The present disclosure relates to systems for vehicle closures.
Vehicles may include one or more doors, such as closures, hatches, tailgates, liftgates. Certain vehicles may include a pair of doors that open by moving away from parallel to the body of the vehicle. In particular, autonomous vehicles may require doors capable of opening and closing in response to a predetermined set of conditions.
One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions. One general aspect includes a door drive assembly for a bus provided with a body and a door configured to move away from and along the body, the door drive assembly including: a drive arm including a first end configured to be rotatably coupled to the body and a second end configured to be rotatably coupled to the door. The door drive assembly also includes a drive mechanism coupled to the drive arm and configured to rotate the drive arm between an open position and a closed position. The door drive assembly also includes a control arm including a first end configured to be rotatably coupled to a vehicle body and a second end configured to be rotatably coupled to the door. The door drive assembly also includes a race configured to be disposed between the body and the first end of the control arm where the first end of control arm is configured to translate by a first distance along the race as the drive arm rotates between the open and closed positions. Other aspects may include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform a number of actions.
Implementations may include one or more of the following features. The door drive assembly further including a guide arm disposed between the control and the drive arm, where the guide arm is configured to separate the drive arm from the control arm by a predetermined distance. The door drive assembly further including a bracket that is attachable to the body where the bracket is provided with a slot and where an inner surface of the slot defines the race.
One general aspect includes a door drive system for use with vehicle including a vehicle body and a pair of doors configured to move away from and along the vehicle body, the door drive system including: a drive arm and a control arm configured to be coupled to one of the doors. The door drive system also includes a drive mechanism, provided with a motor and a gear set. The door drive system also includes a main shaft engaged with the gear set. The door drive system also includes an output shaft coupled to the drive arm and the main shaft and where rotation of the main shaft rotates the output shaft and the drive arm.
Implementations may include one or more of the following features. The door drive system further including: a pinion gear fixed to the main shaft. The door drive system may also include a sector gear fixed to the output shaft where the pinion gear engages the sector gear so that rotation of the pinion gear rotates the sector gear and output shaft. The door drive system where one end of the output shaft includes a spline that engages the sector gear. The door drive system where the gear set includes: a sun gear. The door drive system may also include a planetary gear configured to engage and rotate about the sun gear. The door drive system may also include a ring gear engaged with the planetary gear and coupled to the main shaft.
One general aspect includes a door drive system for use with vehicle including a vehicle body and a pair of doors configured to move away from and along the vehicle body, the door drive system including: a drive arm and a control arm configured to be coupled to one of the doors. The door drive system also includes a drive mechanism, provided with a motor and a gear set where rotation of the motor in a first rotational direction rotates the gear set to pivot the drive arm, and the control arm away from and along the body. The door drive system also includes a main shaft engaged with the gear set. The door drive system also includes an output shaft coupled to the drive arm and the main shaft, where rotation of the main shaft rotates the output shaft and the drive arm. The door drive system also includes a controller configured to change the rotation of at least one of the motors from one of the first or second directions, responsive to a comparison of a sensor value to a threshold condition.
Implementations may include one or more of the following features. The door drive system where the controller is further configured to stop the rotation of the motor, responsive to a comparison of a second sensor value to a threshold condition. The door drive system where the controller is further configured to power at least one of the motors, responsive to receiving a signal indicative of a subsequent ingress/egress event.
A system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on one or more of the implementations that describe above. In operation, the system may cause one or more of the implementations to perform the actions.
Embodiments of the present disclosure are described herein. It is to be understood, however, that the disclosed embodiments are merely examples and other embodiments can take various and alternative forms. The figures are not necessarily to scale; some features could be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the embodiments. As those of ordinary skill in the art will understand, various features illustrated and described with reference to any one of the figures can be combined with features illustrated in one or more other figures to produce embodiments that are not explicitly illustrated or described. The combinations of features illustrated provide representative embodiments for typical applications. Various combinations and modifications of the features consistent with the teachings of this disclosure, however, could be desired for particular applications or implementations.
Referring to
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The lower actuation assemblies 20 may be fixed, directly or indirectly, to a rocker panel 16 of the vehicle body 12. One or more portions of the lower actuation assembly 20 may include sensors S configured to detect one or more objects or obstacles. The sensors S may include tactile sensors, capacitive sensors, visual sensors, proximity sensors, or some combination thereof. Tactile sensors may be of different types including piezo-resistive, piezoelectric, capacitive, and elasto-resistive sensors. Visual sensors may include cameras or other suitable imaging devices. Proximity sensors may refer to sensors such as radar, LIDAR, magnetic, sonar, etc.
In one or more embodiments, the door attachment bracket 17 may include a sensor S that is configured to detect an obstacle that is adjacent to an outer portion of the door attachment bracket 17 as indicated by the dashed line A1. As another example, the door attachment bracket may include one or more sensors S configured to detect an obstacle positioned between each of the door attachment brackets 17 or between the door attachment bracket 17 and the body 12 of the vehicle 10 as indicated by the dashed line A2. As another example, the door attachment bracket 17 may include sensors S configured to detect an obstacle positioned between the door attachment bracket 17 and a periphery of the vehicle body 12, as indicated by the dashed lines A3.
