System and method for avoiding contact of a liftgate with an object when closing

Abstract

The present disclosure provides "Systems and methods for avoiding contact of a liftgate with an object when closing." A vehicle includes a liftgate system for avoiding contact of a liftgate with an object within a closing path of the liftgate. The liftgate system includes the liftgate, a camera, and a processor. The liftgate includes a surface facing an interior of the vehicle when the liftgate is closed. The camera is disposed on the surface. The processor detects, via the camera, an object within the closing path of the liftgate. The processor estimates a trajectory of the object while the object is in motion. The processor controls the liftgate based on the estimated trajectory and a speed setting at which the liftgate is closing.

Description

Technical Field

[0001] This disclosure generally relates to systems and methods for performing automatic lift-up door closing operations, and more specifically, to systems and methods for preventing the lift-up door from contacting an object within the closing path of the lift-up door. Background Technology

[0002] Vehicles include features that automatically close liftgates in response to user input. In many cases, the user provides input without being aware that a person or object is within the closing path of the liftgate. Some vehicles include pressure sensors to prevent the liftgate from closing if such an object is present in the closing path; however, these liftgates must contact the object to trigger the pressure sensor. Summary of the Invention

[0003] The appended claims define this application. This disclosure summarizes various aspects of the embodiments and should not be construed as limiting the claims. Other implementations of the technology described herein are conceivable as will be apparent to those skilled in the art from the following examination of the accompanying drawings and detailed description, and such implementations are intended to be within the scope of this application.

[0004] A vehicle and method for automatically closing a liftgate are disclosed. An exemplary vehicle includes a liftgate, a camera, and a processor. The liftgate includes a surface facing the interior of the vehicle when the liftgate is closed. The camera is mounted on the surface. The processor detects an object within the closing path of the liftgate via the camera. The processor estimates the trajectory of the object while it is in motion. The processor controls the liftgate based on the estimated trajectory and a speed setting for the liftgate closing.

[0005] An exemplary vehicle includes a liftgate, sensors, and a processor. The liftgate includes a surface facing the vehicle interior when the liftgate is closed. The sensors are mounted on the surface. The processor is defined via the sensors in a critical region at the rear end of the vehicle. The critical region is stationary when the liftgate is moving. When the sensors detect movement within the critical region, the processor controls the liftgate.

[0006] An exemplary method includes: initiating a liftgate closing operation via a processor; detecting an object within the closing path of the liftgate via a camera; estimating the trajectory of the object via the processor in response to the object being in motion; and controlling the liftgate via the processor based on the estimated trajectory and a speed setting for the liftgate closing. Attached Figure Description

[0007] To better understand the invention, reference can be made to the embodiments shown in the following figures. Components in the figures are not necessarily drawn to scale, and related elements may be omitted, or in some cases the scale may be exaggerated to emphasize and clearly illustrate the novel features described herein. Additionally, as is known in the art, system components may be arranged differently. Furthermore, in the figures, the same reference numerals denote corresponding parts in several views.

[0008] Figure 1 The image shows a vehicle including a lift-up door that operates according to the instructions of this disclosure.

[0009] Figure 2 Show Figure 1 This includes the camera on the lift-up door and the user within the closing path of the lift-up door.

[0010] Figure 3A Show Figure 1 The sensors include lift-up doors and user movement devices within a threshold distance of the sensors.

[0011] Figure 3B Show Figure 1 The system includes lift-up doors with multiple sensors and a user's movement device within the critical area.

[0012] Figure 4 Show Figure 1 , Figure 2 , Figure 3A and Figure 3B A block diagram of the electronic components of a vehicle.

[0013] Figure 5 It is for use Figure 2 The flowchart shows the camera performing the lifting door closing operation.

[0014] Figure 6 It is for use Figure 3A and Figure 3B A flowchart illustrating how one or more sensors perform a lifting door closing operation. Detailed Implementation

[0015] While the invention may be embodied in various forms, some exemplary and non-limiting embodiments are shown in the accompanying drawings and will be described below. It should be understood that this disclosure is to be regarded as illustrative of the invention and not intended to limit the invention to the specific embodiments illustrated.

[0016] Vehicles include features that automatically close their liftgates or tailgates. Typically, these vehicles receive instructions from a mobile device (such as a key fob or smartphone) or from a human-machine interface (HMI) provided within the vehicle to automatically close the liftgate. Often, a person may be loading or unloading items into or from the vehicle and, without their notice, may accidentally actuate the liftgate, causing it to strike the person's head or shoulder. In some instances, a child may be entering or exiting the vehicle's trunk, and a parent may accidentally actuate the liftgate to close it automatically while the child is within its closing path. While some vehicles include force sensors to minimize impact between a person and a closing liftgate, these vehicles do not prevent the liftgate from contacting a person.

