(12) United States Patent
`Lamm et al.
`
`(10) Patent No.:
`(45) Date of Patent:
`
`US 6,408,238 B1
`Jun. 18, 2002
`
`III1111111111111 1111111111111110 1110 iiri11im HI
`
`(54) METHOD AND APPARATUS OF
`CONTROLLING A SLIDING ROOF
`
`(75)
`
`Inventors: Hubert Lamm, Kappelrodeck; Guenter
`Haderer, Buehl, both of (DE)
`
`(73) Assignee: Robert Bosch GmbH, Stuttgart (DE)
`
`( *) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`
`(21) Appl. No.:
`
`09/486,035
`
`(22) PCT Filed:
`
`May 27, 1999
`
`(86) PCT No.:
`
`PCT/DE99/01552
`
`§ 371 (c)(1),
`(2), (4) Date: May 12, 2000
`(87) PCT Pub. No.: W099/65717
`
`PCT Pub. Date: Dec. 23, 1999
`Foreign Application Priority Data
`
`(30)
`
`Jun. 18, 1998
`
`(DE)
`
`Int. Cl.7
`(51)
`(52) U.S. Cl.
`(58) Field of Search
`
`198 27 110
`
`HO2H 7/085; B60J 7/057
`701/49; 701/36
`701/36, 49; 324/468,
`324/469, 283; 49/26, 28
`
`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`
`5,723,960 A * 3/1998 Harada
`5,801,501 A * 9/1998 Redelberger
`5,977,732 A * 11/1999 Matsumoto
`6,239,610 Bl *
`5/2001 Knecht et al.
`
`318/469
`318 /283
`318/283
`324/772
`
`FOREIGN PATENT DOCUMENTS
`
`DE
`JP
`JP
`WO
`
`196 15 123
`7/1997
`59 190020
`10/1984
`2/1998
`10054175
`WO-39508 Al * 10/1997
`
`* cited by examiner
`
`Primary Examiner -Michael J. Zanelli
`(74) Attorney, Agent, or Firm -Kenyon & Kenyon
`
`(57)
`
`ABSTRACT
`
`A method of controlling a sliding roof, where braking of a
`vehicle is detected by a controller of the sliding roof device,
`and the pinch protection, i.e., the closing force limiter, is
`corrected so that faulty reversal of the sliding roof is
`suppressed when the vehicle is decelerating and the roof is
`being closed at the same time.
`
`10 Claims, 2 Drawing Sheets
`
`20
`
`32.
`
`Ring
`memory
`
`Electronic
`analyzer
`
`28
`
`10
`
`130 18
`
`

`
`(12) United States Patent
`Lamm et al.
`
`1111111111111111111111111111111 I I I I I 1111111111 I I I I I 11111111111111111111111
`US006408238B1
`US 6,408,238 Bl
`Jun. 18, 2002
`
`(10) Patent No.:
`(45) Date of Patent:
`
`(54) METHOD AND APPARATUS OF
`CONTROLLING A SLIDING ROOF
`
`(75)
`
`Inventors: Hubert Lamm, Kappelrodeck; Guenter
`Haderer, Buehl, both of (DE)
`
`(73) Assignee: Robert Bosch GmbH, Stuttgart (DE)
`
`( *) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`
`(21) Appl. No.:
`
`09/486,035
`
`(22) PCT Filed:
`
`May 27, 1999
`
`(86) PCT No.:
`
`PCT /DE99/01552
`
`§ 371 (c)(1),
`(2), (4) Date: May 12, 2000
`
`(87) PCT Pub. No.: W099/65717
`
`PCT Pub. Date: Dec. 23, 1999
`Foreign Application Priority Data
`
`(30)
`
`(DE)
`
`Jun. 18, 1998
`Int. Cl.'
`(51)
`(52) U.S. Cl.
`(58) Field of Search
`
`198 27 110
`
`H02H 7/085; B60J 7/057
`701/49; 701/36
`701/36, 49; 324/468,
`324/469, 283; 49/26, 28
`
`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`
`5,723,960 A *
`3/1998 Harada
`5,801,501 A *
`9/1998 Redelberger
`5,977,732 A * 11/1999 Matsumoto
`6,239,610 Bl *
`5/2001 Knecht et al.
