Patent Publication Number: US-2020300027-A1

Title: Automated door control system and convenience features

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority to U.S. Provisional Application No. 62/821,636 filed Mar. 21, 2019, entitled “AUTOMATED DOOR CONTROL SYSTEM AND CONVENIENCE FEATURES,” the entire disclosure of which is hereby incorporated by reference herein. 
    
    
     FIELD OF THE DISCLOSURE 
     The present disclosure relates to vehicles, and more particularly to vehicles comprising vehicle door positioning systems. 
     BACKGROUND OF THE DISCLOSURE 
     In an effort to improve vehicle operation and convenience, many manufacturers have introduced a variety of convenience and operating features to vehicles. However, many components and systems of vehicles remain significantly similar to conventional vehicle designs dating back to the previous century. The disclosure provides for various systems and apparatuses to provide for improved operation of at least one door of a vehicle. The systems discussed herein may include doors that either assist a user when accessing the vehicle and/or are configured to open and close without requiring a vehicle user to physically reposition the door. Such systems may provide for improved operation of a vehicle as described herein. 
     SUMMARY OF THE DISCLOSURE 
     According to one aspect of the present disclosure, a power door system for a vehicle comprises an actuator configured to control the position of a door about a hinge assembly. The system further comprises a plurality of detection devices configured to detect a passenger approaching the vehicle and a seated passenger within a passenger compartment of the vehicle. An angular position sensor is configured to identify an angular position of the door. A controller is configured to control the actuator to position the door in a first opened position in response to the detection of the approaching passenger and control the actuator to control the door to a second closed position in response to detecting the seated passenger in the passenger compartment. 
     Embodiments of the disclosure can include any one or a combination of the following features:
         the door is oriented at a first angle in the first opened position and a second angle in the second opened position, wherein the second opened position is less than the first opened position;   the second angle is configured to position the door such that a handle of the door is within a predetermined distance of the passenger compartment of the vehicle;   the predetermined distance is a reach distance measured from a passenger seat of the vehicle to the handle of the door;   the first opened position comprises the angular position of the door at an angle greater than or equal to 70 degrees;   the second opened position comprises the angular position of the door at an angle less than 70 degrees;   the plurality of detection devices comprises at least one imager or camera and a seat sensor;   the controller is further configured to identify the approaching passenger based on image data captured by the imager;   the controller is further configured to identify the seated passenger within the passenger compartment of the vehicle in response to a signal from the seat sensor;   the plurality of detection devices comprises a communication circuit configured to detect an approximate location of a mobile device via a communication signal;   the mobile device comprises at least one of a smartphone, a key fob, and a personal identification device; and/or   the communication signal is communicated via a Bluetooth® low energy (BLE) communication protocol.       

     According to another aspect of the present disclosure, a method for controlling a power door system for a vehicle is disclosed. The method comprises identifying an approaching passenger and opening a door of the vehicle via an actuator to a first position in response to the detection of the approaching passenger. The method further comprises detecting the approaching passenger in a passenger compartment of the vehicle as a seated passenger and positioning the door of the vehicle at a second position in response to the detection of the seated passenger. The method may further await a manual interaction with the door in the second angular position. 
     Embodiments of the disclosure can include any one or a combination of the following features or steps:
         identifying the approaching passenger based on image data captured by an imager;   identifying the seated passenger within the passenger compartment of the vehicle in response to a signal from a seat sensor of the vehicle;   the door is positioned at a first angle in the first position and a second angle in the second position and the second angle is less than the first angle;   the first angle and the second angle are greater than 30 degrees; and/or   monitoring an acceleration rate of the door when opening and/or closing the door and controlling the actuator to stop a motion of the door in response to the acceleration exceeding a predetermined threshold.       

     According to another aspect of the present disclosure, a power door system for a vehicle is disclosed. The system comprises an actuator configured to control the position of a door about a hinge assembly and a plurality of detection devices. The plurality of detection devices comprises at least one imager and a seat sensor. The imager is configured to detect an approaching passenger of the vehicle and the seat sensor is configured to detect a seated passenger within a passenger compartment of the vehicle. The system comprises an angular position sensor configured to identify an angular position of the door and a controller. The controller is configured to identify the approaching passenger based on image data captured by the at least one imager and control the actuator to position the door in a first opened position in response to the detection of the approaching passenger. The controller is further configured to identify the seated passenger within the passenger compartment of the vehicle in response to a signal from the seat sensor and control the actuator to control the door to a second opened position in response to detecting the seated passenger in the passenger compartment. In some aspects, the controller may further be configured to detect the seated passenger reaching for the door based on the image data from the at least one imager and control the actuator to position the door in the second position in response to the detection of the seated passenger in combination with the detection of the seated passenger reaching toward the door. 
