CLOSING DEVICE AND METHOD FOR CLOSING A DOOR

A method and a device for closing a door on a door opening of a vehicle are provided. The closing device includes a seal formed between the door and the door opening for separating an interior space and an exterior space from each other when the door is in a closed position. The device also includes a door drive for moving the door and a controller coupled to the door drive for controlling movement of the door based on an operating request of a user. The controller includes a condition monitoring unit configured to determine and use at least one variable state variable chosen from the group consisting of the device, the door, the door opening, and the installation environment of the door. The controller is configured to generate a value of at least one closing parameter for closing the door depending on the at least one variable state variable.

FIELD

The present invention relates to devices for closing a door, and, in particular, to closing devices for closing a door on a door opening of a door system for a motor vehicle with at least one such door system and a method for closing the door on the door opening.

BACKGROUND

During closing and subsequent locking of vehicle doors, closing forces and torques can vary greatly in different operating situations of the motor vehicle due to a variety of reasons. For example, an inclination of the road may cause difficulty opening or maintaining the driver's door in an open position when the vehicle is parked. Consequently, a significantly higher or lower closing torque may be required than is the case for closing the door on a level surface.

In addition, the door may compress and rest against an at least partially circumferential sealing element arranged on the door and/or on the door frame or opening. Thus, the required closing torque may also depend on material properties of such a sealing element.

Additionally, there are cases of operation in which the interior of the vehicle is hermetically sealed by the sealing element when the door is closed and all other doors and windows are closed at the same time. However, such a lack of ventilation can adversely affect door closing.

In view of the above, there remains a need to develop improved devices and methods for closing a door to provide increased convenience and enhanced operational capabilities.

SUMMARY

This section provides a general summary of the present disclosure and is not a comprehensive disclosure of its full scope or all of its features, aspects and objectives.

It is an aspect of the present disclosure to provide a device for the closing of a door at a door opening and to provide an improved method for closing a door at a door opening that addresses and overcomes the above-noted shortcomings.

According to another aspect of the disclosure, a device for closing a door on a door opening of a door system of a vehicle or other closed space, (hereinafter also referred to as the closing device) is provided. The device is arranged in particular at the door and/or at the door opening. A seal is formed between the door and the door opening and at least partially surrounds the door opening and when the door system is in a closed position or state. The seal demarcates an interior space and an exterior space of, for example a vehicle or a room, from each other in an installation environment of the door. Normally, the seal comprises a sealing element disposed on the door and/or on the door opening. The device also includes a door drive, in particular a door drive which, by means of a suitable transmission, is provided with an electrical motor or actuator connected to a door frame and to the door itself. The door drive, for example, can be a linear actuator for closing and opening the door. In addition, the device includes a controller for controlling the door drive based on an operating request of a user. Specifically, the operating request can include actuation of a control element and/or by moving the door by the user. The user request can correspond to at least one predetermined value of at least one closing parameter.

The controller has a condition monitoring unit that is configured to determine an amount of at least one variable state variable of the device, the door, the door opening, and/or the installation environment of the door. The controller is configured to generate a value of the at least one closing parameter for closing the door depending on the at least one variable state variable determined.

The at least one variable state variable that is monitored can, for example, be related to the seal, such as, in particular, a seal temperature or a seal ageing condition. The variable state variable can also, for example, correspond with the installation environment, such as, for example, an ambient temperature. Thus, a condition monitoring unit of the controller can also be used to monitor, for example, the ambient temperature with a sensor such as a temperature sensor and may also be coupled to a readout or display device for displaying the state variable determined by the controller. So, the controller may use a stored temperature model depending on the variable state variable.

The value of the closing parameter, particularly a closing torque and/or a closing speed can be determined and/or adjusted based on the variable state variable. If necessary, a required closing moment can also be converted into a required closing speed, in particular additionally depending on the weight of the door and/or other factors.