`
`318/469
`318/283
`318/283
`324/772
`
`FOREIGN PATENT DOCUMENTS
`
`DE
`JP
`JP
`WO
`
`196 15 123
`7/1997
`59 190020
`10/1984
`2/1998
`10054175
`WO-39508 Al * 10/1997
`
`* cited by examiner
`
`Primary Examiner - Michael J. Zanelli
`(74) Attorney, Agent, or Firm -Kenyon & Kenyon
`
`(57)
`
`ABSTRACT
`
`A method of controlling a sliding roof, where braking of a
`vehicle is detected by a controller of the sliding roof device,
`and the pinch protection, i.e., the closing force limiter, is
`corrected so that faulty reversal of the sliding roof is
`suppressed when the vehicle is decelerating and the roof is
`being closed at the same time.
`
`10 Claims, 2 Drawing Sheets
`
`20
`
`32.
`
`Ring
`memory
`
`Electronic
`analyzer
`
`28
`
`10
`
`(12
`
`16
`
`130 18
`
`14
`
`UUSI, LLC
`Exhibit 2026
`1/6
`
`

`
`U.S. Patent
`
`Jun. 18, 2002
`
`Sheet 1 of 2
`
`US 6,408,238 Bl
`
`20
`
`32'
`Ring
`memory
`
`Electronic
`analyzer
`
`28
`
`@
`
`10-7
`
`22
`
`24
`
`26
`
`-1 7
`30 18
`
`Fig.
`
`1
`
`Tachometer
`Signals
`
`vi ,
`
`i=1...n
`
`a
`Cl, i=1...k
`k=n-1
`
`Fig. 2
`
`S2
`
`S1
`
`UUSI, LLC
`Exhibit 2026
`2/6
`
`

`
`U.S. Patent
`
`Jun. 18, 2002
`
`Sheet 2 of 2
`
`US 6,408,238 Bl
`
`15
`
`TERMINAL
`ESTABLISHING
`CONTACT BY
`USING IGNITION
`KEY
`
`10
`
`28
`
`Establishing
`Contact
`
`22 24-
`
`o
`
`26 -"Fl
`17
`30 18
`
`Ring
`memory
`
`Electronic
`analyzer
`
`Fig. 3
`
`UUSI, LLC
`Exhibit 2026
`3/6
`
`

`
`US 6,408,238 Bl
`
`1
`METHOD AND APPARATUS OF
`CONTROLLING A SLIDING ROOF
`
`BACKGROUND INFORMATION
`
`The present invention is based on a method of controlling
`a sliding roof.
`A method of electronic monitoring of an adjusting drive
`arranged in a motor vehicle, in particular a sliding roof drive,
`is known from German Published Patent Application No.
`196 15 123, where a measured quantity detected by a sensor
`in closing the roof is compared with a threshold value for the
`closing force limiter for the purpose of guaranteeing, pinch
`protection, and when the threshold value is reached, the
`drive motor is turned off and /or reversed. Reaching, the
`threshold value thus represents a pinch criterion and leads to
`release of the object, such as an arm or neck, pinched
`between the adjusting part and a stop of the adjusting part.
`In addition, the threshold value is adapted to the speed -
`dependent force and pressure conditions on the adjusting
`part, i.e., the sliding roof cover, in that the vehicle velocity
`is analyzed by using a tachometer signal sent to the adjusting
`drive. This prevents unwanted triggering of the closing,
`force limiter, i.e., the pinch protection, because of the forces
`occurring on the adjusting part at high speeds without there
`being an actual pinch situation. Consequently, threshold
`values can be adjusted as a function of speed.
`However, this does not detect acceleration of the vehicle,
`e.g., full braking. The closing of a sliding, roof takes place
`more easily in negatively accelerated systems than in unac-
`celerated systems. This leads to the problem that the positive
`acceleration of the sliding roof cover in the closing direction
`caused by a negative acceleration of the vehicle during the
`closing operation of a sliding roof and consequently also the
`related increase in rotational speed of the drive motor are not
`detected. A subsequent reduction in acceleration, in particu-
`lar due to stopping the vehicle, leads to a reduction in
`rotational speed of the sliding roof motor. This reduction in
`rotational speed is interpreted as a pinch criterion, so the
`pinch protection responds and the sliding roof is stopped
`and /or reversed in an unwanted manner.
`
`2
`values are determined by forming the difference in an
`electronic analyzer.