Referring to
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The control arm 154 may include a proximal end 154a and a distal end 154b. The proximal end 154a of the control arm 154 may be pivotally coupled to one or more guide brackets 158. For example, the proximal end 154a of the control arm 154 may be pivotally coupled to a guide bracket 158 that may be fixed to the body attachment bracket 84. The guide bracket 158 may include a race, such as a slot 160. The term race generally refers to a surface that acts as a guide for one or more moving components. The race may be defined one or more surfaces of the slot 160. For example, a raised section that is configured to engage the translating pin 162 may define the race.
A translating pin 162 may be disposed within the slot 160 and coupled to the control arm 154 so that the control arm 154 and the translating pin 162 rotate between open and closed positions. In one or more embodiments, the translating pin 162 may be pivotally coupled to the control arm such that the control arm 154 rotates with respect to the translating pin 162.
Movement of the lower actuation assembly 151 may be described with reference to a number of planes. A first plane A, may be defined by a front surface of the body attachment bracket 84. A second plane B may be defined by a front surface of the door attachment bracket 17. A third plane C may extend in a direction that is orthogonal to the first plane A through a center of the output shaft 190. A fourth plane D may be defined by one end of the door attachment bracket 17.
When the lower actuation assembly 151 is in the closed position, the front surface of the door attachment bracket 17, may be spaced apart from the first plane A, defined by the vehicle attachment bracket 84 by a distance L1. Secondly, the translating pin 162 may be disposed closer to a first end 160a of the slot 160 with respect to a second end 160b of the slot 160. When the lower actuation assembly 151 is in the closed position, an inner end of the door attachment bracket 17 may be spaced apart from the third plane C by a distance W1. A distance between the inner end of the door attachment bracket 17 and the fourth plane D may define a pitch P1. The pitch may refer to the distance between the vehicle door attachment bracket, and the vehicle door, and the opening of the vehicle.
When the lower actuation assembly 151 is in the open position, the front surface of the door attachment bracket may move by a second distance La, that is greater than Li. As shown, the inner end of the door attachment bracket 17 may move by a distance or pitch Pa so that the width is decreased to W2. As the lower actuation assembly 151 moves from the closed position (
The orientation of the slot 160 may be arranged in a direction that is parallel to the first plane A. In one or more embodiments, the slot 160 may be oriented or arranged in a direction that is oblique to the first plane such that the translating pin 162 moves towards the vehicle body 12.
Referring specifically to
The translating pin 162 may move towards the first end 160a of the slot 160, when moved the closed position, due to the weight of the door 15 and the drive and control arms. In one or more embodiments, a biasing device, such as a spring 169, may bias the translating pin 162 towards the first end 160a of the slot 160 in line with the dashed line E. In one or more embodiments, the translating pin 162 may be biased by a solenoid or another suitable actuator. Also, the translating pin 162 may be held or latched in this position by a latch or locking mechanism. When drive system 22 is actuated to rotate the drive arm 152 to move away from and along the side of the vehicle body 12, the control arm rotates and moves (e.g., slides, translates, articulates) by distance di to a second position E′.
Referring to
An exemplary drive system 22 and clutch mechanism are each described in U.S. Publication No. 2018/0216392 and are hereby incorporated by reference.
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In one or more embodiments, the controller 120 may be suitable for an autonomous vehicle (e.g., self-driving). In that case, the controller 120 may be configured to receive signals that are indicative of an on-boarding or off-boarding passenger. The vehicle may be equipped with various sensors (e.g., proximity sensors, LIDAR, radar, cameras) that provide signals indicative of a stop or destination where passengers may board and off-board the vehicle 10. Alternatively, the vehicle may be equipped with positioning sensors (e.g., GPS) configured to detect or predict one or more stops.
The controller 120 may provide signals to the drive system ECU 136, the drive system 22, latch assembly 28, or some combination thereof. The drive system ECU 136 may include a micro-processor 138 that may be configured control the drive motor 40, clutch motor 42, or both. A drive controller 140 may also be provided and configured to receive and send signals to and from the drive system 22. These signals may be sent via a drive system LIN/CAN Bus 142. The drive system ECU 136 may also include a switch ECU 144 that may be configured to send and receive signals from one or more switches or buttons 134 within control elements 132 of the vehicle 10 or within the latch assembly 28, or both.
As previously described, the pinion gear 104 of the drive system 22 may rotate at a predetermined speed. The predetermined speed of the pinion gear 104 may correlate to an operating speed of each of the door assemblies 14. The drive system ECU may provide a signal to the drive system 22 to alter the rotational speed of the pinion drive 104 and the operating speed of the door assemblies 14.