According to a further aspect, a door system, especially in a motor vehicle or in a building can include a door, a door opening and a device for closing the door at the door opening.

According to another aspect, a motor vehicle is provided with at least one, in particular two or four, door systems in accordance with aspects of the disclosure.

According to a further aspect, a method for closing a door on a door opening of a vehicle is also provided. The method includes the step of i) determining an operating request for closing a door. The method can continue with the step of ii) determining the position of the door or another at least one variable state variable using a condition monitoring unit. The method can also include the step of iii) determining a value of at least one closing parameters as a function of the at least one variable state variable determined by a controller to which the condition monitoring unit is connected. The method proceeds by iv) controlling a door drive for closing the door in accordance with the determined value using the controller and v) closing the door according to the control using the door drive.

Among other things, the disclosure is based on the insight that, depending on the closing forces when closing a door with a seal differ based on the state of the door seal. The condition of the door seal is defined in particular by the stiffness of the gasket or sealing element material, the stiffness in turn (especially with elastic sealing elements) is strongly dependent on the current temperature of the sealing element material and also of an ageing condition of the sealing element.

In addition, the disclosure is based, among other things, on the knowledge that a large number of other variable influencing factors influence the required closing force. For example, among other factors, a condition of the vehicle ventilation, of the other doors and windows of the vehicle affect displaceability of the air in the passenger compartment of the vehicle. If, for example, a window is open, the closing device only has to apply a very small additional force when closing the door in order to compress the air inside the vehicle. In contrast, if for example, a recirculation valve is closed and at the same time all other doors and windows are closed, the required additional force, is relatively high.

The disclosure is additionally based, among other things, on the idea of determining the relevant influencing factor(s) on the force required to reliably close the door, to determine and/or monitor the door opening and to determine necessary closing parameters (e.g., one closing moment and/or one closing speed) on the basis of the results of monitoring and/or to adapt accordingly. Depending on the application, a single state variable must be of such dominant relevance that it does not require any further state variable; however, it may also be necessary to monitor several state variables.

Such an adaptation of the closing parameter(s) (e.g., according to the maxim “as little as possible, as much as necessary”, or in the meaning of a “sound design” when closing the door) provides reliable closing of the door with minimal force. This leads to improved door closing noise by avoiding unnecessary door slamming. If necessary even the seal or sealing element can be designed for continuous load without consideration of larger load peaks, as door slamming forces are reduced or eliminated.

According to an aspect, the controller has a state calibration unit, which is configured to use an amount of at least one substantially constant state variable (also referred to as a constant or constant state variable) of the device, the door, the door opening, and/or the installation environment of the door. The controller uses such an amount of the at least one constant state variable to determine or adjust a value of at least one closing parameter, in particular a closing speed and/or a closing torque to close the door, during operation of the closing device. This allows influencing factors from environmental properties, such as the vehicle including, but not limited to material properties and/or combinations to be determined and included in the calculation of closing parameters to provide more accurate control.

According to another aspect, the condition monitoring unit and/or state calibration unit includes or is in communication with at least one suitable sensor arrangement for measuring of at least one state variable. Depending on the variable state variable that is monitored, the following sensor types may, for example, include, but are not limited to: a) an acceleration sensor for detecting a spatial orientation of the door and/or a vehicle, b) a timer for determining an age of the seal. (the timer of course does not have to be accurate within a narrow range and can allow the monitoring of a time value, for example, an ageing condition of a sealing element), and/or c) a position sensor, in particular an incremental encoder or a motor field monitor or an image acquisition sensor with element recognition. The position sensor can be used for example to c1) detect a door position, in particular an opening angle of the door, or c2) sense a position of a recirculation valve and/or a vehicle window or a vehicle door.