`The determination of a pinch situation is based, for
`example, on a determination of the rotational speed of a
`5 motor armature shaft and a comparison of the rotational
`speed with a threshold value for the closing force limiter, so
`that a correction of the pinch protection is performed by
`correcting the threshold value, preferably increasing it.
`
`io
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`FIG. 1 shows a block diagram of the device for control-
`ling a sliding roof.
`FIG. 2 shows a flow chart for one embodiment of the
`15 method according to the present invention for controlling a
`sliding roof.
`FIG. 3 shows a flow chart for an alternative embodiment
`of the method according to the present invention for con-
`trolling a sliding roof.
`
`20
`
`35
`
`40
`
`DETAILED DESCRIPTION
`FIG. 1 shows a schematic diagram of a device for
`controlling a sliding roof with a controller 10 which an
`electric drive motor 12 for moving a sliding roof 14 within
`25 an adjustment path. Sliding roof 14 closes or opens a sliding
`roof opening 16. A sensor 18, e.g., a Hall sensor or an
`incremental value pickup that delivers rpm- dependent
`pulses 30 to controller 10 for determination of the position
`and /or rotational speed of sliding roof 14 is arranged on
`30 motor 12. These pulses are compared with a threshold value
`S in a comparator 26 to guarantee pinch protection.
`In one embodiment, additional input signals 32 from a
`tachometer 20 are sent to controller 10 as a means for
`detecting the vehicle speed, are stored temporarily in a ring
`memory 22 of controller 10 and are analyzed in an electronic
`analyzer 24 of controller 10 to detect braking of the vehicle.
`In addition, a setpoint position of sliding roof 14 is
`preselected by an operating element 28, thus causing the
`roof to be opened or closed by the user. Determination of the
`rotational speed of motor 12 is usually used for regulating
`the position or rotational speed of sliding, roof 14 by
`controller 10 according to the setpoint preselected by the
`user.
`The device of the present invention may also be used to
`control a sliding roof, preferably on a motor vehicle, having
`a reversible drive motor (12) and a controller (10) for
`controlling the motor (12) having a pinch protection (18,30,
`26) and also having means (20) for detecting the vehicle
`speed and /or acceleration of the vehicle, where the means
`(20) deliver signals (32) to the controller (10). According to
`one aspect of the present invention, a tachometer of the
`vehicle can be used as the means (20) for detecting the
`vehicle speed and /or acceleration of the vehicle. The con-
`troller (10) detects braking of the vehicle, in particular full
`braking, on the basis of the signals (32) and corrects the
`pinch protection on the basis thereof.
`FIG. 2 shows a flow chart for detecting negative accel-
`eration a of the vehicle from tachometer signals 32.
`The method according to the present invention will now
`be described on the basis of the device according to FIG. 1.
`In the first step, the start of the method is initiated by
`establishing contact (terminal 15) by using an ignition key in
`the ignition lock, for example, or controller 10 receives
`tachometer signals 32. Input signals 32 are usually in the
`form of a pulse train which is assigned a time base in
`controller 10, so that speed values v can be calculated from
`
`45
`
`50
`
`55
`
`SUMMARY OF THE INVENTION
`The method according to the present invention has the
`advantage that braking of a vehicle is detected by a con-
`troller of the sliding roof device, and the pinch protection,
`i.e., the closing force limiter, is corrected so that faulty
`reversal of the sliding roof is suppressed when the vehicle is
`decelerating or stops in particular while the roof is closing.
`It is especially advantageous that the controller deter-
`mines from the input signals at least one acceleration value
`of the vehicle and compares this value with a limit value.
`Reaching the limit value is interpreted as full braking of the
`vehicle and leads to correction of the pinch protection. This
`correction of the pinch protection is reversed by the con-
`troller after braking.
`The method is improved because not only one accelera-
`tion value is used but instead a plurality of acceleration
`values is used, preferably two, each of which is compared
`with a predetermined limit value. On reaching both limit
`values, full braking of the vehicle is then deduced and the
`pinch protection is corrected.
`Preferably the acceleration values are obtained from a
`speed signal in particular a tachometer signal which is sent 65
`to the controller. The tachometer signals are stored tempo-
`rarily in succession in a ring memory. The acceleration
`
`60
`
`UUSI, LLC
`Exhibit 2026
`4/6
`
`

`
`US 6,408,238 Bl
`
`.
`
`.