     These and other aspects, objects, and features of the present disclosure will be understood and appreciated by those skilled in the art upon studying the following specification, claims, and appended drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the drawings: 
         FIG. 1  is a projected view of a person approaching a vehicle comprising a power door system; 
         FIG. 2  is a projected view of a passenger interacting with a door control system of a vehicle; 
         FIG. 3  is a plan view of a person approaching a vehicle demonstrating a plurality of fields of view of imaging sensors; 
         FIG. 4  is a flowchart demonstrating a plurality of operating methods for a door control system; 
         FIG. 5  is a top schematic view demonstrating a vehicle comprising a door control system; 
         FIG. 6A  is a flowchart demonstrating a door opening routine of the door control system; 
         FIG. 6B  is a flowchart demonstrating a door closing routine of the door control system; 
         FIG. 7  is a flowchart demonstrating a method for an automated operation of a door control system; 
         FIG. 8  is schematic diagram of an operating routine for a door control system; 
         FIG. 9  is schematic diagram of an operating routine for a door control system; and 
         FIG. 10  is a flowchart demonstrating a method for controlling a door control system in accordance with the disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     For purposes of description herein, the terms “upper,” “lower,” “right,” “left,” “rear,” “front,” “vertical,” “horizontal,” “interior,” “exterior,” and derivatives thereof shall relate to the device as oriented in  FIG. 1 . However, it is to be understood that the device may assume various alternative orientations, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawing, and described in the following specification are simply exemplary embodiments of the inventive concepts defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, unless the claims expressly state otherwise. Additionally, unless otherwise specified, it is to be understood that discussion of a particular feature or component extending in or along a given direction, or the like, does not mean that the feature or component follows a straight line or axis in such a direction or that it only extends in such direction or on such a plane without other directional components or deviations, unless otherwise specified. 
     With specific reference to  FIGS. 1-2 , a vehicle  10  comprising a power door system  12  is shown. As shown, the vehicle  10  includes a door opening  20 , with the doors  14  mounted adjacent door openings  20  in a body of the vehicle  10 . The door  14  is moveable relative to the door opening  20  between a closed position and a range of open positions. The vehicle  10  also includes a controller  22  that determines whether an instantaneous door position is in a closed position or is within the range of open positions. In various embodiments, the controller  22  of the power door system  12  may be configured to control an angular position ϕ of the door  14 . 
     In exemplary embodiments, the control of the angular position ϕ of the door  14  may vary from 0-85 degrees or more. In conventional vehicle doors, the operating range may be limited to an angular range from approximately 0-68 degrees. Accordingly, the operation of the door system  12  as discussed herein, may result in the doors  14  of the vehicle  10  extending outward away from the door openings  20  such that a passenger  24  is unable to reach the door  14  to control the motion of the door  14 . For clarity, an excess reach distance  26  outside the reach of the passenger  24  is represented by an arrow. The excess reach distance  26  demonstrates the resulting space between the passenger  24  and the door  14  when the door  14  is in a fully opened position. Accordingly, as demonstrated, manual or assisted positioning of the doors  14  may be impossible without exiting the vehicle  10 . The disclosure provides for a variety of control schemes and operating methods configured to control the power door system  12  to adjust the angular position ϕ of the door  14  easily and intuitively. 
     An actuator  28  is in communication with a controller  22  (shown in  FIG. 2 ) configured to detect and control the angular position ϕ of the door  14 . In some implementations, the actuator  28  may be a power assist device that is disposed adjacent to the door  14  and is operably and structurally coupled to the door  14  for assisting in moving the door  14  between open and closed positions, as further described below. As illustrated, the actuator  28  is coupled to the door  14  and is operably coupled to the hinge assembly  30  for powering the movement of the door  14  between the open and closed positions. In various implementations, the actuator  28  can provide access to a passenger compartment  32  of the vehicle  10  for passenger ingress or egress. The actuator  28  may include a motor, which may be in the form of an electric motor, hydraulic actuator, power winch, slider mechanism or other actuator mechanism having sufficient power necessary to provide the torque required to move the door  14  between open and closed positions, as well as various detent locations. Thus, the motor may be configured to act on the door  14  at or near the hinge assembly  30  in a pivoting or rotating manner. 
     The controller  22  may comprise a motor control unit comprising a feedback control system configured to accurately position the door  14  about the hinge assembly  30  in a smooth and controlled motion path. The controller  22  may further be in communication with a door position sensor  34  as well as at least one interference sensor  36 . The door position sensor  34  may be configured to identify the angular position of the door  14  and the interference sensor  36  may be configured to identify a potential obstruction located along a swing path  38  of the door  14 . Further, the interference sensor  36  may be included in a system used to detect and calculate the number of passengers occupying an autonomous taxi, ride share, or various for-hire vehicles, as discussed herein. 
     The actuator  28  may be configured to adjust the door  14  from an opened position to a closed position and control the angular position  4  of the door  14  therebetween. The actuator  28  may be any type of actuator that is capable of transitioning the door  14  about the hinge assembly  30 , including, but not limited to, electric motors, servo motors, electric solenoids, pneumatic cylinders, hydraulic cylinders, etc. The actuator  28  may be connected to the door  14  by gears (e.g., pinion gears, racks, bevel gears, sector gears, etc.), levers, pulleys, or other mechanical linkages. The actuator  28  may also act as a brake by applying a force or torque to prevent the transitioning of the door  14  between the opened position and the closed position. The actuator  28  may include a friction brake to prevent the transition of the door  14  about the hinge assembly  30 . 
     The position sensor  34  may correspond to a variety of rotational or position sensing devices. In some embodiments, the position sensor  34  may correspond to an angular position sensor configured to communicate the angular position  4  of the door  14  to the controller  22 . The angular position  4 , may be utilized by the controller to control the motion of the actuator  28 . The door position sensor  34  may correspond to an absolute and/or relative position sensor. Such sensors may include, but are not limited to, quadrature encoders, potentiometers, accelerometers, Amorphous, Magneto Resistive (AMR sensors), etc. The position sensor  34  may also correspond to optical and/or magnetic rotational sensors. Other sensing devices may also be utilized for the position sensor  34  without departing from the spirit of the disclosure. 
     In some examples, one or more of the doors  14  of the vehicle  10  may be configured as sliding doors. As discussed herein, a sliding door may be configured to open along a translational path relative to an opening providing access to the passenger compartment  32  of the vehicle  10 . Accordingly, the actuator  28  as discussed herein may be configured to control a translation of the doors  14  in a sliding configuration to accommodate various methods and control operations of the doors  14  as discussed herein. Accordingly, the disclosure may be flexibly implemented to suit various door systems without departing from the spirit of the disclosure. 
