Vehicle Door Comprising a Deceleration Function
The invention relates to a vehicle door comprising a braking function before a detected obstacle ( 3 ) and for damping the final position, which decelerates the movement of the vehicle door ( 2 ) by applying a braking torque, wherein an evaluation and control unit ( 7 ) determines the braking torque by evaluating an instantaneous door movement, which is sensed by a sensor system ( 6 ), or a sensed obstacle and actuates the damper ( 5 ) correspondingly. According to the invention, the braking function decelerates the vehicle door ( 2 ) aperiodically taking into account interference torques, wherein the evaluation and control unit ( 7 ) determines the braking torque for the braking function, in that during an opening process the vehicle door ( 2 ) reaches a target position with a speed with the value zero, and during a closing process reaches an end position (φ 0 ) with a predefined target speed, wherein the target position corresponds to a predefined maximum opening angle (φ max ) or a virtual stop which is determined by an obstacle ( 3 ) which is detected by the sensor system.
1 - 8 . (canceled)
9 . A vehicle door having a braking function relative to a detected obstacle and for damping movement into a final position, which decelerates the movement of the vehicle door by applying a braking torque, comprising:
a sensor system that senses an instantaneous door movement,
a damper, and
an evaluation and control unit that determines the braking torque by evaluating the instantaneous door movement, which is sensed by the sensor system or as a function of the detected obstacle detected by the sensor system, and actuates the damper correspondingly,
wherein the braking function decelerates the vehicle door aperiodically taking into account interference torques,
wherein the evaluation and control unit determines the braking torque for the braking function,
wherein, during an opening process, the vehicle door reaches a target position with a speed with the value zero, and, during a closing process, reaches an end position with a predefined target speed, and
wherein the target position corresponds to a predefined maximum opening angle or a virtual stop which is determined by the obstacle detected by the sensor system.
10 . The vehicle door as claimed in claim 9 , wherein the evaluation and control unit starts the braking function when a remaining braking distance drops below a calculated braking distance.
11 . The vehicle door as claimed in claim 9 , wherein the virtual stop generates haptic feedback about a risk of a collision of the vehicle door with the obstacle.
12 . The vehicle door as claimed in claim 9 , wherein an observer circuit estimates the interference torques comprising torques caused by wind or gravity that are to be taken into account.
13 . The vehicle door as claimed in claim 12 , wherein the observer circuit estimates an angular acceleration from measured door opening angle sensor signals and adjusts it with a real acceleration.
14 . The vehicle door as claimed in claim 9 , wherein the evaluation and control unit determines the required braking distance as a function of a desired braking torque according to the equation:
Δϕ
Brems
=
1
2
J
d
·
ϕ
.
0
,
k
2
M
~
b
,
soll
for an opening process ({dot over (φ)}>0), and
Δϕ
Brems
=
-
J
d
2
M
~
b
(
ϕ
.
2
-
ϕ
.
stop
2
)
for a closing process ({dot over (φ)}<0).
15 . The vehicle door as claimed in claim 9 , wherein the evaluation and control unit determines the braking torque as a function of the remaining braking distance, the speed of the door and the moment of mass inertia according to the equation:
M
~
b
,
k
=
1
2
J
d
·
ϕ
.
0
,
k
2
(
ϕ
stop
-
ϕ
0
,
k
)
for
ϕ
.
>
0
,
and
M
~
b
=
J
d
(
ϕ
.
2
-
ϕ
.
stop
2
)
2
(
ϕ
-
ϕ
stop
)
for
ϕ
.
<
0.
16 . The vehicle door as claimed in claim 14 , wherein the evaluation and control unit carries out the braking function during an opening process or a closing process for the smallest possible braking range, and wherein the braking range for the opening process is defined by (φ stop −φ Brems )≦φ≦φ stop and for the closing process is defined by φ stop ≦φ≦(φ stop +Δφ Brems ).
17 . The vehicle door as claimed in claim 15 , wherein the evaluation and control unit carries out the braking function during an opening process or a closing process for the smallest possible braking range, and wherein the braking range for the opening process is defined by (φ stop −φ Brems )≦φ≦φ stop and for the closing process is defined by φ stop ≦φ≦(φ stop +Δφ Brems ).
