Power swinging side door system and method

An automatic door assembly for use with a vehicle comprising:

• a swinging side door having a range of motion defining a maximum door opening angle;
• an actuator adapted for opening and closing said swinging side door;
• a controller having an algorithm for selectively moving said actuator in one direction to at least partially open said swinging side door to a variable door opening angle that is selectable by a user of the vehicle from approximately 0 degrees up to the maximum door opening angle in response to a first command, and at least partially in another direction to thereby close said swinging side door in response to a second command;
• at least one contact-type obstacle detection sensor configured for detecting the presence of an obstacle positioned external to the vehicle upon contact between said swinging side door and said obstacle, including a door angle sensor adapted for determining a change in an instantaneous position of said swinging side door over time to determine a threshold change in velocity of said swinging side door;
• and
• at least one non-contact obstacle sensor configured for detecting the presence of said obstacle within said range of motion of said swinging side door without contact between said swinging side door and said obstacle;
• wherein said controller is operable for interrupting both of said opening and said closing when said presence of said obstacle is detected.