`
`3
`this pulse train. Speed values v, (i =1, ... n) determined
`successively in constant time intervals are stored tempo-
`rarily in ring memory 22. This ring memory is designed for
`n places, so that after a startup phase, the n memory places
`in ring memory 22 are occupied by v1 through v speed
`values. According to one aspect of the present invention, the
`predetermined number (n) is greater than three and less than
`six. With each successive new speed value vri+1 ring memory
`22 is updated by the allocation v,,,l
`In the following step, electronic analyzer 24 determines a
`total of k acceleration values a, (i =1, ... k and k =n -1) from
`the differences in n speed values vL1 v,. Thus, with n =3
`speed values v1, v2, v3, in ring memory 22, k =2 acceleration
`values a1, a2 are formed in electronic analyzer 24. These
`have a negative value in the case of braking of the vehicle.
`Resulting acceleration values ai are compared with limit
`. k) deposited in controller 10. For
`values Gi (i =1,
`example, if all acceleration values ai or all except one are
`greater than respectively predetermined limit values Gi, no
`critical braking of the vehicle, in particular full braking, is
`detected by controller 10, i.e., the vehicle acceleration is in
`a noncritical range with respect to pinch protection. Thus,
`the parameters for the pinch protection of sliding roof 14
`remain unchanged. Any correction of the pinch protection
`(identifier for a closing force limiter) that might have been
`set previously is deleted.
`If all acceleration values ai (negative value) are below all
`predetermined limit values Gi, then controller 10 recognizes
`a critical vehicle braking, e.g., full braking, and sets an
`identifier for the closing force limiter, i.e., corrects one or
`more parameters for the pinch protection.
`A possible pinch protection and the changes caused by the
`identifier are described below as an example. For the pur-
`pose of detecting a pinch situation, sensor 18 is mounted on
`a moving, part of motor 12, for example on the motor shaft
`or a drive gear, so that it detects characteristic quantities 30
`as a function of the adjusting motion of sliding roof 14.
`Characteristic quantity 30 is a measure of the rotational
`speed of the motor armature shaft, for example. According
`to another aspect of the present invention, the characteristic
`quantity (30) is a motor current, a motor rotational speed, a
`torque or displacement pulses or a quantity derived from
`them. Characteristic quantity 30 is sent to controller 10 and
`is analyzed with regard to a pinch situation. Apinch situation
`occurs due to, for example, an arm or any other object
`coming between roof edge 16 and sliding roof 14 while the
`roof is closing and a pinching force or closing force being
`exerted on the object by sliding roof 14. A pinch protection
`guarantees that the pinching force exerted on the object will
`remain below a predetermined threshold value Sl, taking
`into account statutory standards and regulations. Motor 12 is
`usually stopped or reversed in reaction to a known pinch
`situation and sliding roof 14 is opened again. Thus, the
`pinched object is released.
`With a pinch protection with analysis of the rotational
`speed, rotational speed 30 is compared with the predeter-
`mined threshold value. Rotational speed 30 is correlated
`with the torque exerted by way of the motor characteristics
`map and thus the applied motor voltage. The torque is in a
`linear relationship with the adjusting force of roof 14 and
`thus also the pinching force in a pinch case.
`In an unaccelerated motor vehicle, threshold value S1
`corresponds to the threshold values stipulated by law, e.g., a
`pinch force of 100 newtons.
`In an accelerated motor vehicle, the acceleration also acts
`on sliding roof 14 and thus indirectly also on rotational
`
`5
`
`2 0
`
`25
`
`4
`speed 30 of the motor armature shaft in the closing of sliding
`roof 14. With a negative acceleration a, rotational speed 30
`is increased. Thus, if the vehicle comes to a standstill after
`negative acceleration a, rotational speed 30 of motor 12 is
`reduced again. This is erroneously detected by the controller
`as a pinch situation and leads to a faulty reversal of sliding
`roof 14.
`This behavior also occurs with a great positive accelera-
`tion of the motor vehicle, e.g., rapid starting of the vehicle
`to and a sensitive setting of the pinch protection. Due to the
`method according to the present invention, unwanted rever-
`sal here can also be prevented.
`If controller 10 then detects a negative acceleration by the
`method according to FIG. 2, then setting an identifier for the
`15 closing force limiter causes inactivation of the pinch
`protection, for example, or selection of another corrected
`threshold value S2. Additional threshold value S2 is then
`lower than uncorrected threshold value Si.