[0017] As used herein, a "lift-up door" refers to a door or panel at the rear of a vehicle that opens upward to provide access to the vehicle's trunk and / or another cargo area or compartment. In some instances, a lift-up door includes a hatch attached to the body of the vehicle (e.g., a sport utility vehicle (SUV), minivan, hatchback, etc.) via hinges positioned along the upper edge of the cargo area or compartment. In other instances, a lift-up door includes a trunk lid attached to the body of the vehicle (e.g., a sedan, small car, etc.) via hinges along the outer edge of the trunk.

[0018] As described below, a liftgate system includes a liftgate, a body control module (BCM), and an alarm system. The liftgate includes a camera attached to the inner surface of the liftgate. The camera is interchangeably coupled to the BCM to transmit images captured by the camera. The BCM includes a liftgate controller that analyzes these images. Based on the analysis, the liftgate controller controls the liftgate and provides instructions to the alarm system to generate an alarm for the user.

[0019] To close the liftgate, the operator activates the liftgate system via a mobile device or HMI (e.g., on a touchscreen of the center console display). When the vehicle receives a command to close the liftgate, a camera detects whether an object is within the liftgate's closing path. When no object is within the liftgate's closing path, the liftgate controller closes the liftgate. When an object is within the liftgate's closing path, the liftgate controller determines whether the object is a person. For example, the liftgate controller can compare an image captured by the camera with an image stored in memory. The image stored in memory could be an actual image of a person or a silhouette of a person's shape. When the object is a person, the liftgate controller stops closing the liftgate, commands the alarm system to provide an alert to the user, and confirms with the user via the mobile device or HMI whether the user wishes to resume closing the liftgate. When the object is not a person, the liftgate controller also classifies the object as either a moving or stationary object. When the object is moving, the liftgate controller estimates a potential impact between the liftgate and the moving object. If the liftgate controller determines an impact is possible, it stops the liftgate. If the liftgate controller determines an impact will not occur, it causes the liftgate to move. When the object is stationary, the liftgate system pauses the liftgate operation, an alarm system alerts the user, and the liftgate system prompts the user via a mobile device or HMI to indicate whether the user wishes to resume closing the liftgate.

[0020] Alternatively, in some instances, when a sensor detects a user's moving device within a detection area near the liftgate, the liftgate system determines that the user is within the liftgate's closing path. In this instance, the sensor is attached to the inner surface of the liftgate. The sensor and the user's moving device are paired. The sensor detects the distance of the moving device from the sensor. When the moving device is within a threshold distance from the sensor, the liftgate controller stops closing the liftgate. As the liftgate changes its position, the liftgate controller dynamically changes the threshold distance. For example, when the liftgate closes, the liftgate controller decreases the threshold distance.

[0021] In some instances, a liftgate system includes more than one sensor to detect the position of a user's moving device. In such instances, the sensors are positioned on the inner surface of the liftgate. The liftgate system uses the sensors to determine the position of the moving device (e.g., via triangulation or trilateration). In such instances, the sensors use signal strength measurements from the sensors (such as Received Signal Strength Indicator (RSSI) or Received Signal Strength (RX)) to determine the proximity of the moving device relative to the sensor, in order to estimate the relative distance between the moving device and the rear end of the vehicle. The liftgate system defines a critical region. The critical region is fixed at a position at the rear end of the vehicle. Even when the liftgate is closed and the sensors move with the liftgate, the liftgate system continues to define the critical region at the same position relative to the vehicle. When the moving device is within the critical region, the liftgate system determines that the user is within the path of closing the liftgate and operates as discussed above.

[0022] Figure 1 A vehicle 100 according to this disclosure is shown. Vehicle 100 may be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or any other type of mobility vehicle. Vehicle 100 includes mobility-related components, such as a powertrain having an engine, transmission, suspension, drive axle, and / or wheels. Vehicle 100 may be a semi-autonomous vehicle (e.g., some conventional motion functions such as parking are controlled by vehicle 100) or an autonomous vehicle (e.g., motion functions are controlled by vehicle 100 without direct driver input).