18 . The vehicle door as claimed in claim 10 , wherein the virtual stop generates haptic feedback about a risk of a collision of the vehicle door with the obstacle.
19 . The vehicle door as claimed in claim 10 , wherein an observer circuit estimates the interference torques comprising torques caused by wind or gravity that are to be taken into account.
20 . The vehicle door as claimed in claim 11 , wherein an observer circuit estimates the interference torques comprising torques caused by wind or gravity that are to be taken into account.
21 . The vehicle door as claimed in claim 19 , wherein the observer circuit estimates an angular acceleration from measured door opening angle sensor signals and adjusts it with a real acceleration.
22 . The vehicle door as claimed in claim 20 , wherein the observer circuit estimates an angular acceleration from measured door opening angle sensor signals and adjusts it with a real acceleration.
23 . The vehicle door as claimed in claim 10 , wherein the evaluation and control unit determines the required braking distance as a function of a desired braking torque according to the equation:
Δϕ
Brems
=
1
2
J
d
·
ϕ
.
0
,
k
2
M
~
b
,
soll
for an opening process ({dot over (φ)}>0), and
Δϕ
Brems
=
-
J
d
2
M
~
b
(
ϕ
.
2
-
ϕ
.
stop
2
)
for a closing process ({dot over (φ)}<0).
24 . The vehicle door as claimed in claim 11 , wherein the evaluation and control unit determines the required braking distance as a function of a desired braking torque according to the equation:
Δϕ
Brems
=
1
2
J
d
·
ϕ
.
0
,
k
2
M
~
b
,
soll
for an opening process ({dot over (φ)}>0), and
Δϕ
Brems
=
-
J
d
2
M
~
b
(
ϕ
.
2
-
ϕ
.
stop
2
)
for a closing process ({dot over (φ)}<0).
25 . The vehicle door as claimed in claim 12 , wherein the evaluation and control unit determines the required braking distance as a function of a desired braking torque according to the equation:
Δϕ
Brems
=
1
2
J
d
·
ϕ
.
0
,
k
2
M
~
b
,
soll
for an opening process ({dot over (φ)}>0), and
Δϕ
Brems
=
-
J
d
2
M
~
b
(
ϕ
.
2
-
ϕ
.
stop
2
)
for a closing process ({dot over (φ)}<0).
26 . The vehicle door as claimed in claim 10 , wherein the evaluation and control unit determines the braking torque as a function of the remaining braking distance, the speed of the door and the moment of mass inertia according to the equation:
M
~
b
,
k
=
1
2
J
d
·
ϕ
.
0
,
k
2
(
ϕ
stop
-
ϕ
0
,
k
)
for
ϕ
.
>
0
,
and
M
~
b
=
J
d
(
ϕ
.
2
-
ϕ
.
stop
2
)
2
(
ϕ
-
ϕ
stop
)
for
ϕ
.
<
0.
27 . The vehicle door as claimed in claim 11 , wherein the evaluation and control unit determines the braking torque as a function of the remaining braking distance, the speed of the door and the moment of mass inertia according to the equation:
M
~
b
,
k
=
1
2
J
d
·
ϕ
.
0
,
k
2
(
ϕ
stop
-
ϕ
0
,
k
)
for
ϕ
.
>
0
,
and
M
~
b
=
J
d
(
ϕ
.
2
-
ϕ
.
stop
2
)
2
(
ϕ
-
ϕ
stop
)
for
ϕ
.
<
0.
28 . The vehicle door as claimed in claim 12 , wherein the evaluation and control unit determines the braking torque as a function of the remaining braking distance, the speed of the door and the moment of mass inertia according to the equation:
M
~
b
,
k
=
1
2
J
d
·
ϕ
.
0
,
k
2
(
ϕ
stop
-
ϕ
0
,
k
)
for
ϕ
.
>
0
,
and
M
~
b
=
J
d
(
ϕ
.
2
-
ϕ
.
stop
2
)
2
(
ϕ
-
ϕ
stop
)
for
ϕ
.
<
0.