According to an aspect, the sensor arrangement includes a temperature sensor located on or near the sealing element and/or access is provided to the detected values of other temperature sensors inside and/or outside the vehicle. The temperature sensor and/or the detected values are used to compensate for the temperature-dependent change in the stiffness of the sealing element for the most commonly used elastic seals. The provision of one or the other sensor enables an adaptation of the device to state variables relevant in various applications.

For the consideration of stored operating models, user inputs, and/or the sensor values of the vehicle in a vehicle control unit and/or the controller of the closing device, the condition monitoring unit and/or the state calibration unit is in communication with a suitable input device, such as, but not limited to a keyboard, a touch input or similar, according to an aspect. In addition, the controller can include a memory or database (e.g., storing an operating model) that may be queried for comparison with stored values the state variable and/or for querying the characteristics of a state variable in a model of the controller or memory that can include other factors with expressions or amounts of the state variable in relation to each other.

The input device can also be used for making calibration inputs and/or involve the user. The operating or operational model of the state variable can be used for the monitoring of variable state variables and/or for the calibration of constant state variables.

In order to be able to use the closing parameter(s) according to the characteristics of the state variable(s), the operating request is determined and the characteristic value of the state variable is determined many times per second. Depending on these determinations, the closing of the door is controlled in real time, in particular by based on the last determined value of the closing parameter, depending in each case on from the last determined operating request and from the last determined value of the closing parameter (e.g., the last determined value of the closing parameter may be adjusted based on the operating request and state variable(s)).

According to yet another aspect of the disclosure, a system for a motor vehicle or a building including a plurality of door systems each including one of a plurality of doors at one of a plurality of door openings is provided. The system includes a plurality of seals each formed between the one of a plurality of doors and the one of the plurality of door openings for separating an interior space of the vehicle or building and an exterior space from each other in an installation environment when each of the plurality of doors is in a closed position. The system also includes a plurality of door drives for moving the plurality of doors to the closed position. The system additionally includes at least one controller coupled to the plurality of door drives for controlling movement of the plurality of doors based on an operating request of a user. The at least one controller comprises a condition monitoring unit configured to determine and use at least one variable state variable of the door system chosen from the group consisting of the plurality of doors, the plurality of door openings, and the installation environment of the plurality of doors. The at least one controller is configured to generate a value of at least one closing parameter for closing the plurality of doors depending on the at least one variable state variable determined.

According to an aspect of a disclosed method, an additional value that can be considered by the controller is at least one substantially uniformly pronounced state variable or constant state variable and the value of the closing parameter is additionally determined as a function of such a constant state variable. In order to adapt the closing parameters, a number of relevant influencing factors are taken into account and the value of the closing parameter depends on the characteristics of several variable and/or constant state variables. In order to adjust the closing parameters, a determination of the value of the closing parameter includes adjusting a previously determined value of the closing parameter as a function of the state variable(s). Specifically, an adjustment factor is multiplied and/or increased by an adjustment contribution or reduced in size. Among other things, this also allows a simple adjustment of the existing control for actuated doors.

Depending on the influencing factor or factors in the respective application, one or more variable state variable may be relevant. For example at least one from the following list of variable state variables shall be taken into account: 1) a temperature of the sealing element or seal, in particular detected by means of a temperature sensor and/or by means of a of a temperature model, 2) a temperature in the interior and/or in the exterior, in particular detected by means of a temperature sensor and/or a temperature model, 3) an inclined position of the vehicle, in particular detected by of a high-resolution acceleration sensor, 4) an angle of aperture of the door, in particular detects by means of a position sensor, 5) a compressed air volume in an interior space delimited by the door, in particular detected by communication with a control unit of an air conditioning/ventilation unit, of the other vehicle doors and/or the window regulators, 6) a degree of ageing of the sealing element or seal, in particular detected by means of an ageing model for the sealing element and the use of a timer to determine the age.

Thus, the closing device can determine the most important influencing factors in addition to usual or previously determined closing parameters (i.e., last determined value of the closing parameter(s)).