[0023] In the illustrated example, vehicle 100 includes a fifth door (e.g., a van or hatchback). In this illustrative example, vehicle 100 includes a liftgate 110, an onboard communication platform (OBCP) 120, an alarm system 130, and a body control module (BCM) 140.

[0024] A liftgate 110 is a door or panel hinged to the upper portion of the cargo compartment entrance located at the rear end of vehicle 100. The liftgate 110 opens upward to provide access to the cargo compartment (not shown). The liftgate 110 includes an outer surface 114 and an inner surface 112. When the liftgate 110 is closed, the outer surface 114 faces the exterior of vehicle 100, and when the liftgate 110 is closed, the inner surface 112 faces the interior of vehicle 100. The liftgate 110 includes a motor controlled by a BCM 140 for opening and closing the liftgate 110. In some instances, the motor provides speed control to assist the BCM 140 in controlling the speed at which the liftgate 110 opens and closes.

[0025] Figure 2 Show Figure 1An example of a liftgate 110 including camera 202 is shown. In this illustrated example, camera 202 is mounted on the inner surface 112 of the liftgate 110. In some examples, camera 202 is positioned on the inner surface 112 such that the center of the field of view (FOV) 204 of camera 202 is oriented perpendicular to the inner surface 112. In some examples, camera 202 moves its lens to change the center of the FOV 204 of camera 202. In some examples, liftgate 110 also includes a rearview camera 206 mounted on the outer surface 114. In some examples, camera 202 and rearview camera 206 are integrally connected to a single electronic package housed within liftgate 110. Alternatively, in some examples, rearview camera 206 and camera 202 are separately packaged and operate independently of each other.

[0026] Figure 3A Show Figure 1 The liftgate 110 includes sensor 302. In the illustrated example, sensor 302 is attached to the inner surface 112 of the liftgate 110. Sensor 302 detects the proximity of a moving device relative to sensor 302. For example, sensor 302 may be a low-power... (BLE) beacons, or wireless LAN nodes, etc. Sensor 302 determines the distance of mobile device 150 relative to sensor 302 based on the strength of the signal transmitted between sensor 302 and mobile device 150. In some instances, sensor 302 may include an infrared sensor and / or any other sensor that helps in measuring distance.

[0027] Figure 3B Show Figure 1 The liftgate 110 includes more than one sensor 302. In the illustrated example, each of the sensors 302 is mounted on the inner surface 112 of the liftgate 110. Based on the signal strength measurement between the moving device 160 and the sensor 302 and the fixed distance between the sensors 302, the sensor 302 uses triangulation or trilateration to determine the relative position of the moving device 150.

[0028] Back Figure 1The OBCP 120 is communicatively connected to the BCM 140 and the alarm system 130. The OBCP 120 wirelessly pairs with mobile device 150 to interchangeably connect mobile device 150 to vehicle 100. In some instances, the OBCP 120 facilitates interchangeable connection of multiple mobile devices to vehicle 100. In some instances, the OBCP 120 also includes hardware (e.g., processor, memory, storage device, antenna, etc.) and software for controlling the wireless network interface. The OBCP 120 includes support for standards-based networks (e.g., Global System for Mobile Communications (GSM), Universal Mobile Telecommunications System (UMTS), Long Term Evolution (LTE), Code Division Multiple Access (CDMA), WiMAX (IEEE 802.16m)). or low power consumption (BLE); one or more communication controllers of a local area wireless network (including IEEE 802.11a / b / g / n / ac or others), private short range communication (DSRC), and wireless gigabit (IEEE 802.11ad), etc., to be communicatively connected to a mobile device directly (via personal area network or wireless area network) or indirectly (e.g., via cellular connection).

[0029] Alarm system 130 is communicatively connected to BCM 140. Alarm system 130 generates an alarm in response to a command received from BCM 140. For example, alarm system 130 may include one or more speakers for generating an audible alarm. In an alternative embodiment, alarm system 130 may transmit alarm messages to a user's mobile device 150 via OBCP 120. In some embodiments, alarm system 130 includes one or more display devices for visually displaying the alarm.

[0030] BCM 140 includes a liftgate controller 142 that controls the movement functions of the liftgate 110, such as opening and closing the liftgate 110. The liftgate controller 142 initiates a liftgate closing operation in response to receiving a liftgate closing command. For example, the liftgate controller 142 may receive a closing command from an operator via an interface provided on the center console of a vehicle infotainment system (not shown). In some instances, the liftgate controller 142 receives the operator's closing command via a mobile device 150. The liftgate controller detects whether an object is within the closing path of the liftgate 110 using a camera and / or sensors. Reference will be made below. Figure 2 , Figure 3A and Figure 3B To describe this feature in more detail.

