Memory mirror control system for vehicles and the like

• US 4,929,878 A
• Filed: 06/27/1989
• Issued: 05/29/1990
• Est. Priority Date: 06/27/1989
• Status: Expired due to Term

• Current Assignee: Lear Automotive Dearborn, Incorporated (Lear Corporation)
• Original Assignee: United Technologies Automotive, Inc. (Lear Corporation)
• Inventors: Hansen, Randall F.
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US07/372,500
• Time in Patent Office: 336 Days
• Field of Search: 318/560, 318/562, 318/563, 318/565, 318/569, 318/575, 318/466, 318/467, 318/468, 318/286, 318/266, 318/34, 318/51, 318/53, 318/101, 364/424.05
• US Class Current: 318/560
• CPC Class Codes: G05B 19/371 the positional error is used to control continuously the servomotor according to its magnitude
• CPC Class Codes: G05B 2219/37462 Resistor, potentiometers
• CPC Class Codes: G05B 2219/41275 Two axis, x y motors controlled simultaneous, no contouring, quick move at 45-degrees
• CPC Class Codes: G05B 2219/45185 Auto mirror
• CPC Class Codes: G05B 2219/49143 Obstacle, collision avoiding control, move so that no collision occurs

Abstract

A mirror control system for electrically powered and positioned mirrors (FIG. 1) of the "memory" type for, for example, moving an automotive side view mirror from its current position to a desired "memory" position, and a special algorithm therefor (FIG. 2), which initially moves the mirror toward the final, desired position at a forty-five (45°) degree angle to the vertical and horizontal axes (NE, NW, SW or SE; FIG. 6), for a mirror whose two directional motors have equal speeds (X=Y). If no obstruction (e.g., the mirror'"'"'s edge) is encountered (FIG. 3), the mirror is moved by both motors until either the vertical or horizontal axis of the final position is encountered, at which axis intersection point the mirror is moved by only the appropriate one of the motors until the final point along the remaining axis is reached; this is the "normal" mode of the algorithm. However, if an obstruction is encountered (left side of FIG. 2; FIGS. 4 and 5), the mirror is moved at a 45° degree angle toward its center point (or a "safe" central position) until its reaches either the center point'"'"'s vertical (FIG. 4) or horizontal (FIG. 5) axis, and then a single motor is used until the center point is reached. THe analogous "normal" mode is then used to move the mirror to its final position. If the speeds of the horizontal axis and vertical axis direction motors are not equal (X≠Y, respectively), then the angle for the initial movement(s) is "arc tangent (Y÷X)".

Claims

1. In an electrically powered mirror control system, including

an electrically powered mirror of the "memory" type having at least two position motors driving it about two axes, a first axis (a) and a second axis (b), with each motor having an "on"/"off" switch associated therewith;

and

a memory module, in which at least one selected "memory" position (a_F, b_F) for the mirror with respect to the axes is encoded;

the improvement comprising;

mirror position sensor elements which produce electrical signals indicative of the position (a_X, b_Y) of the mirror with respect to the two axes at a particular point in time;

a computational and control module associated with said sensor elements, the memory module, the motors and the switches, and having comparators for comparing an initial position (a_I, b_I) of the mirror determined by said sensor elements with the "memory" position of the mirror and determining the relative direction of the "memory" position from the initial position, from the relative values of the positions with respect to the axes, and cyclically monitoring the sensed current position of the mirror from the signals from said sensor elements, and generating signals

turning both of the motors "on" through the switches in the directions which moves the mirror toward the "memory" position (a_F, b_F), monitoring the changing position (a_X, b_Y) of the mirror with respect to the axes by the comparators comparing the changing mirror position (a_X, b_Y) to the "memory" position (a_F, b_F), and maintaining both of the motors "on" until at least one of the relationships a_X =a_F and b_Y =b_F is satisfied;

turning "off" the motor which moves the mirror about the axis for which the relationship is satisfied; and

turning "off" the other motor when the other relationship is satisfied;

moving the mirror from its initial position (a_I, b_I) toward the "memory" position (a_F, b_F).

2. The improvement of claim 1, wherein:

the axes are orthogonal; and

the mirror moves with a forty-five (45°

) degree angle with respect to both of the axes in its initial movement from said initial position (a_L, b_L) initially toward the "memory" position (a_F, b_F).

