Foreign object detection systems and control logic for vehicle compartment closure assemblies

• US 10,386,937 B2
• Filed: 05/08/2017
• Issued: 08/20/2019
• Est. Priority Date: 05/08/2017
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Serban, Doru N., Carlos, Princess Len
• Primary Examiner(s): Hilgendorf, Dale W
• Application Number:
  US15/589,224
• Publication Number:
  US 20180321758A1
• Time in Patent Office: 834 Days
• CPC Class Codes: B60J 5/047 characterised by the opening or closing movement
• CPC Class Codes: B60K 2360/146 Instrument input by gesture
• CPC Class Codes: B60K 2360/21 using cameras
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B61D 19/026 Safety devices for preventing passengers from being injured by movements of doors or variations in air pressure safety devices in passenger lifts for preventing trapping of passengers between closing doors B66B13/26; acting on power-operated mechanisms for wings E05F15/00
• CPC Class Codes: E05F 15/40 Safety devices, e.g. detection of obstructions or end positions
• CPC Class Codes: E05F 2015/434 with cameras or optical sensors
• CPC Class Codes: E05Y 2400/54 Obstruction or resistance detection
• CPC Class Codes: E05Y 2400/852 Sensors
• CPC Class Codes: E05Y 2900/50 for vehicles
• CPC Class Codes: E05Y 2900/544 Tailboards, tailgates or sideboards opening downwards
• CPC Class Codes: E06B 7/36 Finger guards or other measures preventing harmful access between the door and the door frame safety devices for doors in railway cars B61D19/026; for lift doors B66B13/26; detection of obstructions E05F15/40
• CPC Class Codes: G02B 27/0012 Optical design, e.g. procedures, algorithms, optimisation routines
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/0325 using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image

Abstract

Disclosed are object detection systems for automated compartment closure assemblies, methods for operating such systems, and motor vehicles with a power liftgate assembly and foreign object detection capabilities. A method is disclosed for detecting objects obstructing the path of an automated closure assembly. The method includes receiving a command signal to move the closure assembly to an open or closed position, and receiving gesture-sensitive sensor signals with a location and velocity of an object within a supervision field. Responsive to the object being inside a protected zone within the supervision field or the object'"'"'s velocity being towards the protected zone, commanding an automated driving mechanism to: slow the closure assembly'"'"'s speed; if the object is still located inside the protected zone after a calibrated period of time, stop the closure assembly; and if the object moves outside the protected zone, increase the closure assembly speed to a default speed.

Claims

1. A method for controlling operation of an automated closure assembly, the automated closure assembly being movable via an automated driving mechanism along a path between closed and open positions to respectively cover and uncover an opening to a compartment of a motor vehicle, the method comprising:

determining whether the automated closure assembly is in the closed or open position;

receiving, via a vehicle controller, an input command signal to move the automated closure assembly along the path to the other of the closed or open position;

receiving, via the vehicle controller from a gesture-sensitive sensor, signals indicative of a location and a velocity of an object moving within a supervision field; and

responsive to a determination that the object location is inside a protected zone within the supervision field or the object velocity is towards the protected zone, commanding the automated driving mechanism to;

slow a speed of the automated closure assembly while moving along the path;

responsive to a determination that the object location is inside the protected zone after a calibrated period of time, stop the automated closure assembly; and

responsive to a determination that the object location is no longer inside the protected zone, increase the speed of the automated closure assembly to a default speed,

wherein the protected zone includes a first volume defined by a projected area between the compartment opening and the closure assembly, and

wherein the supervision field includes the first volume and a second volume, the second volume including a projected area along an outer perimeter of the compartment opening.

2. The method of claim 1, wherein the signals output by the gesture-sensitive sensor include a measurement batch with an ambient measurement of ambient light conditions within the supervision field and an actual measurement of light reflected off the object.

3. The method of claim 1, wherein the gesture-sensitive sensor includes first and second infrared (IR) emitters, the first and second IR emitters cooperatively generating the supervision field and the second IR emitter generating the protected zone.

4. The method of claim 1, wherein a reaction time between receiving of the gesture-sensitive sensor signals and the slowing of the speed of the automated closure assembly is approximately 235 milliseconds or less.

5. The method of claim 1, wherein the gesture-sensitive sensor includes an infrared (IR) transceiver with a matrix of receiver cells, the method further comprising setting up batch multi-channel measurements including configuring the gesture-sensitive sensor to aggregate measurements from all of the receiver cells into a data vector.

6. The method of claim 1, further comprising, responsive to a determination that the object location is inside the protected zone before expiration of a calibrated period of time, setting up a bi-channel measurement including configuring the gesture-sensitive sensor to aggregate measurements for noise and ambient light cancellation.