[0031] Back Figure 2When a command to close the liftgate is received, the liftgate controller 142 activates the camera 202. The liftgate controller 142 receives images captured by the camera 202, including the area encompassing the closing path 116 of the liftgate 110. The liftgate controller 142 analyzes the captured images to determine if an object is present within the closing path 116 of the liftgate 110. For example, the liftgate controller 142 may compare each captured image with one or more images of the closing path 116 stored in memory, and detect whether at least one of the captured images introduces an object. When there is no object within the closing path 116 of the liftgate 110, the liftgate controller 142 begins closing the liftgate 110 at a first speed. As the liftgate 110 closes, the liftgate controller 142 continuously monitors images from the camera 202 to determine if an object has entered the closing path 116 of the liftgate 110. When an object is within the closing path 116 of the liftgate 110, the liftgate controller 142 determines whether the detected object is a person. For example, the liftgate controller 142 may compare a captured image with images of people stored in a lookup table in memory to determine whether the detected object is a person. In an alternative example, the liftgate controller 142 may include a facial recognition system for determining whether the detected object is a person. When the detected object is a person, the liftgate controller 142 stops closing the liftgate 110 or opens the liftgate. The liftgate controller 142 provides audio and / or visual alarms to the operator via an alarm system 130. The liftgate controller 142 sends a prompt to the user's mobile device 150 via OBCP 120 to confirm whether the user wishes the liftgate to continue closing. When the user instructs the liftgate to resume closing, the liftgate controller 142 closes the liftgate 110 at a second speed slower than the first speed. When the liftgate 110 resumes closing, the liftgate controller 142 continues to monitor objects within the closing path 116 via the camera 202.

[0032] When the detected object is not a person, the lift door controller 142 also determines whether the detected object is in motion. For example, the lift door controller 142 may compare a recently captured image with one or more previously captured images to determine a change in position indicating that the detected object is in motion. When the detected object is in motion, the lift door controller 142 estimates (1) the trajectory and speed of the detected object, (2) the angular velocity of the lift door 110 based on its current setting, and (3) the angle at which the lift door 110 is hinged to the cargo compartment entrance. Based on the calculations, the lift door controller 142 estimates the position where the lift door 110 will contact the detected object. When the lift door controller 142 determines that the lift door 110 will not contact the detected object, the lift door controller 142 closes the lift door 110 at a second speed. In addition, the lift door controller 142 continues to monitor for additional objects within the closing path 116. When the liftgate controller 142 determines that the detected object is not in motion, or when the liftgate controller 142 determines that the liftgate 110 will come into contact with the detected moving object, the liftgate controller 142 stops closing or opening the liftgate 110. Additionally, the liftgate controller 142 provides audio and / or visual alarms via the alarm system 130. The liftgate controller 142 prompts the user via the user's mobile device 150 whether the user wishes to continue closing the liftgate 110. When the user instructs to continue closing the liftgate 110, the liftgate controller 142 closes the liftgate 110 at a second speed. The liftgate controller 142 then continues to monitor for additional objects within the closing path 116 of the liftgate 110.

[0033] Back Figure 3AThe liftgate controller 142 activates sensor 302 in response to receiving a liftgate closing command from an authorized mobile device (e.g., mobile device 150 paired with OBCP). In the illustrated example, when the liftgate is closed, one of the sensors 302 is located on the surface of the liftgate 110 facing the interior of the vehicle 100; and when the liftgate 110 is open, the other of the sensors 302 is located in a rearward position on the vehicle 100. The liftgate controller 142 determines the distance of the user's mobile device 150 relative to the sensor 302 via the sensor 302. When the user's mobile device 150 and the sensor 302 are within a threshold distance 303 (e.g., 1 meter), the liftgate controller 142 stops closing the liftgate 110. As the liftgate 110 changes its position, the liftgate controller 142 dynamically changes the threshold distance 303. For example, the threshold distance 303 may be 1 meter when the liftgate 110 is fully open, and 0.5 meters when the liftgate 110 is half-open. In some instances, the threshold distance 303 varies based on the user's size. In such instances, the user's size may be input via an interface or the user's mobile device 150 before operating the liftgate 110. When the liftgate controller 142 determines that the user's mobile device 150 is within the threshold distance 303 from the sensor 302, the liftgate controller 142 stops closing or opening the liftgate 110. Additionally, the liftgate controller 142 provides audio and / or visual alarms via the alarm system 130. The liftgate controller 142 prompts the user via the user's mobile device 150 whether the user wishes to continue closing the liftgate 110. When the user instructs the liftgate 110 to continue closing, the liftgate controller 142 closes the liftgate 110, thereby closing it at a second speed. The liftgate controller 142 then continues to monitor for any additional objects within the closing path 116 of the liftgate 110. Figure 3A In the example shown, the threshold distance 303 defines an annular region 304 that surrounds the area where the detection of the presence of the user's moving device 150 would trigger the lifting door controller 142 to act as described above.