3. The improvement of claim 1, wherein the position motors have differing rates of movement of the mirror about their respective axes, the horizontal axis one having a speed of "X" and the other, vertical axis motor having a speed of "Y" and wherein:

the mirror moves with an angle with respect to the horizontal axis of "arc tangent (Y÷

X)" in its initial movement from said initial position (a_L, b_L) initially toward the "memory" position (a_F, b_F).

4. The improvement of claim 1, wherein said computational and control module includes:

a sub-module which generates signals representative of a central position (a_C, b_C) of the mirror; and

, when said mirror engages an obstruction in its movement, said computational and control module further utilizing said comparators for comparing the obstructed position (a_O, b_O) of the mirror with respect to the central position of the mirror and determining the relative direction of the central position from the obstructed position by the comparators comparing the relative values of the positions with respect to said axes;

and further generates signals;

turning both said motors "on" through said switches in the directions which move the mirror toward the central position (a_C, b_C), monitoring the changing position (a_X, b_Y) of the mirror with respect to the axes by the comparators comparing the changing mirror position (a_X, b_Y) to the central position (a_C, b_C), and maintaining both of the motors "on" until at least one of the relationships a_X =a_C and b_Y =b_C is satisfied;

turning "off" the motor which moves the mirror about the axis for which the relationship is satisfied; and

continuing the other motor "on" at least until the other relationship is satisfied;

said comparators of said computational and control module further comparing the central position of the mirror with respect to the "memory" position (a_F, b_F) of the mirror and said computational and control module determining the relative direction of the "memory" position from the current, central position (a_C, b_C), said computational and control module further generating signals

turning the "off" motor(s) "on" through said switches in the directions which moves the mirror toward the "memory" position (a_F, b_F), monitoring the changing position (a_X, b_Y) of the mirror with respect to the axes by comparing the changing mirror position (a_X, b_Y) to the "memory" position (a_F, b_F), and maintaining both of the motors "on" until at least one of the relationships a_X =a_F and b_Y =b_F is satisfied;

turning "off" the motor which moves the mirror about the axis for which the relationship is satisfied; and

turning "off" the other motor when the other relationship is satisfied;

moving the mirror from its initial position (a_I, b_I) to its "memory" position (a_F, b_F).

5. The improvement of claim 4, wherein:

the axes are orthogonal; and

the mirror moves with a forty-five (45°

) degree angle with respect to both of the axes in its movement from said initial position (a_L, b_L) initially toward the "memory" position (a_F, b_F).

6. The improvement of claim 4, wherein:

the axes are orthogonal; and

the mirror moves with a forty-five (45°

) degree angle with respect to both of the axes in its initial movement from said central position (a_C, b_C) initially toward the "memory" position (a_F, b_F).

7. The improvement of claim 4, wherein said position motors have differing rates of movement of the mirror about their respective axes, the horizontal axis one having a speed of "X" and the other, vertical axis motor having a speed of "Y" and wherein:

the mirror moves with an angle with respect to the horizontal axis of "arc tangent (Y÷

X)" in its movement from said initial position (a_L, b_L) initially toward the "memory" position (a_F, b_F).

8. The improvement of claim 4, wherein said position motors have differing rates of movement of the mirror about their respective axes, the horizontal axis one having a speed of "X" and the other, vertical axis motor having a speed of "Y" and wherein:

the mirror moves with an angle with respect to the horizontal axis of "arc tangent (Y÷

X)" in its initial movement from said central position (a_C, b_C) initially toward the "memory" position (a_F, b_F).

9. The improvement of claim 4, wherein:

the obstruction is indicated when, over a period of time covering a multiple number of cycles, the sensed current mirror position being measured by the sensor elements remains constant (a_X =k₁ and b_Y =k₂, where k₁ and k₂ are constants).

10. The improvement of claim 4, wherein:

said central position is the center of the mirror in its neutral, mid-way position.

11. A method of controlling the movement of an electrically powered mirror including

an electrically powered mirror of the "memory" type having at least two direction motors driving it about two axes, a first axis (a) and a second axis (b), with each motor having an "on"/"off" switch associated therewith;

mirror position sensor elements which produce electrical signals indicative of the current position (a_X, b_Y) of the mirror with respect to the two axes;

a memory module, in which at least one selected "memory" position (a_F, b_F) for the mirror with respect to the axes is encoded; and

a computational and control module associated with the sensor elements, the memory module, the motors and the switches and having comparators, comprising the following steps;

(a) comparing the initial position (a_L, b_L) of the mirror with the "memory" position of the mirror and determining the relative direction of the "memory" position from the initial position, from the relative values of the positions with respect to the axes, and generating signals;