     The interference sensor  36  may be implemented by a variety of devices, and, in some implementations, may be utilized in combination with the actuator  28  and the position sensor  34  to detect and control the motion of the door  14 . The interference sensor  36  may correspond to one or more capacitive, magnetic, inductive, optical/photoelectric, laser, acoustic/sonic, radar-based, Doppler-based, thermal, and/or radiation-based proximity sensors. In some embodiments, the interference sensor  36  may correspond to an array of infrared (IR) proximity sensors configured to emit a beam of IR light and compute a distance to an object in an interference zone corresponding to the swing path  38  based on characteristics of a returned, reflected, or blocked signal. The returned signal may be detected using an IR photodiode to detect reflected light emitting diode (LED) light, responding to modulated IR signals, and/or triangulation. 
     In some embodiments, the interference sensor  36  may be implemented as a current sensor configured to detect a current or power draw of the actuator  28 . For example, the interference sensor  36  may be utilized to monitor the power delivered to the actuator  28  throughout the maneuvering of the door  14 . In response to an increase in the current draw of the actuator  28  exceeding a predetermined threshold, the controller  22  may be configured to detect an obstruction or an object impeding the operation of the actuator  28 . In response to the detection of an obstruction, the controller  22  identifies that the door  14  has reached an available travel extent and stops the motion of the door  14  by controlling the actuator  28 . In this way, the interference sensor may be provided as a sensor configured to monitor the operation of the actuator  28 . 
     In some embodiments, the interference sensor  36  may be implemented as a plurality of sensors or an array of sensors configured to detect an object or obstruction in the interference zone which may include regions within the swing path  38  of the door  14 . Such regions may be both inside the swing path  38  between the door  14  and the body of the vehicle  10  as well as outside the door  14 , away from the body of the vehicle  10 . Such sensors may include, but are not limited to, touch sensors, surface/housing capacitive sensors, inductive sensors, video sensors (such as a camera), light field sensors, etc. 
     Still referring to  FIGS. 1 and 2 , in some implementations, the controller  22  may comprise a communication circuit  46 . The communication circuit  46  may correspond to a wireless receiver and/or transmitter configured to communicate with a mobile device  50 . In this configuration, the controller  22  may receive various communications from the mobile device  50  requesting access to or otherwise communicating with the vehicle  10 . In some embodiments, the mobile device  50  may be configured to communicate security access information to the controller  22  to authenticate or verify that a nearby or approaching person  52  is authorized to enter the vehicle  10 . In response to receiving the security access information from the mobile device  50 , the controller  22  may be configured to control the door actuators  28  and/or additional vehicle systems (e.g. door locks, etc.) to allow the person  52  ( FIG. 1 ) to enter the vehicle  10  as an authorized passenger  24  ( FIG. 2 ). In this configuration, the controller  22  may provide for secure operation of the vehicle  10 . 
     The communication circuit  46  may correspond to one or more circuits that may be configured to communicate via a variety of communication methods or protocols. In an exemplary embodiment, the communication circuit  46  may be configured to detect a direction vector of signals communicated to and/or from the mobile device  50  in order to determine a location of the mobile device  50  relative to the vehicle  10  or within the passenger compartment. Such operation may be accomplished via a beacon detection of the mobile device  50  that may be processed via an angulation and proximity detection of the signals communicated between the communication circuit  46  and the mobile device  50 , which may be accomplished via an antenna array in communication with the communication circuit  46 . In this way, the system  12  may be configured to detect an approximate position of the person  52  near the vehicle  10  and/or the location of the passenger  24  within the vehicle  10  by tracking the location of the mobile device  50  or beacon. As discussed herein, the mobile device  50  may correspond to a smartphone, a key fob, a personal identification device (e.g. a radio identification tag) and/or any device that may accompany an occupant of the vehicle  10  and indicate an identity of authorization to access the vehicle  10 . 
     In various implementations, the communication circuit  46  may be configured to communicate in accordance with one or more standards including, but not limited to, 3GPP, LTE, LTE Advanced, IEEE 802.11, Bluetooth®, advanced mobile phone services (AMPS), digital AMPS, global system for mobile communications (GSM), code division multiple access (CDMA), local multi-point distribution systems (LMDS), multi-channel-multi-point distribution systems (MMDS), radio frequency identification (RFID), Enhanced Data rates for GSM Evolution (EDGE), General Packet Radio Service (GPRS), and/or variations thereof. Additional protocols may include short-range communication protocols including, but not limited to, RFID, Bluetooth®™, Bluetooth® Low Energy (BTLE), ANT+, NFC, ZigBee, infrared, ultraband, etc. In general, a short-range communication protocol, as discussed herein, may correspond to a communication method that has a typical range of less than 1 km and may correspond to a communication method having a range of less than 100 m. 
     Referring now to  FIGS. 2 and 3 , in general, the door control system  12  may comprise a plurality of occupant detection devices  60  comprising the communication circuit  46  configured to locate the mobile device  50 , the interference sensor  36 , and various additional devices as discussed herein. In some implementations the detection devices  60  may comprise a plurality of seat sensors  62 , which may include pressure or weight sensors disposed in each of a plurality of vehicle seats  64 . In addition to or similar to the seat sensors  62 , the system  12  may also monitor one or more seatbelt sensors to monitor the occupancy of each of the seats  64  or anticipate changes in the occupancy of the passenger compartment  32 . Accordingly, the system  12  may monitor various detection devices  60  to identify or infer changes in the occupancy of the vehicle  10 . 