[0034] Back Figure 3BWhen a command to close the liftgate is received, the liftgate controller 142 activates multiple sensors 302. The multiple sensors 302 are located on the inner surface 112. The liftgate controller 142 determines a first distance 306 via the sensors 302 based on measurements indicating the proximity of the user's mobile device 150 to the sensors 302 (e.g., based on signal strength measurements of signals received from the mobile device 150, etc.). In some instances, the liftgate controller 142 calculates the first distance 306 using a distance estimate based on signal strength measurements taken by each of the sensors 302. The liftgate controller 142 determines a second distance 308 by measuring the distance between the mobile device 150 and the rear end of the vehicle 100. The liftgate controller 142 establishes a critical region. Using the first and second distances, the liftgate controller 142 determines whether the user's mobile device 150 is within the critical region 310. In the illustrated example, the critical region 310 surrounds a fixed area relative to the rear end of the vehicle 100. The liftgate controller 142 defines a critical region 310 such that even when the sensor 302 on the liftgate 110 is moving while the liftgate 110 is closed, the critical region 310 has the same dimensions and is located in the same position relative to the vehicle 100. When the liftgate controller 142 determines that the user's movement device 150 is within the critical region 310, the liftgate controller 142 stops closing or opening the liftgate 110.

[0035] Figure 4 yes Figure 1 A block diagram of the electronic components of vehicle 100. In the example shown, the electronic components include BCM 140, alarm system 130, OBCP 120, camera 202, sensor 302, and vehicle data bus 410.

[0036] In the illustrated example, BCM 140 includes a processor or controller 402 and a memory 404. In the illustrated example, BCM 140 is configured to include a liftgate controller 142. Alternatively, in some examples, the liftgate controller 142, along with its own processor and memory (not shown), is integrated into another electronic control unit (ECU) (e.g., a dedicated ECU for the liftgate 110, etc.). The processor or controller 402 can be any suitable processing device or collection of processing devices, such as, but not limited to: a microprocessor, a microcontroller-based platform, a suitable integrated circuit, one or more field-programmable gate arrays (FPGAs) and / or one or more application-specific integrated circuits (ASICs). Memory 404 may be volatile memory (e.g., RAM, which may include non-volatile RAM, magnetic RAM, ferroelectric RAM, and any other suitable form); non-volatile memory (e.g., disk storage, flash memory, electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), non-volatile solid-state memory, etc.), immutable memory (e.g., EPROM), read-only memory, and / or high-capacity storage devices (e.g., hard disk drives, solid-state drives, etc.). In some instances, memory 404 includes a variety of memories, particularly volatile and non-volatile memories.

[0037] Memory 404 is a computer-readable medium on which a set of one or more instructions (such as software for operating the methods of this disclosure) can be embedded. The instructions may implement one or more of the methods or logic described herein. In a particular embodiment, the instructions may reside wholly or at least partially within memory 404, any one or more of the computer-readable medium, and / or processor 402 during execution of the instructions.

[0038] The terms "non-transitory computer-readable medium" and "tangible computer-readable medium" should be understood to include single or multiple media, such as centralized or distributed databases, and / or associated caches and servers storing a set of one or more instructions. The terms "non-transitory computer-readable medium" and "tangible computer-readable medium" also include any tangible medium capable of storing, encoding, or carrying a set of instructions for execution by a processor or causing a system to perform any one or more of the methods or operations disclosed herein. As used herein, the term "tangible computer-readable medium" is explicitly defined to include any type of computer-readable storage device and / or storage disk and excludes propagated signals.