The door drive system 22 may include the drive motor 40, the clutch motor 42, one or more position sensors 46, and one or more motor sensors 130. The position sensor 46 may be configured to measure the angular position of the output shaft 190. The angular position of the output shaft 190 may be correlated to the position (e.g., open, closed, partially open) of the lower actuation assembly 20 and the door 15. The motor sensor or sensors 130 may be a hall sensor, ripple count sensor, or a dedicated ECU configured to detect the positional location of the drive motor 40, or clutch motor 42, or both.
The vehicle 10 may be provided with various control elements 132. As one example, the control elements may include switches or buttons 134 that may be actuated to send a signal to the controller 120 or the drive system ECU 136. As one example, a switch may be actuated when a transmission of the vehicle is placed in park. As another example, the button may be a door open/close button that may be actuated to send a signal to the drive system ECU 136 to open or close the doors 15.
The latch assembly 28 may include a latch actuator 124 and a cinching actuator 126 each configured to provide and receive various signals 128 to the controller 120. The latch actuator 124 may include an electric motor configured to move the latch from an unlocked position to a locked position and vice-versa. Movement of the latch actuator 124 may be in response to the door 15 being moved from the opened or partially opened position to the closed position and vice-versa. As described above, the latch may be a two-stage latch configured to move from a secondary latch position to a primary latch position, in response to latch signals 128 that are indicative of the latch being moved to the secondary latch position.
An obstacle sensor ECU 148 may communicate 150 with the latch assembly, drive system ECU, drive system 22, controller 120, or some combination thereof. As one example, one of the sensors S may detect an obstacle or a potential collision with an obstacle as one of the doors 15 opens or closes. In response to the sensor detecting a potential collision, the obstacle sensor ECU 148 may communicate 150 with the drive system ECU 136. Responsive to the drive system ECU 136 receiving this signal, the drive controller 140 may stop or alter the direction of the drive motor 40.
Control logic or functions performed by the controller 120, drive system ECU 136, obstacle sensor ECU 148, etc. may be represented by flow charts or similar diagrams, such as the flow chart 200 in
The controllers and ECUs may include a microprocessor or central processing unit (CPU) in communication with various types of computer readable storage devices or media. Computer readable storage devices or media may include volatile and nonvolatile storage in read-only memory (ROM), random-access memory (RAM), and keep-alive memory (KAM), for example. KAM is a persistent or non-volatile memory that may be used to store various operating variables while the CPU is powered down. Computer-readable storage devices or media may be implemented using any of a number of known memory devices such as PROMs (programmable read-only memory), EPROMs (electrically PROM), EEPROMs (electrically erasable PROM), flash memory, or any other electric, magnetic, optical, or combination memory devices capable of storing data, some of which represent executable instructions, used by the controller 120 in controlling the drive system 22.
Although not always explicitly illustrated, one of ordinary skill in the art will recognize that one or more of the illustrated steps or functions may be repeatedly performed depending upon the particular processing strategy being used. Similarly, the order of processing is not necessarily required to achieve the features and advantages described herein but is provided for ease of illustration and description. The control logic may be implemented primarily in software executed by a microprocessor-controlled vehicle 10, drive motor 40, locking motor 42, or controller 120.
The control logic may be implemented in software, hardware, or a combination of software and hardware in one or more controllers depending upon the particular application. When implemented in software, the control logic may be provided in one or more computer-readable storage devices or media having stored data representing code or instructions executed by a computer to control the vehicle or its subsystems. The computer-readable storage devices or media may include one or more of several known physical devices that utilize electric, magnetic, and/or optical storage to keep executable instructions and associated calibration information, operating variables, and the like.
In one or more embodiments, the locking motor may be engaged to alter a gear ratio of the locking device so that a greater torque may be achieved. The term above is used for illustrative purposes only and is not meant to be limiting. Depending on the predetermined threshold, the controller may branch to operation 208 in response to the sensor values being below or equal to the operating condition threshold TO.C.
In operation 218, the sensor values corresponding to a pinch condition or a predicted pinch may be compared with a predetermined threshold, such as a pinch threshold TP. The sensor values may be those measured along the dashed lines A2 (
While exemplary embodiments are described above, it is not intended that these embodiments describe all possible forms encompassed by the claims. The words used in the specification are words of description rather than limitation, and it is understood that various changes can be made without departing from the spirit and scope of the disclosure. As previously described, the features of various embodiments can be combined to form further embodiments of the invention that may not be explicitly described or illustrated. While various embodiments could have been described as providing advantages or being preferred over other embodiments or prior art implementations with respect to one or more desired characteristics, those of ordinary skill in the art recognize that one or more features or characteristics can be compromised to achieve desired overall system attributes, which depend on the specific application and implementation. These attributes can include, but are not limited to cost, strength, durability, life cycle cost, marketability, appearance, packaging, size, serviceability, weight, manufacturability, ease of assembly, etc. As such, to the extent any embodiments are described as less desirable than other embodiments or prior art implementations with respect to one or more characteristics, these embodiments are not outside the scope of the disclosure and can be desirable for particular applications.
This application claims the benefit of U.S. provisional application Ser. No. 62/702,391 filed Jul. 24, 2018, the disclosure of which is hereby incorporated in its entirety by reference herein.
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