     In some implementations, the detection devices  60  may further comprise an imaging system  66  comprising one more imagers  66   a ,  66   b ,  66   c ,  66   d ,  66   e , etc. Each of the imagers  66   a ,  66   b ,  66   c ,  66   d , and  66   e  may be configured to capture image data in a corresponding field of view  68   a ,  68   b ,  68   c ,  68   d , and  68   e . Each field of view  68  may be configured to capture image data in a variety of portions of the passenger compartment  32  and regions proximate to the vehicle  10 . In this way, the door control system  12  may be configured to control the angular position ϕ of each of the doors  14 , based on a position of the passenger  24  and/or an approaching person  52  by detecting their relative location relative to the vehicle  10 . Similarly, the control system  12  may be configured to detect one or more gestures (e.g. the passenger reaching for the door  14 ) and/or a direction of a gaze of the passenger  24  or person  52  relative to the vehicle  10 . Accordingly, the door control system  12  may be configured to detect a location and/or behavior of the passenger  24  or approaching person  52  and independently control each of the doors  14  to respond to the location and/or behavior as further discussed herein. 
     In operation, the control system  12  may be configured to process the image data from each of the imagers  66   a - 66   e . As illustrated in  FIG. 3 , imager  66   a - 66   d  may correspond to exterior imagers configured to capture image data in the fields of view  68   a - 68   d  distributed about an exterior perimeter of the vehicle  10 . Imager  66   e  may be configured to capture image data in a field of view  68   e  focused on the passenger compartment  32  of the vehicle  10 . In this way, the system  12  may be configured to identify a location of the passenger  24  within the vehicle  10  and/or identify a location of the person  52  relative to the vehicle  10 . Based on the location of the passenger  24  and/or the person  52 , the system  12  may identify a seat  64  in which the passenger  24  is seated. Similarly, the system  12  may process the image data to identify an entry door  70  that corresponds to or opens to a vacant seat  64  in the vehicle  10  for the person  52  to enter the vehicle  10 . In addition to the image data, the system  12  may additionally process data from each of the seat sensors  62  disposed in each of the plurality of vehicle seats  64  to identify an occupancy and location of each of the passengers  24  in the passenger compartment  32 . 
     In general, the occupant detection device or devices  60  may comprise any form of data acquisition device or any combination of sensory devices that may be in communication with the controller  22 . The detection device  60  may correspond to a device configured to capture image data, for example an imager, video camera, infrared imager, scanner, or any device configured to capture text, graphics images, and/or video data. In some embodiments, the detection device  60  may correspond to a device configured to capture voice or any form of audio data, for example a microphone, audio decoder, and/or an audio receiver. The detection device  60  may also correspond to a capacitive, image-based, and/or pressure-based sensor configured to scan a finger print. An image sensor may be configured to identify a facial feature, height, profile shape, gaze direction, head position, or any other form of visual data. In this way, the control system  12  may be configured to utilize information captured by the detection devices  60  to identify the location and/or behavior of the passenger  24  or person  52  approaching the vehicle  10 . 
     Referring now to  FIG. 4 , a flowchart is shown demonstrating an exemplary operating method  80  of the door system  12 . The operation of the method  80  is described in reference to a simplified schematic diagram of the vehicle  10  shown in  FIG. 5  for clarity. The method may begin in step  82  by authenticating a security signal communicated from the mobile device  50  (e.g. a BLE signal) and opening a door  14  corresponding to a location of the person  52  upon approach. In this way, the system  12  may detect a signal trajectory of the mobile device  50  to identify the entry door  70  for the person  52  to enter the vehicle  10  as an authenticated passenger  24  ( 84 ). Following the authentication, the system  12  may activate the interference sensor  36  to initiate obstruction detection ( 85 ). Once the passenger  24  reaches a detection range of the interference sensor  36 , the interference sensor  36  may detect the person as an obstacle moving between the entry door  70  and the body of the vehicle ( 86 ). Additionally, in step  88 , the signal from the mobile device  50  (e.g. BLE signal) may also be detected between the entry door  70  and the body of the vehicle  10 . 
     Following step  88 , the system  12  may process the image data from the imaging system  66  (interior imager  66   e ) to identify if the person  52  has entered the vehicle ( 90 ). The method  80  may continue to scan the image data in step  90  until the person  52  is recognized as having entered the passenger compartment  32 . Once the person  52  is recognized as entering the passenger compartment  32 , the method  80  may process the data from the interference sensor  36  to determine if an obstacle (e.g. the person  52 ) is located between the entry door  70  and the body of the vehicle  10  ( 92 ). Additionally, the system  12  may monitor each of the seat sensors  62  of the seats  64  to identify if the person  52  is seated in one of the seats  64 , which may correspond to a seat  64  adjacent to the entry door  70  ( 94 ). Finally, the system  12  may further verify that the person  52  is located in the passenger compartment  32  based on the signal from the mobile device  50  being located within the passenger compartment  32  ( 96 ). 
     Once the person  52  has entered the vehicle  10  and is identified as the passenger  24 , the system  12  may control a closing operation of the entry door  70  in a variety of ways. Accordingly, following step  96 , the method  80  may continue to step  98  to identify whether the entry door  70  is open at an angular position Q greater than 68 degrees. If the entry door  70  is opened at an angular position ϕ greater than 68 degrees, the system  12  may control the actuator  28  of the entry door  70  to power close the door  70  to the angular position ϕ of 68 degrees ( 100 ). Once the entry door  70  is positioned at the angular position ϕ of 68 degrees, the passenger  24  may manually pull the entry door  70  to a closed position and the method  80  may conclude ( 102 ). 
