Method and system of controlling an automated door assembly of a motorized vehicle

A method of controlling a door of a motorized vehicle to move to a closed position, the vehicle including a body frame supported by a chassis, a powertrain mounted to the chassis, and a door assembly including a first member defining a first axis, a first support member pivotally coupled to the door and defining a second axis, a linkage assembly including a first arm and a second arm, the first arm and the second arm being pivotally coupled to one another, a cross member having a first end and a second end, the first end having a first pin for slidably engaging the first slot and the second end being coupled to the first member, a drive mechanism, and a cinching assembly including an actuator, the method comprising:

• providing a controller having a plurality of inputs and a plurality of outputs, a signal receiver, a door actuator, a solenoid, and a plurality of sensors including an actuator position sensor, a ramp position sensor, and a pivot arm sensor;
• storing a close door process in a memory of the controller, the close door process being executable by a processor of the controller;
• receiving a first signal from the signal receiver, the first signal being an instruction to execute the close door process;
• detecting a position of a ramp assembly from the ramp position sensor;
• determining if the ramp assembly is in a stowed position or deployed position;
• executing the close door process if the ramp assembly is detected in the stowed position;
• operably controlling the drive mechanism to pivot the first member about the first axis;
• detecting a position of the first arm with the pivot arm sensor;
• and
• controllably moving the door to the open position.

A method of controlling a door of a motorized vehicle between an open and closed position, the vehicle including a door assembly including a first member defining a first axis, a first support member pivotally coupled to the door and defining a second axis, a linkage assembly including a first arm and a second arm, the first arm and the second arm being pivotally coupled to one another, a cross member having a first end and a second end, the first end having a first pin for slidably engaging the first slot and the second end being coupled to the first member, a drive mechanism, and a cinching assembly including an actuator, the method comprising:

• providing a controller having a plurality of inputs and a plurality of outputs, a signal receiver, a door actuator, a solenoid, and a plurality of sensors including an actuator position sensor, a PRNDL sensor, a ramp position sensor, and a pivot arm sensor;
• storing an open door process and a close door process in a memory of the controller, the open door process and close door process being executable by a processor of the controller;
• and
• receiving a signal from the signal receiver, the signal being a command to execute the open door process or the close door process;
• and
• controllably moving the door to the open position or closed position based on the received signal;
• wherein, if the command is to execute the open door process, the method further comprises:
• receiving a second signal from the PRNDL sensor, the second signal being indicative of a powertrain position;
• detecting a position of the actuator with the actuator position sensor and communicating the actuator position to the controller;
• sending a command to the door actuator to unlatch the door;
• and
• operably controlling the drive mechanism to pivot the first member about the first axis only if the PRNDL sensor detects the powertrain position being a park position;
• further wherein, if the command is to execute the close door process, the method comprises:
• detecting a position of a ramp assembly from the ramp position sensor;
• determining if the ramp assembly is in a stowed position or deployed position;
• executing the close door process if the ramp assembly is detected in the stowed position;
• operably controlling the drive mechanism to pivot the first member about the first axis;
• and
• detecting a position of the first arm with the pivot arm sensor.