`Limit values Gi, with which acceleration values ai are
`compared, are determined experimentally in advance with
`different sliding roofs 14 and different vehicles for the
`purpose of optimizing the method according to the present
`invention. Then the mass of sliding roof 14, inter alia, enters
`into this optimization as a parameter. For reliable detection
`of braking of the vehicle, preferably at least two acceleration
`values and at most five acceleration values are calculated
`and stored in electronic analyzer 24.
`The method according to the present invention can be
`30 used not only with a sliding roof 14 but also with a sliding
`and lifting roof, automatic window winders, swing -out
`windows, etc., where acceleration of the vehicle -either
`positive or negative -has an unwanted effect on pinch
`protection.
`In an alternative embodiment, a displacement sensor is
`arranged on the brake pedal of the motor vehicle instead of
`using a tachometer 20. This displacement sensor thus detects
`actuation of the vehicle brake based on a time base. Rapid
`or slow actuation of the vehicle brake, i.e.. the brake pedal,
`40 can thus be differentiated and full braking of the vehicle can
`be detected by controller 10. The closing force limiter is then
`corrected as described above.
`What is claimed is:
`1. A method of controlling a sliding roof disposed on a
`45 motor vehicle and including a controller, a reversible drive
`motor that provides a pinch protection and is controlled by
`the controller, and a detection arrangement for detecting at
`least one of a vehicle speed and a vehicle acceleration,
`comprising the steps of:
`causing the detection arrangement to deliver signals to the
`controller;
`causing the controller to sense a braking of the vehicle on
`the basis of the delivered signals; and
`causing the controller to correct the pinch protection on
`the basis of the delivered signals.
`2. The method according to claim 1, wherein the braking
`corresponds to a full braking.
`3. The method according to claim 1, wherein the control-
`ler:
`determines from the delivered signals an acceleration
`value at least in the braking,
`compares the acceleration value with at least one limit
`value, and
`corrects the pinch protection on reaching the limit value.
`4. The method according to claim 1, wherein:
`the delivered signals are sent to the controller in cycles,
`
`35
`
`50
`
`55
`
`6 0
`
`65
`
`UUSI, LLC
`Exhibit 2026
`5/6
`
`

`
`US 6,408,238 Bl
`
`5
`the delivered signals correspond to speed values of the
`vehicle,
`a predetermined number of the speed values is stored
`temporarily in a ring memory of the controller, and
`an electronic analyzer of the controller forms acceleration
`values from differences of respective speed values.
`5. The method according to claim 4, wherein:
`the predetermined number is greater than three and less
`than six.
`6. The method according to claim 1, further comprising
`the steps of:
`causing a sensor to detect at least one load- dependent
`characteristic quantity;
`sending the at least one load- dependent characteristic
`quantity to the controller;
`comparing the at least one load- dependent characteristic
`quantity with a first threshold value in the controller;
`detecting a pinch situation as a function of a result of the
`comparison;
`triggering the pinch protection; and
`causing the controller to set a second, corrected threshold
`value for a second, corrected pinch protection when the
`vehicle is braked.
`7. The method according to claim 6, wherein:
`the pinch protection corresponds to a reversing of the
`motor.
`
`5
`
`6
`8. The method according to claim 6, wherein:
`the at least one load- dependent characteristic quantity is
`one of a motor current, a motor rotational speed, a
`torque, displacement pulses, and a quantity derived
`from the motor current, the motor rotational speed, the
`torque, and the displacement pulses.
`9. A device for controlling a sliding roof disposed on a
`motor vehicle and including a controller, a reversible drive
`ro motor that provides a pinch protection and is controlled by
`the controller, and a detection arrangement including a
`tachometer for detecting at least one of a vehicle speed and
`a vehicle acceleration, comprising:
`an arrangement for causing the detecting arrangement to
`deliver signals to the controller;
`an arrangement for causing the controller to sense a
`braking of the vehicle on the basis of the delivered
`signals; and
`an arrangement for causing the controller to correct the
`pinch protection on the basis of the delivered signals.
`10. The device according to claim 9, wherein the con-
`troller includes:
`a ring memory for storing the delivered signals, and
`an electronic analyzer for calculating the acceleration
`from the delivered signals
`
`15
`
`25
`
`UUSI, LLC
`Exhibit 2026
`6/6