     In some implementations, following the determination that the person  52  has entered the passenger compartment  32  in step  96 , the method  80  may continue to step  110  to identify if the entry door  70  is opened to the angular position ϕ greater than 68 degrees. If the entry door  70  is opened to the angular position ϕ greater than 68 degrees, the system  12  may further determine if the passenger  24  turns his or her head toward the entry door  70  and extends an arm based on the image data captured in the interior field of view  68   e  ( 112 ). An example of such a gesture that may be identified by the system  12  is shown in  FIG. 2 . In response to identifying that the passenger  24  has turned his or head toward the entry door  70  and extended an arm, the system  12  may control the angular position ϕ of the entry door  70  to close to approximately 68 degrees and hold the position of the entry door  70  ( 114 ). Following the positioning of the entry door  70  to 68 degrees, the passenger  24  may manually pull the entry door  70  closed and the method may conclude ( 116 ). 
     In yet another operating configuration, following the detection of the passenger  24  and the passenger compartment  32  in step  96 , the method  80  may continue to identify if the angular position ϕ of the door  14  is greater than 68 degrees ( 120 ). If the angular position ϕ of the entry door  70  is greater than 68 degrees, the system  12  may monitor the image data from the field of view  68   e  to determine if the passenger  24  turns his or her head toward the entry door  70  and extends an arm as previously discussed in reference to step  112  ( 122 ). Following step  122 , the system may identify that the passenger  24  extends the arm toward the entry door  70  ( 124 ). The system  12  may then continue to monitor the image data to determine if the position of the arm of the passenger  24  extended toward the entry door  70  for a predetermined period of time (e.g. 3 seconds) and/or a motion of a hand or the arm is detected forming a gesture ( 126 ). Following step  126 , the system  12  may continue to monitor the field of view  68   e  and the interference sensor  36  to determine the position of the hand or arm of the passenger  24  in relation to the angular position ϕ of the entry door  70  ( 128 ). 
     Based on the position of the hand or arm of the passenger  24  relative to the angular position ϕ of the entry door  70 , the system  12  may control the actuator  28  to control the angular position of the door  14  based on a predetermined configuration ( 130 ). The predetermined configuration may be based on the detected extent of a hand or portion of the passenger  24  relative to the entry door  70 . In some implementations, the controller  22  may determine an angular position ϕ of the entry door  70  based on a calculation relative to a location of the portion of the passenger  24  identified in the image data captured by the imaging system  66  and/or based on a proximity or positional identification by the interference sensor  36 . Accordingly, the angular position ϕ of the entry door  70  may be identified or calculated by the controller  22  of the system  12  based on a lookup table or positioning algorithm stored in memory and configured to identify a predetermined angular position ϕ of the entry door  70  relative to a portion of the passenger  24 . 
     Accordingly, in step  130 , based on the detected position of a portion of the passenger  24  extending nearest to the entry door  70  in the swing path  38 , the controller  22  may identify or calculate the angular position ϕ of the entry door  70  such that the entry door  70  may be positioned at the angular position ϕ nearby, proximate to, or at the fingertips of the passenger  24 . In such implementations, the entry door  70  may be positioned at the angular position ϕ corresponding or commensurate to the reach or position of the portion of the passenger  24  such that the excess reach distance  26  is minimized or approximately zero. In such implementations, the entry door  70  may be positioned and held by the actuator  28  at a variety of angular positions ϕ as determined based on the detected portion of the passenger  24 . Finally, in step  132 , once the entry door  70  is closed to a position where the angular position ϕ of the entry door  70  meets or is close to the identified position of the portion of the passenger. In this way, the system  12  may control the angular position ϕ of the entry door  70  to a position proximate to a hand or portion of the passenger such that the passenger may manually pull the entry door  70  to a closed position and the method may conclude. 
     As discussed in reference to step  130 , the controller  22  may be configured to control a rate of motion and corresponding rate of change of the angular position ϕ of the entry door  70 . In some embodiments, the controller  22  may be configured to slow the rate of change of the angular position ϕ such that the door gradually stops when reaching a target angular position ϕ, which may be identified based on the image data captured by the imaging system  66  and/or proximity of position data identifying a location of the passenger as communicated from the interference sensor  36 . In this configuration, controller  22  may be configured to control the rate of change of the angular position ϕ at a variable deceleration rate or constant deceleration rate such that the actuator  28  is controlled to decrease the rate of change of the angular position ϕ as the entry door  70  approaches the portion of the passenger  24 . 
     Additionally, in some implementations, the system  12  may be configured to stop the door proximate to the portion of the passenger  24  extending nearest to the entry door  70  in the swing path  38  while maintaining a buffer or gap between the passenger  24  and the entry door  70 . For example, based on the lookup table or the algorithm configured to determine the angular position ϕ of the entry door  70  in step  130 , the system  12  may provide for entry door  70  to be positioned such that a portion of the reach distance  26  may be maintained between the passenger  24  and the entry door  70 . In this configuration, the controller may be configured to position the door near the passenger  24  in step  130  while maintaining the buffer between the passenger  24  and the door  70 . 