In order to be able to dispense with a separate temperature sensor, a determination of the seal temperature may be carried out by an approximation calculation depending on a detected temperature in the interior and/or on a detected temperature in of the exterior or environment.

Depending on the influencing factor or factors for a given application, some state variables are determined and taken into account that can be defined as a constant. Such constant state variables can include at least one of the following: 1) a material and/or a nominal geometry of the seal or sealing element, in particular selected from an material model and/or a geometry model, 2) a nominal geometry and/or a real geometry of the door and/or the door frame, in particular read out from a tolerance model of the door and/or door frame.

To prevent the door and the door frame or opening from being subjected to a high closing moment and/or a high closing speed, the compressibility of the air volume is adapted or adjusted, by an opening (e.g., short-term) of a recirculation or ventilation valve of an interior ventilation system of the vehicle or an opening (e.g., short-term) of a vehicle or a window of the vehicle in addition to the adjustment of the value of the closing parameter.

DETAILED DESCRIPTION

While the disclosed closing device and method are described below in the context of electromechanically actuated vehicle doors, it should be understood that the closing device and corresponding method may alternatively be used for doors on and/or in buildings. In both cases, the closing device controls movement of the door to separate and delimit an interior space from an exterior space. In addition, the invention can also be used with other doors or closing members in a variety of applications, such as, but not limited to hydraulically actuated doors.

During operation of actuated vehicle doors, closing forces and torques can vary greatly in different operating situations. In some known systems, a planned maximum required closing torque for the door can determined, which is then utilized by the system when it is determined that the user wishes to close the door. If necessary, a safety margin can also be applied to ensure reliable closing of the door in every operating case of the vehicle.

Door-closing parameters may be set and used by the system for reference. Such parameters can include, for example, a closing moment and a closing speed that can be used to ensure a sufficient closing force with a known door weight. The objective of the closing process is normally for these known vehicle doors, to close the door against all resistance forces to such an extent that the door can be used with an additional soft close unit, which then engages the door, which is moved to a final locking position.

One approach is to move the door at a sufficient speed or with a sufficient closing torque for all intended applications. Yet, such an approach has various disadvantages with regard to undesirable noise during the closing process (e.g., door slams) and may also lead to increased wear of the system. In addition, the actuation and movement of the door typically involves a large number of components that must properly function together to provide expected operation.

FIGS. 1A-1Bshow a door system1with one door2and one door opening4as well as with a closing device6according to a first exemplary embodiment. As shown, door system1is a side door of a motor vehicle that is moveable relative to a side portion8of the vehicle40. Only the side portion8of the vehicle40that forms the door opening4is shown inFIGS. 1A-1B, however, the entire vehicle40can be seen inFIGS. 3 and 4.

The closing device6includes an electric motor that is part of a door drive10. The door drive10includes a motor body12coupled to the door2. The closing device6also includes a drive rod14of the door drive10configured to move the door2that is attached to and edge of the door opening4(i.e., the side portion8), for example. Depending on the extension of the drive rod14along a drive axis A due to movement of the electric motor of the door drive10, the door2can be moved about a swivel bearing16of the door system1to open or close the door2. It should be appreciated that other types of door drives10are contemplated as well.

Between the door2and the door opening4, there is a contact surface, which can extend all the way around the entire contact surface. A seal20is formed along this contact surface. The seal20can, for example, be formed by a sealing element or gasket21, which is adapted to seal the opening. Thus, the sealing element21is disposed around the door opening4between an interior space22and an exterior space24and is configured to be elastically deformed (i.e., compressed) when the door2is closed and in contact with the edge of the door opening4(e.g., the side portion8of the vehicle40).

The closing device6also has a controller18(e.g., microcontroller or microprocessor) in communication with the electric motor of the door drive10for closing the door2in response to a detected closing request. The user can communicate the closing request to the controller18, for example, by means of a control element (e.g., button or switch) or by means of a manually applied closing force FSWto the door2, which may be detected through movement of the motor of the door drive10and communicated to the controller18.