7. The method of claim 1, wherein the automated driving mechanism slows the speed of the automated closure assembly prior to the object location being inside the protected zone.

8. The method of claim 1, wherein the automated driving mechanism stops the automated closure assembly prior to the object location being inside the protected zone.

9. The method of claim 1, further comprising executing a loop control subroutine operable to synchronize a timing sequence of all operations in the method.

10. The method of claim 1, wherein receiving the signals indicative of the object location and velocity is responsive to:

a determination that the automated closure assembly is in the open position and receiving an input command to move the automated closure assembly to the closed position.

11. The method of claim 1, wherein the automated closure assembly is a power liftgate, a power tailgate, a power vehicle door, a power window, a power sunroof, or a power collapsible roof.

12. A method for controlling operation of an automated closure assembly, the automated closure assembly being movable via an automated driving mechanism along a path between closed and open positions to respectively cover and uncover an opening to a compartment of a motor vehicle, the method comprising:

determining whether the automated closure assembly is in the closed or open position;

receiving, via a vehicle controller, an input command signal to move the automated closure assembly along the path to the other of the closed or open position;

receiving, via the vehicle controller from a gesture-sensitive sensor, signals indicative of a location and a velocity of an object moving within a supervision field;

determining, via the vehicle controller, the location and the velocity of the object from the gesture-sensitive sensor signals via triangulation digital signal processing, the location including position coordinates within the supervision field and the velocity including a speed magnitude and a direction of motion; and

responsive to a determination that the object location is inside a protected zone within the supervision field or the object velocity is towards the protected zone, commanding the automated driving mechanism to;

slow a speed of the automated closure assembly while moving along the path;

responsive to a determination that the object location is inside the protected zone after a calibrated period of time, stop the automated closure assembly; and

responsive to a determination that the object location is no longer inside the protected zone, increase the speed of the automated closure assembly to a default speed.

13. The method of claim 12, wherein the signals output by the gesture-sensitive sensor include a measurement batch with an ambient measurement of ambient light conditions within the supervision field and an actual measurement of light reflected off the object.

14. The method of claim 12, wherein the gesture-sensitive sensor includes first and second infrared (IR) emitters, the first and second IR emitters cooperatively generating the supervision field, and the second IR emitter generating the protected zone.

15. The method of claim 12, wherein the gesture-sensitive sensor includes an infrared (IR) transceiver with a matrix of receiver cells, the method further comprising setting up batch multi-channel measurements including configuring the gesture-sensitive sensor to aggregate measurements from all of the receiver cells into a data vector.

16. The method of claim 12, further comprising executing a loop control subroutine operable to synchronize a timing sequence of all operations in the method.

17. A method for controlling operation of an automated closure assembly, the automated closure assembly being movable via an automated driving mechanism along a path between closed and open positions to respectively cover and uncover an opening to a compartment of a motor vehicle, the method comprising:

determining whether the automated closure assembly is in the closed or open position;

receiving, via a vehicle controller, an input command signal to move the automated closure assembly along the path to the other of the closed or open position;

receiving, via the vehicle controller from a gesture-sensitive sensor, signals indicative of a location and a velocity of an object moving within a supervision field;

calculating, via the vehicle controller based on the gesture-sensitive sensor signals and in response to the object location being outside a protected zone and the velocity being towards the protected zone, a risk factor of the object obstructing the path and contacting the closure assembly while the closure assembly is moving;

responsive to a determination that the calculated risk factor exceeds a calibrated risk tolerance, commanding the automated driving mechanism to stop the automated closure assembly; and

responsive to a determination that the object location is inside a protected zone within the supervision field or the object velocity is towards a protected zone commanding the automated driving mechanism to;

slow a speed of the automated closure assembly while moving along the path;

responsive to a determination that the object location is inside the protected zone after a calibrated period of time, stop the automated closure assembly; and

responsive to a determination that the object location is no longer inside the protected zone, increase the speed of the automated closure assembly to a default speed.

18. The method of claim 17, wherein the gesture-sensitive sensor includes first and second infrared (IR) emitters, the first and second IR emitters cooperatively generating the supervision field, and the second IR emitter generating the protected zone.

19. The method of claim 17, wherein the gesture-sensitive sensor includes an infrared (IR) transceiver with a matrix of receiver cells, the method further comprising setting up batch multi-channel measurements including configuring the gesture-sensitive sensor to aggregate measurements from all of the receiver cells into a data vector.

20. The method of claim 17, further comprising executing a loop control subroutine operable to synchronize a timing sequence of all operations in the method.