     Finally, in addition to the control elements discussed in reference to step  130 , the system  12  may monitor the position of the passenger  24  to identify a change in the reach distance  26  during the control of the angular position ϕ of the entry door  70 . Accordingly, if the position of the portion (e.g. hand, arm, leg, foot, etc.) of the passenger  24  changes during the positioning or adjustment of the angular position ϕ of the entry door  70  by the controller  24 , the system may update the position and adjust the angular position ϕ of the entry door  70  based on the updated position. The update of the position of the portion of the passenger  24  may be identified based on the image data captured by the imaging system  66  and/or proximity of position data identifying the location of the passenger as communicated from the interference sensor  36 . Additionally, in some embodiments, the location of the mobile device  50  may additionally be utilized as a factor to determine wherein the passenger  24  is located relative to the entry door  70 , the passenger compartment  32 , the doors  14 , and various portions of the vehicle  10 . 
     Though discussed in reference to  FIG. 4  as an angular position ϕ of approximately 68 degrees, the system  12  may be configured to locate the angular position ϕ of the entry door  70  or any one of the doors  14  of the vehicle  10  at a desired or predetermined angular position  4 . The specific angle of 68 degrees is described herein because it corresponds to a conventional standard for the angular position ϕ of the doors  14  that may be accessible or reachable by one or more of the passengers  24  in vehicle  10 . However, the angular position ϕ of each of the doors  14  may vary based on a desired orientation or user preference without departing from the spirit of the disclosure. In general, the angular position ϕ of the doors  14  discussed herein may be referred to as closed (e.g. ϕ=0 degrees), fully opened (e.g. ϕ&gt;68 degrees), and partially opened (e.g. ϕ&lt;68 degrees), where the angular position ϕ of the doors  14  being less than 68 degrees may be considered within the reach of the passenger  24 . Accordingly, the system  12  may be flexibly configured to suit a variety of applications. 
     Though the angular position ϕ of the doors  14  is referred to in reference to the angle, 68 degrees, the angle may vary based on the particular application of the system  12  and the dimensions of the vehicle  10 . For example, the angular value boundary separating the fully opened versus the partially opened angular position ϕ of the doors  14  may vary based on the dimension of the vehicle  10  and the corresponding reach distance  26 . For example, the angular position ϕ or orientation of the doors  14  that may be at the extent of the reach distance  26  or comfortable extent of the reach of a passenger when seated in the vehicle  10  may be set to a value that may vary from approximately 60-75 degrees, 65-75 degrees, 66-72 degrees, etc. based on the dimensions of the vehicle  10  and the relationship of the position of a passenger when seated in the vehicle  10 . 
     Additionally, in some implementations, the angular position ϕ where the doors  14  is adjusted to the partially opened orientation may be programmed based on a user preference or profile that may differ for different operators of the vehicle. For example, the angle corresponding to the partially opened orientation may be programmed based on an identification a passenger or operator of the vehicle  10  as determined based on an input to a user interface of the vehicle, a communication from the mobile device  50 , and/or a communication from a fey fob configured to indicate an identity or user profile of the vehicle  10 . Accordingly, the disclosure may provide for the angular value boundary (e.g. 68 degrees) separating the fully opened versus the partially opened angular position ϕ of the doors  14  to vary or be adjusted to suit a desired application. 
     Referring now to  FIGS. 6A and 6B , flowcharts demonstrate a method  140  for opening and closing each of the doors  14  via the door control system  12 . The method  140  may begin in  FIG. 6A  in response to a person  52  initiating a power opening routine ( 142 ). The power opening routine of the door control system  12  may be activated via the mobile device  50 , a voice command, and/or an inner/outer action of the person  52  with a handle, switch, touchscreen display, or sensor configured to activate the power opening of a selected one of the doors  14 . Following the initiation in step  142 , the controller  22  may scan proximity or detection data captured by the interference sensor  36  to detect one or more obstacles that may be located in the swing path  38  of the selected one of the doors  14  ( 144 ). If the swing path  38  is determined to be free of obstacles, the controller  22  may control a power-opening procedure of the selected one of the doors  14  ( 146 ). As discussed herein, obstacles may include various objects including persons or portions of persons (e.g. hands, feet, legs, etc.), and/or various objects that may interfere with or obstruct the swing path  38 . During the power-opening procedure, the controller  22  may monitor the angular position ϕ of the door  14  to determine if the door  14  has reached a fully open position (e.g. an angular position ϕ of 70-120 degrees) ( 148 ). If the door  14  has reached a fully open position as detected in step  148 , the controller  22  may hold the angular position ϕ of the door  14  in step  150 . Throughout step  148 , the system may continue to monitor the interference sensor  36  to detect one or more obstacles in the swing path  38  of the door  14  ( 152 ). If an obstacle is not detected in step  152 , the method may continue to step  150  and hold the door  14  at the fully open position. However, if an obstacle is detected in step  152 , the method may continue to step  154 . As previously discussed, the interference sensor  36  may correspond to a variety of sensory devices including but not limited to a current sensor configured to monitor the current draw of the actuator  28 , one or more capacitive, magnetic, inductive, optical/photoelectric, laser, acoustic/sonic, radar-based, Doppler-based, thermal, radiation-based proximity sensors, etc. 
     In step  154 , an inertial sensor or accelerometer of the door  14  may be monitored by the controller  22  to determine if an acceleration of the door  14  has exceeded a predetermined acceleration threshold. If the acceleration threshold is detected as being exceeded in step  154 , the method may continue to step  156  and stop opening the door  14 . If the acceleration threshold is not exceeded in step  154 , the method may continue to maneuver the door  14  toward the obstacle detected in step  152  and hold the door  14  at the furthest angular position ϕ possible without causing the door  14  to contact the obstacle ( 158 ). Following step  158 , the door  14  may be held and the system  12  may continue to scan the data from the interference sensor  36  for obstacles at predetermined time intervals (e.g. 5 seconds) ( 160 ). In step  162 , the controller  22  may determine if the obstacle detected in step  152  is still located in the swing path  38 . If the obstacle is still located in the swing path  38 , the method  140  may continue to step  158 . If the obstacle is no longer detected in step  162 , the controller  22  may continue the power-opening operation in step  164  and return to step  148 . 