(b) turning both of the motors "on" through the switches in the directions which moves the mirror toward the "memory" position (a_F, b_F), cyclically monitoring the changing position (a_X, b_Y) of the mirror with respect to the axes from the signals from the sensor elements and using the comparators to compare the changing mirror position (a_X, b_Y) to the "memory" position (a_F, b_F) on a cyclical basis, and maintaining both of the motors "on" until at least one of the relationships a_X =a_F and b_Y =b_F is satisfied;

(c) turning "off" the motor which moves the mirror about the axis for which the relationship is satisfied; and

(d) turning "off" the other motor when the other relationship is satisfied;

moving the mirror from its initial position (a_L, b_L) toward the "memory" position (a_F, b_F).

12. The method of claim 11, wherein the axes are orthogonal;

and wherein in step "b" there is included the step of;

moving the mirror in a forty-five (45°

) degree angle with respect to both of the axes in its initial movement from said initial position (a_L, b_L) initially toward the "memory" position (a_F, b_F).

13. The method of claim 11, wherein the direction motors have differing rates of movement of the mirror about their respective axes, the horizontal axis one having a speed of "X" and the other, vertical axis motor having a speed of "Y" and wherein:

the mirror moves with an angle with respect to the horizontal axis of "arc tangent (Y÷

X)" in its movement from its initial position (a_L, b_L) initially toward the "memory" position (a_F, b_F).

14. The method of claim 11, wherein the computational and control module includes a sub-module which generates signals representative of a central position (a_C, b_C) of the mirror;

and wherein there is included the further sub-steps of;

when said mirror engages an obstruction in its movement, comparing the obstructed position (a_O, b_O) of the mirror with the central position of the mirror utilizing the comparators and determining the relative direction of the central position from the obstructed position by comparing the relative values of the positions with respect to the axes; and

turning both said motors "on" through said switches in the direction which move the mirror toward the central position (a_C, b_C), monitoring the changing position (a_X, b_Y) of the mirror with respect to the axes by the comparators comparing the changing mirror position (a_X, b_Y) to the central position (a_C, b_C), and maintaining both of the motors "on" until at least one of the relationships a_X =a_C and b_Y =b_C is satisfied;

turning "off" the motor which moves the mirror about the axis for which the relationship is satisfied; and

continuing the other motor "on" at least until the other relationship is satisfied; and

further comparing the central position of the mirror with respect to the "memory" position (a_F, b_F) of the mirror and determining the relative direction of the "memory" position from the current, central position (a_C, b_C); and

turning the "off" motor(s) "on" through said switches in the directions which moves the mirror toward the "memory" position (a_F, b_F), monitoring the changing position (a_X, b_Y) of the mirror with respect to the axes by comparing the changing mirror position (a_X, b_Y) to the "memory" position (a_F, b_F), and maintaining both of the motors "on" until at least one of the relationships a_X =a_F and b_Y =b_F is satisfied;

turning "off" the motor which moves about the axis for which the relationship is satisfied; and

turning "off" the other motor when the other relationship is satisfied;

moving the mirror from its initial position (a_I, b_I) to its "memory" position (a_F, b_F).

15. The method of claim 14, wherein the axes are orthogonal;

and wherein in step "b" there is included the step of;

moving the mirror in a forty-five (45°

) degree angle with respect to both of the axes in its movement from said initial position (a_L, b_L) initially toward the "memory" position (a_F, b_F).

16. The method of claim 14, wherein the direction motors have differing rates of movement of the mirror about their respective axes, the horizontal axis one having a speed of "X" and the other, vertical axis motor having a speed of "Y" and wherein:

the mirror moves with an angle with respect to the horizontal axis of "arc tangent (Y÷

X)" in its movement from said initial position (a_L, b_L) initially toward the "memory" position (a_F, b_F).

17. The method of claim 14, wherein the direction motors have differing rates of movement of the mirror about their respective axes, the horizontal axis one having a speed of "X" and the other, vertical axis motor having a speed of "Y" and wherein:

the mirror moves with an angle with respect to the horizontal axis of "arc tangent (Y÷

X)" in its movement from said central position (a_C, b_C) initially toward the "memory" position (a_F, b_F).

18. The method of claim 14, wherein there is included the step of:

determining if, over a period of time covering a multiple number of cycles, the sensed current mirror position being measured by the sensor elements remains constant (a_X =k₁ and b_Y =k₂, where k₁ and k₂ are constants) and, when the position so remains constant and at least one motor is "on," initiating said sub-steps.