Adaptive control system for automated vehicle applications

• US 8,428,828 B2
• Filed: 03/05/2009
• Issued: 04/23/2013
• Est. Priority Date: 03/05/2009
• 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., Kollar, Craig A., Ostrowski, Artur J., Pietryga, Brad L., Sanocki, Edward M. Jr., Wessollek, Hans-Georg, Johnston, Carol A., Rasel, Wolfgang
• Primary Examiner(s): Rocca, Joseph
• Assistant Examiner(s): GOODEN JR, BARRY J
• Application Number:
  US12/398,345
• Publication Number:
  US 20100228447A1
• Time in Patent Office: 1,510 Days
• Field of Search: 701/36, 701/49
• US Class Current: 701/49
• CPC Class Codes: B60J 7/0573 power driven arrangements, e.g. electrical
• CPC Class Codes: E05F 15/41 Detection by monitoring transmitted force or torque E05F15/48 takes precedence; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
• CPC Class Codes: E05Y 2400/55 by using load sensors
• CPC Class Codes: E05Y 2800/73 Multiple functions
• CPC Class Codes: E05Y 2900/546 Tailboards, tailgates or sideboards opening upwards

Abstract

An apparatus is provided for controlling an automated closure panel in a vehicle. The apparatus includes a command module configured to generate a control signal. A motor is configured to actuate the automated closure panel based upon the control signal. A motor sensor is configured to measure an output characteristic of the motor, with the motor sensor having a motor sensor output signal. An adaptive logic module is coupled to the command module and to the motor sensor. The adaptive logic module is configured to provide an output to the command module to thereby adjust the control signal, wherein the adaptive logic module is configured to determine when the automated closure panel is obstructed by an obstacle based upon the motor sensor output signal.

Claims

1. A control system for an automated closure panel in a vehicle comprising:

a command module comprising a control module and an output module,

wherein the control module is configured to generate a control signal based on a calibrated kinematic data model of an operating behavior pattern of the automated closure device,

wherein the output module is configured to modify the control signal based on sensed operating conditions;

a motor configured to actuate the automated closure panel based upon the control signal;

a position sensor configured to provide a position sensor output signal indicating a position of the automated closure panel;

a motor sensor configured to measure an output characteristic of the motor, the motor sensor having a motor sensor output signal; and

an adaptive logic module coupled to the command module, to the position sensor, and to the motor sensor, wherein the adaptive logic module comprises a neural network configured to recognize deviations from the calibrated kinematic data model of the operating behavior pattern of the automated closure device based on changes in the motor sensor output signal and changes in the position sensor output signal, the neural network is configured to provide an output signal to the output module, which modifies the control signal based on the deviations that determines when the automated closure panel is obstructed by an obstacle based upon the motor sensor output signal.

2. The control system of claim 1 wherein the command module comprises a pulse width modulation module configured to drive the motor using a pulse width modulation technique.

3. The control system of claim 1 wherein the automated closure panel is an automated liftgate.

4. The control system of claim 1 wherein the motor is a hydraulic pump motor for a hydraulic pump, and the automated closure panel is a hydraulic powered device.

5. The control system of claim 4 wherein the motor sensor is a pressure sensor configured to measure an output hydraulic pressure of the hydraulic pump.

6. The control system of claim 1 wherein the motor is an electric motor and the automated closure panel is mechanically actuated by an actuator coupled to the electric motor.

7. The control system of claim 6 wherein the motor sensor is a current sensor configured to measure an electrical current supplied to the electric motor and wherein the electrical current is proportional to a force exerted by the electric motor.

8. The control system of claim 1, wherein the position sensor is communicatively coupled to the adaptive logic module and sends the position sensor output signal to the adaptive logic module.

9. The control system of claim 8 wherein the adaptive logic module further comprises a fuzzy logic module configured to receive an output from the neural network.

10. The control system of claim 8 wherein the position sensor is an accelerometer connected to the automated closure panel and is configured to measure relative movement of the automated closure panel.

11. The control system of claim 8 further comprising a conversion module communicatively coupled to the adaptive logic module and configured to convert the motor sensor output signal and the position sensor output signal to a frequency spectrum signal, wherein the adaptive logic module is configured to receive a digital format signal.

12. The control system of claim 11 wherein the conversion module is a fast Fourier transform module configured to perform a fast Fourier transform of the motor sensor output signal and the position sensor output signal.

13. A vehicle comprising:

an automated device that is actuated by a motor;

a motor sensor having a motor sensor output signal that is related to an output characteristic of the motor;

a position sensor having a position sensor output signal that is related to a position of the automated device; and

a feedback control module comprising;

an adaptive logic module comprising a neural network configured with a calibrated kinematic model of an operating behavior of the automated device and further configured to recognize deviations in the calibrated operating behavior pattern of the automated closure device based on the motor sensor output signal and the position sensor output signal and configured to determine when the automated device is obstructed by an obstacle based on the deviations; and

a command module communicatively coupled to the adaptive logic module and configured to generate a control signal to drive the motor based on a comparison of the motor sensor output signal and the position sensor signal to a stored operating behavior pattern from the kinematic model of the automated device.

14. The vehicle of claim 13 wherein the automated device is selected from a group consisting of:

an automated liftgate, an automated sliding door, an automated hinged door, an automated trunk lid, and an automated folding seat.

15. A method of controlling an automated device in a vehicle via neural network, wherein the automated device is actuated by a motor, the method comprising:

receiving input data by the neural network related to a load on the motor and to a position of the automated device;

processing the input data by identifying frequency patterns in the input data;

comparing the input data patterns to a kinematic data model of an operating behavior of the automated device;

determining if the automated device is obstructed by an obstacle based on identifying deviations from the kinematic data model of the operating behavior by the patterns in the input data; and

driving the motor based upon the determination of whether the automated device is obstructed.

16. The method of claim 15 wherein the processing includes converting the input data into frequency components prior to the pattern recognition module identifying patterns.

17. The method of claim 15, wherein the pattern recognition module includes the neural network.