     Referring now  FIG. 6B , a door-closing procedure for the vehicle may be processed similarly to the door-opening procedure described in reference to  FIG. 6A . Accordingly, the steps of  FIG. 6B  for the closing operation may only be discussed in reference to the differences from the opening procedure described in reference to  FIG. 6A . Similar to step  142 , in step  172 , passenger  24  may initiate a closing routine of the entry door  70 . In steps  174  and  176 , the door control system  12  may continue by scanning the data from the interference sensor  36  to identify obstacles and further may control the entry door  70  to begin a closing operation. In step  178 , the door control system  12  may monitor the angular position ϕ of the entry door  70  to determine if the entry door  70  has reached a secondary latched position. If the secondary latched position is reached in step  178 , the method  140  may continue to activate a cinch motor to pull the entry door  70  into a primary latch or closed position ( 180 ). If the door  14  does not reach the secondary latched position, the method  140  may continue as described in reference to steps  152 - 164  while attempting to close the entry door  70  or maneuver the door  14  to a closed position rather than the opened position as described in reference to  FIG. 6A . Accordingly, the same reference numerals are utilized in steps  152 - 164  in  FIGS. 6A and 6B  to demonstrate similar steps. 
     Referring now to  FIG. 7 , in some embodiments, the door control system  12  may be configured to operate in response to the approach of the person  52  without any overt actions by the person  52  required for activation of the system  12 . Accordingly, the method  200  demonstrated in  FIG. 7 , may begin by detecting a security signal communicated by the mobile device  50  (e.g. a BLE signal) and controlling the entry door  70  to open ( 202 ). As previously discussed, the entry door  70  selected from the doors  14  may be identified based on a signal trajectory of the mobile device  50  and/or a detection of the person  52  approaching the vehicle identified in the imaging data captured by the imaging system  66  ( 204 ). Following step  204 , once the controller  22  begins moving the entry door  70 , the controller  22  may monitor signals from the interference sensor  36  to identify one or more obstacles located in the swing path  38  ( 206 ). During the scanning operation of the interference sensor  36 , the controller  22  may detect an obstacle (e.g. the person  52 ) moving between the entry door  70  oriented with the angular position ϕ in an opened configuration and the body of the vehicle  10  ( 208 ). Additionally, the controller  22  may be configured to detect the signal from the mobile device  50  moving between the entry door  70  and the body of the vehicle  10  ( 210 ). Upon detecting the obstacle or the signal from the mobile device  50  in steps  208  and/or  210 , the system  12  may scan image data captured in the interior field of view  68   e  of the imaging system  66  to determine if the passenger  24  has entered the vehicle  10  ( 212 ). Though not shown in  FIG. 7 , steps  92 ,  94 , and/or  96  may follow step  212 . 
     Following the monitoring in step  212  of the image data and in response to detecting the passenger  24  located in the passenger compartment  32 , the controller  22  may begin a closing operation of the entry door  70  ( 214 ). After the controller  22  begins the closing operation, the controller  22  may monitor the angular position ϕ of the entry door  70  to determine if the door has reached a secondary latched position ( 216 ). If the entry door  70  is determined to have reached the secondary latched position, the controller  22  may activate a cinch motor to complete a closing operation of the entry door  70  and move the entry door into a primary latched position ( 218 ). If the door  14  does not reach the secondary latched position in step  216 , the controller  22  may process steps  152 - 154  as previously discussed in reference to  FIGS. 6A and 6B . Accordingly, the system  12  may be flexibly configured to operate based on one or more user inputs in response to the person  52  approaching the vehicle without any particular overt actions or inputs associated with the activation of the operation of the door control system  12 . 
     Referring now to  FIG. 8 , in some embodiments, the door control system  12  may be configured to control a plurality of the doors  14  concurrently or together to provide the person  52  with access to the passenger compartment  32  of the vehicle  10 . As demonstrated in  FIG. 8 , two of the doors  14  may be associated and referred to as the entry doors  70 . Accordingly, the entry doors  70  are demonstrated in a partially opened position  240  and a completely opened position  242 . As demonstrated, the position of the entry doors  70  may have been previously controlled by one or more of the door opening and/or closing methods and underlying procedures as previously discussed herein. Accordingly, the example shown in  FIG. 8  may focus on the operation of the door control system  12  in reference to the person  52  backing away from the vehicle  10  as demonstrated by the arrow  244 . 
     In response to the detection of a package  246  or item positioned on one of the seats  64  as shown, the door control system  12  may detect the package  246  resting on the seat  64  based on one or more signals from an associated seat sensor  62 . In this way, the door control system  12  may identify an interaction between the person  52  and the vehicle  10 . The interaction between the person  52  and the vehicle  10  may also be identified based on the image data captured in the interior field of view  68   e  by the imager  66   e . Following the detection of the interaction, the system  12  may detect the person  52  backing away from the vehicle  10  along arrow  244  based on a change in a position of the wireless communication signal from the mobile device  50  and/or a detection of the person  52  moving away from the vehicle  10  via the image data captured in the interior field of view  68   e . Though discussed in reference to the interior field of view  68   e , it may be understood that the fields of view  68   a - 68   d  of the imagers  66   a - 66   d  may similarly be monitored to detect the person  52  moving away from the vehicle  10 . 