In addition, the closing device6includes an interior temperature sensor23arranged in the interior22of the vehicle and an exterior temperature sensor25arranged on the exterior24of the vehicle. The two temperature sensors23and25are connected with the controller18to enable energy transmission and/or communication of sensor values that each temperature sensor23,25detects. The controller18is also connected with a database or memory26. Operating models27of the motor vehicle, and in particular of the door system1are stored therein.

Additionally, the controller18includes a condition monitoring unit30(e.g., a software or hardware module of controller18) that is configured to, for example, use a current value of a current temperature and a current state of ageing of the sealing element21and to determine the stiffness to be expected from it. The stiffness of the sealing element21can be estimated using the temperature sensors23,25and/or by resorting to the operating model27.

The controller18also has a state calibration unit32(e.g., a software or hardware module of controller18), which is configured to provide a basic stiffness of the sealing element21based on stored characteristics of the sealing material, and if necessary also based on a combination of actual geometries of door2and door opening4within respective tolerance ranges.

FIGS. 2A-2Bshow a second exemplary door system1which differs from the one described inFIGS. 1A-1B, in particular on one side of the door opening4, a soft-close unit34is arranged to lock the door in a closing position. In this case, closing door2only needs to be partially closed so that soft close unit34is able to detect that the door2is to be closed and the the soft close unit34will be able to finish the closing movement and locking of the door2in a desired closed position (in a usual manner). Various operating positions and soft close units34may be utilized to accomplish the function of the soft close unit34.

FIG. 3shows a motor vehicle40according to an aspect of the disclosure with four door systems1.1,1.2,1.3and1.4. Each of the door systems1.1,1.2,1.3,1.4can for example be the door system1described inFIGS. 1A-1B.

The motor vehicle40has a controller18which, in addition to the functions of controller18for each of the door systems1.1to1.4described above (e.g., for the controller ofFIGS. 1A-1B), is also configured to open and close at least one air recirculation valve42of a vehicle ventilation system. The controller18can also sense whether, at a certain point in time the air recirculation valve42is open or closed.

In the example shown inFIG. 3, the control of the closing parameters for the door2of the door system1.1(and also for the other doors2of the other door systems1.2,1.3.1.4) is additionally dependent on a compressed air volume Viin the interior22of the vehicle40. If the user wishes the door2to be closed, the controller18determines whether the recirculation valve42is closed. For the purposes of the description of this disclosure, it is assumed that the interior22is closed when the recirculation valve42is closed. So, if the doors2of the door systems1.1,1.2,1.3.1.4are closed and air recirculation valve42is closed, the interior22is sealed pressure-tight (any windows are closed). In addition, for the sake of simplicity, the opening condition of any windows are not taken into account here; however, such factors or other additional factors can also be considered by the controller18, according to aspects of the disclosure. Thus, if door2(e.g., of door system1.1) is to be closed with the interior22being sealed, the door2must not only the work of deformation against the sealing element21, but also the much greater work of compressing the air volume Viof the interior22of the vehicle40. Consequently, in the case of the closed recirculation valve42, a significantly higher closing torque must be commanded by the controller18compared to if the recirculation valve42was open instead. Accordingly, the controller18can also be configured to open the recirculation valve42when the last opened door2is closed. Consequently, the opening of the air recirculation valve42helps reduce or eliminate any required compression of the air volume Viin the interior22.

