，则控制器4停用尾门驱动机构以停止打开尾门。
以这种方式，本实施方式的控制器在尾门打开期间动态地监测距任何物体的距离值，并且使用存储器中针对尾门的特定打开角度设置的特定距离极限值，而不是在整个尾门的扫掠范围内仅使用在尾门的零打开角度处建立的单个最小阈值。
因此，增加了尾门的打开精度，并降低了尾门物理接触物体的可能性。这在尾门具有独特形状的情况下很有用。
应当理解，上述实施方式仅出于说明的目的示出了应用。实际上，实施方式可以应用于许多不同的配置，详细的实施方式对于本领域技术人员来说是易于实现的。

Claims (3)

1.一种动力尾门打开***，所述动力尾门打开***包括：
一个或更多个物体距离传感器(2)，用于在尾门的移动期间感测距物体的距离；
打开角度传感器(3)，用于感测所述尾门的打开角度α；
用于存储极限距离值dth的装置，所述极限距离值dth表示防止所述尾门与物体碰撞的最小距离，并根据所述尾门的不同打开角度α而变化；
尾门驱动机构(5)；以及
控制器(4)，用于根据确定在感测的打开角度α处的感测距离是否小于针对该感测的打开角度α存储的极限距离值dth来控制所述尾门驱动机构(5)，其中，针对给定打开角度α的极限距离值dth通过以下方式来计算：
使用等式(1)的旋转矩阵R(α)来建立尾门的旋转形状：
其中，(xi,yi)是所述尾门在空间中的坐标，所述坐标中的一个位于所述尾门的最远边缘，
计算最大水平坐标xmax和最大垂直坐标ymax；
将虚拟墙壁和/或天花板定位成与所述尾门间隔一个标记为margin的误差因子：
xwall＝xmax+margin
yceiling＝ymax+margin
根据将由所述一个或更多个物体距离传感器(2)检测到的距所述虚拟墙壁和/或天花板的距离值来计算极限距离值dth。
2.根据权利要求1所述的动力尾门打开***，其中，所述旋转矩阵R(α)基于所述尾门的多于三个的坐标。
3.根据权利要求2所述的动力尾门打开***，其中，所述旋转矩阵R(α)基于所述尾门的五个或六个坐标。
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