     In response to the person  52  moving away from the vehicle  10 , the controller  22  may control the actuator  28  to open the doors from the partially opened position  240  to the fully opened position  242 . Accordingly, the door control system  12  may control the angular position ϕ of the entry doors  70  to withdraw away from the person  52  such that the person  52  may easily withdraw and move away from the vehicle  10 . In some embodiments, the controller  22  may monitor one or more signals from the interference sensor  36  (e.g. one or more signals from proximity sensors) to open and move away from the person  52  or maintain a predefined separation between the person  52  and an interior surface of the entry doors  70 . In this way, the system  12  may provide for an intuitive control of the doors  14  such that the doors  14  are moved from a path of the person  52 . 
     Referring now to  FIG. 9 , the door control system  12  may adjust or alter in operation based on changes in weight detected by the sensors  62  incorporated in the seats  64 . For example, as demonstrated in  FIG. 9 , on a first side  260  of the vehicle  10 , a plurality of passengers  24  are shown initiating a door control routine (e.g. steps  110 - 116 ). As illustrated, the system  12  has detected the passengers  24  in their respective seats  64  based on signals from the imager  66   e , seat sensor  62 , seatbelt/restraint sensors, and/or the communication signal from the mobile device  50 . Accordingly, in response to the request to initiate a door-closing operation, the control system  12  may respond by closing or controlling the actuator  28  to adjust the angular position ϕ of each of the doors  14   a ,  14   b  to close from the completely opened position  242  to the partially opened position  240 . From the partially opened position  240 , the passengers  24  may manually close the doors  14   a  and  14   b  on the first side  260  of the vehicle  10  or the doors  14   a  and  14   b  may automatically close based on a desired operation of the system  12 . 
     In some implementations, the control system  12  may be configured to restrict or limit operation of one or more of the doors  14  (e.g.  14   c ) in response to a change in the position of the communication signal from the mobile device  50  and/or a change in the weight or pressure detected by the seat sensor  62  of the seat  64 . As demonstrated in  FIG. 9 , the door control system  12  is shown identifying a change in weight identified by a seat sensor  62   a  and a corresponding motion of an object which may be detected via the image data captured in the interior field of view  68   e  and/or motion of the communication signal from the mobile device  50 . As shown, the detected motion in the vehicle  10  is identified moving from a central portion toward the second side  262 . Accordingly, the door control system  12  may halt assisted or automated operations of the door  14   c  based on the assessment that an object may be moving toward the door  14   c  on the second side  262  of the vehicle  10 . In this way, the system  12  may be configured to prevent unfavorable or unexpected operation of each of the doors  14 . 
     Referring now to  FIG. 10 , an overview of the operation of various implementations of the door control system  12  is discussed in reference to a flowchart. In general, a method  280  of operation of door control system  12  may begin by determining whether an activation criteria has been met for automatic or manual activation of the system ( 282 ). The various examples discussed in this application include, but are not limited to, instances where the person  52  is detected as approaching, entering, and taking a seated position in the passenger compartment  32 , the person  52  being detected loading the package  246  or item into the passenger compartment  32 , and/or the person  52  backing away from the vehicle  10  between an opened entry door  70  and the body of the vehicle  10 . In response to the activation of the system in step  282 , the door control system  12  may activate one or more of the control methods discussed herein in step  284 . As previously discussed, each of the control methods may be activated in response to a user interaction with various interior or exterior handles, switches, touchscreen displays, or detection devices  60  of the vehicle  10 . Additionally, the activation may be detected based on various gestures, detections of objects, or the person  52  via proximity sensors (e.g. the interference sensor  36 ), and/or a detection of the communication signal and the corresponding location of the mobile device  50  as identified by the communication circuit  46 . As shown in  FIG. 10 , the reference numerals for the control methods are summarized as introduced in the description. For example, the control methods may comprise the following: “Please get the door for me” ( 98 - 102 ); “I see it, I go for it” ( 110 - 116 ); “Right where I want it” ( 120 - 132 ); “Follow Me Opening” ( 140 ); “Follow Me Closing” ( 170 ); and/or “Seamless Follow Me Closing” ( 200 ). 
     Once the activation criteria is identified in step  84 , the system  12  may continue to step  286  to determine if any deactivation or door motion reversal conditions are met in step  286 . Examples of door motion reversal conditions may include, but are not limited to, the detection of an object or obstruction by the interference sensor  36 , a detection of the communication signal from the mobile device  50  in the swing path  38  of one or more of the doors  14 , and/or the detection of an object or the person  52  via one or more of the imagers  66   a - 66   e  of the imaging system  66 . Exemplary deactivation or door motion reversal conditions were previously discussed as “Follow Me As I Back Away” ( FIG. 8 ); Movement in Vehicle ( FIG. 9 ); and/or Door makes contact with obstacle. Following the detection of a deactivation or reversal condition, the system  12  may continue to identify whether a reactivation or activation condition for one or more of the door position control routines has been met ( 288 ). Following the detection of the activation or reactivation condition, the system  12  may complete the door control routine and monitor the various sensors and inputs discussed herein to control later routines for the doors  14  of the vehicle  10 . 
     For the purposes of describing and defining the present teachings, it is noted that the terms “substantially” and “approximately” are utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. The term “substantially” and “approximately” are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue. 
     It will be understood that any described processes or steps within described processes may be combined with other disclosed processes or steps to form structures within the scope of the present disclosure. The exemplary structures and processes disclosed herein are for illustrative purposes and are not to be construed as limiting. It also is to be understood that variations and modifications can be made on the aforementioned structure without departing from the concepts of the present disclosure, and further it is to be understood that such concepts are intended to be covered by the following claims unless these claims by their language expressly state otherwise.