InFIG. 4the motor vehicle40fromFIG. 3is shown in an inclined parking position. Such an inclined parking position of the vehicle40influences the required actuation force Fαof door2during closing. If, as shown inFIG. 4, the vehicle40is on an inclined road, the door2of door system1.1is also inclined towards the vehicle40(inclination angle α), so less force Fαis required from the door drive10when closing the door2. In the case of an inclination in the other direction, more force Fαby the door drive10, on the other hand would be necessary. So, as the vehicle40is increasingly inclined in the opposite direction to the closing direction, the door drive10must increasingly move with greater force Fa or closing torque according to the increasing inclination. This relationship can be incorporated into the control of the closing parameters such as the MSor the closing speed VSby the controller18, through an acceleration sensor44in communication with the controller18, in particular a high-resolution acceleration sensor44for accelerations in all three spatial dimensions. So, the controller can determine the inclination angle α using readings from the acceleration sensor44. Using the acceleration sensor44, the controller18can control the door drive10with proper closing parameters (e.g., applied closing force), taking into account the inclined position of the vehicle, so as not to increase the closing noise unnecessarily.

As best shown inFIG. 5, steps of an exemplary method for closing the door2at the door opening4using the closing device6are provided. First, an operating request for closing the door2is detected using the controller18. Thus, the method includes the step of100determining an operating request FSWfor closing the door2. This can be done, for example, by the user of the vehicle manually applying a closing force FSWto the door2, which can be detected and adjusted by the controller18through the associated movement of the door rod14relative to the motor body12.

The method proceeds with the step of102determining an amount of at least one variable state variable. For example, to determine the sealing force FD required for the door drive10to compress the sealing element21while closing the door2to a desired closing position, the at least one variable state variable (e.g., temperature) is measured using temperature sensors23and25(e.g., based on empirical values in the operating model27with regard to a seal temperature as a function of a certain combination of indoor temperatures and a certain outdoor temperature). So, the current seal temperature (e.g., a first variable state variable) is determined. In addition, a current seal age can be determined using a timer (e.g., a second variable state variable). From the variable state variables of the seal temperature and seal age, a sealing stiffness is determined, again with recourse to the operating model27. This is done, for example, using the condition monitoring unit30.

The method continues with the step of104determining a value of at least one closing parameter MS, VSas a function of the at least one variable state variable (e.g., using the controller18that includes the condition monitoring unit30). Thus, depending on the determined characteristics of the variable state variables mentioned above (or readings by acceleration sensor44, for example), closing parameters including the required closing torque MSand/or the required closing speed VSare determined by the controller18in order to reliably move the door2against the resistance of the sealing element21.

Constant state variables may also used in the determination of closing torque MSand/or the required closing speed VSby the controller18. Specifically, the tolerance situation of door2and door opening4to each other and the material of the sealing element21can affect the appropriate values for the closing parameter(s). Thus, the controller18can determine such constant state variables as a function of the recorded characteristics. Thus, the values for the closing parameter(s) are adapted as a function of the various variable and constant state variables.

Based on the values determined for the closing parameter(s), the controller18controls the door drive10. So, the method proceeds with the step of106controlling a door drive10for closing the door2in accordance with the determined value (i.e., closing parameters) determined using the controller18. Thus, the next step of the method is108closing the door2according to the control using of the door drive10. As discussed, the controller18may also control the recirculation valve42as needed.

The operating request and the characteristic of the state variable(s) are determined many times per second by the controller18and the closing of door2is controlled in real time by building on a last determined value of the closing parameter(s). In each case, an adapted value of the closing parameter(s) is determined for each of the state variables, depending on from the last determined operating request and from the last determined characteristic.

LISTING OF ELEMENTS

1Door system2Door4Door opening6Closing device8Side portion of vehicle body10Door drive12Motor body14Actuators16Swivel bearing18Controller20Seal21Sealing element22Interior23Interior temperature sensor24Exterior25Exterior temperature sensor26Database or memory27Operating model30Condition monitoring unit32State calibration unit34Soft close unit40Motor vehicle42Air recirculation valve44Acceleration sensorA Door drive axisFSWApplied force to express the operating requestFD Sealing forceMSClosing torqueVSClosing speedViAir volume in the interiorα Angle of inclination of the vehicleFαAdditional closing force due to inclined position