# US 12,005,765 B2 · Open roof assembly for use in a vehicle and a method for operating same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,765 B2 - Document ID: US12005765B2 - Status: Granted - Kind: B2 - Application number: 17/122,750 - Filed: 2020-12-15 - Published: 2021-06-17 - Granted: 2024-06-11 - Earliest claimed: 2019-12-17 - Assignees: Inalfa Roof Systems Group B.V. - Applicants: Inalfa Roof Systems Group B.V. - Inventors: Dennie Wilhelmus Hendrikus Craane; Marco Van Mourik - Web page: https://patentgrep.com/patent/US12005765B2 ## CPC - B60J 7/043: Sunroofs (B60J7/047 - B60J7/053 take precedence){e.g. sliding above the roof} - G05B 13/04: involving the use of models or simulators - B60J 7/0573: {power driven arrangements, e.g. electrical} - 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 - E05F 15/662: Motor units therefor, e.g. geared motors - G06N 7/00: Computing arrangements based on specific mathematical models - H02P 23/14: Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage - E05F 15/659: Control circuits therefor - E05Y 2400/31: Force or torque control - E05Y 2400/33: by using load sensors - E05Y 2400/336: of the angular type - E05Y 2400/45: Control modes - E05Y 2900/542: Roof panels - H02H 7/0851: {for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal} - B60J: WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES (fastening, suspending, closing, or opening of such devices E05) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - E05F: DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - E05Y: INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF - H02H: EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS (indicating or signalling undesired working conditions G01R, e.g. G01R31/00, G08B; locating faults along lines G01R31/08; emergency protective devices H01H) ## Abstract An open roof assembly for use in a vehicle roof comprises a moveably arranged closure member and a drive system operatively coupled to the closure member for moving the closure member along a motion trajectory. The drive system comprises an electric motor and a control unit for controlling operation of the electric motor. The control unit comprises a mathematical model describing at least a part of the drive system; model parameters and a motion reference field. The control unit is configured to update the model parameters based on a received value of a first drive system variable; determine a value of a second drive system variable using the mathematical model; determine a comparison value by comparing the value of the second drive system value and a corresponding reference value of the motion reference field; and detect presence of an obstruction if the comparison value lies outside a predetermined value range. ## Claims ### Claim 1 An open roof assembly for use in a vehicle roof of a vehicle, the open roof assembly comprising a moveably arranged closure member for selectively covering or at least partially exposing an opening in the vehicle roof and a drive system operatively coupled to the closure member for moving the closure member along a motion trajectory, wherein the drive system comprises an electric motor and a control unit operatively coupled to the electric motor configured to control operation of the electric motor and for receiving a first drive system variable, wherein the control unit comprises a mathematical model describing at least a part of the drive system; model parameters as used in the mathematical model; and a motion reference field describing a reference value of a second drive system variable as a function of a position of the closure member along its motion trajectory; and wherein the control unit is configured to a. update the model parameters based on a received value of the first drive system variable; b. determine a value of the second drive system variable using the mathematical model; c. determine a comparison value by comparing the value of the second drive system variable and a corresponding reference value of the motion reference field; and d. detect presence of an obstruction when the comparison value lies outside a predetermined value range. ### Claim 2 (depends on 1) The open roof assembly according to claim 1, wherein steps a-d are repeated as long as the closure member is moving and no obstruction is detected. ### Claim 3 (depends on 1) The open roof assembly according to claim 1, wherein step a is performed prior to step b. ### Claim 4 (depends on 1) The open roof assembly according to claim 1, wherein step b is performed either prior to or simultaneous with step a. ### Claim 5 (depends on 1) The open roof assembly according to claim 1, wherein the control unit is configured to e. reverse a direction of motion of the closure member, when the obstruction is detected in step d. ### Claim 6 (depends on 1) The open roof assembly according to claim 1, wherein the mathematical model comprises a model of the electric motor. ### Claim 7 (depends on 1) The open roof assembly according to claim 1, wherein the mathematical model comprises a model of a motion of the closure member. ### Claim 8 (depends on 1) The open roof assembly according to claim 1, wherein the first drive system variable is selected from a group comprising a motor supply voltage, a motor current and a motor speed. ### Claim 9 (depends on 1) The open roof assembly according to claim 1, wherein the second drive system variable is selected from a group comprising a motor current, a closure member position, a generated force and a generated torque, or any derivative with respect to time thereof. ### Claim 10 (depends on 1) The open roof assembly according to claim 1, wherein the control unit is further configured to f. determine a presence of the obstruction based on a time-derivative of an output of the mathematical model. ### Claim 11 A method of operating an open roof assembly, the open roof assembly comprising a moveably arranged closure member for selectively covering or at least partially exposing an opening in a vehicle roof and a drive system operatively coupled to the closure member for moving the closure member along a motion trajectory, wherein the drive system comprises an electric motor and a control unit operatively coupled to the electric motor for controlling operation of the electric motor and for receiving at least one first drive system variable, wherein the control unit comprises a mathematical model describing at least a part of the drive system; model parameters as used in the mathematical model; and a motion reference field describing a reference value of a second drive system variable as a function of a position of the closure member along its motion trajectory; and the method comprising the control unit performing steps of a. updating the model parameters based on the received at least one first drive system variable; b. determining a value of the second drive system variable using the mathematical model; c. determine a comparison value by comparing the value of the second drive system variable and a corresponding reference value of the motion reference field; and d. detect presence of an obstruction when the comparison value lies outside a predetermined value range. ### Claim 12 (depends on 9) The method according to claim 9, wherein steps a-d are repeated as long as the closure member is moving and no obstruction is detected. ### Claim 13 (depends on 9) The method according to claim 9, wherein the method further comprises the control unit performing the step of e. reversing a direction of motion of the closure member, when the obstruction is detected in step d. ### Claim 14 A non-transitory computer readable medium containing computer readable and executable instructions for instructing a computer processor to perform a method of operating an open roof assembly, the open roof assembly comprising a moveably arranged closure member for selectively covering or at least partially exposing an opening in a vehicle roof and a drive system operatively coupled to the closure member for moving the closure member along a motion trajectory, wherein the drive system comprises an electric motor and a control unit operatively coupled to the electric motor for controlling operation of the electric motor and for receiving at least one first drive system variable, wherein the control unit or instructions comprises a mathematical model describing at least a part of the drive system; model parameters as used in the mathematical model; and a motion reference field describing a reference value of a second drive system variable as a function of a position of the closure member along its motion trajectory; and the method comprising: a. updating the model parameters based on the received at least one first drive system variable; b. determining a value of the second drive system variable using the mathematical model; c. determining a comparison value by comparing the value of the second drive system variable and a corresponding reference value of the motion reference field; and d. detecting presence of an obstruction when the comparison value lies outside a predetermined value range. ### Claim 15 (depends on 14) The non-transitory computer readable medium according to claim 14, wherein steps a-d are repeated as long as the closure member is moving and no obstruction is detected. ### Claim 16 (depends on 14) The non-transitory computer readable medium according to claim 14, wherein the method further comprises e. reversing a direction of motion of the closure member, when the obstruction is detected in step d.