[0039] The vehicle data bus 410 communicatively connects the BCM 140, OBCP 120, and alarm system. In some instances, the vehicle data bus 410 includes one or more data buses. It can be configured according to the Controller Area Network (CAN) bus protocol, Media Directed System Transmission (MOST) bus protocol, CAN Flexible Data (CAN-FD) bus protocol (ISO 11898-7), and / or K-line bus protocol (ISO 9141 and ISO 14230-1) and / or Ethernet protocols as defined by the International Organization for Standardization (ISO) 11898-1. TM The vehicle data bus 410 is implemented using bus protocols such as IEEE 802.3 (since 2002).

[0040] Figure 5 Is using Figure 2 A flowchart of a method for camera 202 to perform a lifting door closing operation, the method being able to... Figure 4 The electronic components are implemented.

[0041] At block 502, the liftgate controller 142 determines whether the liftgate 110 is open upon receiving a command to close it. When the liftgate 110 is open and the command is received, the method proceeds to block 504. When the liftgate 110 is not open or the command has not yet been received, the method returns to block 502.

[0042] At frame 504, the lift door controller 142 sets the closing speed of the lift door 110 to a first speed.

[0043] At frame 506, the liftgate controller 142 activates camera 202 to capture an image of the closing path 116 of the liftgate 110.

[0044] At box 508, the liftgate controller 142 analyzes the captured image to determine if an object is present within the closing path 116 of the liftgate 110. If the object is within the closing path 116, the method proceeds to box 510. If the object is not within the closing path 116, the method proceeds to box 524.

[0045] At box 510, the lift-up door controller 142 determines whether the detected object is a person. For example, the lift-up door controller 142 compares the detected object with an image in a lookup table stored in memory to determine whether the object is a person. When the detected object is a person, the method continues to box 518. When the detected object is not a person, the method continues to box 512.

[0046] At box 512, the lift-up door controller 142 determines whether the detected object is in motion. For example, the lift-up door controller 142 may compare a recently captured image with one or more previously captured images to determine whether the detected object is in motion. When the detected object is in motion, the method continues to box 514. When the detected object is stationary, the method continues to box 518.

[0047] At frame 514, the liftgate controller 142 (1) estimates the trajectory and velocity of the detected object as it is moving; (2) calculates the angular velocity of the liftgate 110 based on the current settings of the liftgate 110; (3) calculates the angle at which the liftgate 110 is hinged to the cargo compartment entrance; and (4) estimates the potential interaction between the detected object and the liftgate 110 based on the calculated trajectory / velocity of the detected object and the calculated angular velocity and angle of the liftgate 110.

[0048] At block 516, the liftgate controller 142 determines, based on the estimation, whether an interaction between the liftgate 110 and the detected object will occur. When the liftgate controller 142 determines that an interaction will occur, the method proceeds to block 518. When the liftgate controller 142 determines that an interaction will not occur, the method proceeds to block 522.

[0049] At frame 518, the lift door controller 142 stops the lift door 110 from closing and causes the alarm system 130 to provide an alarm to the user.

[0050] At box 520, the liftgate controller 142 also prompts the user's mobile device 150 via alarm system 130 and OBCP 120 whether the user wishes to continue the liftgate closing operation. The liftgate controller 142 determines whether input has been received from the user's mobile device 150. If the input indicates that the user wishes to resume the liftgate closing operation, the method continues to box 522. If the input indicates that the user does not wish to resume the liftgate closing operation, the method returns to box 520.

[0051] At frame 522, the lift door controller 142 sets the closing speed of the lift door 110 to a second speed.

[0052] At frame 524, the lift door controller 142 causes the lift door 110 to move at the current speed.

[0053] At frame 526, the liftgate controller 142 determines whether the liftgate 110 is closed. When the liftgate 110 is closed, the method terminates. When the liftgate 110 is not closed, the method returns to step 506.

[0054] Figure 6 Is using Figure 3A and Figure 3B A flowchart of a method for one or more sensors 302 to perform a lifting door closing operation, the method being able to Figure 4 The electronic components are implemented.

[0055] At block 602, the liftgate controller 142 determines whether the liftgate 110 is open and whether a command to close the liftgate 110 has been received. When the liftgate 110 is open and a command has been received, the liftgate controller 142 initiates the liftgate closing operation, and the method continues to step 604. When the liftgate 110 is not open or a command has not been received, the method returns to block 602.

[0056] At frame 604, the lift door controller 142 sets the closing speed of the lift door 110 to a first speed.

[0057] At frame 606, the lift-up door controller 142 activates one or more sensors 302.

[0058] At block 608, the liftgate controller 142 detects whether the user's movement device 150 is within a threshold distance 303 from the sensor 302 via one or more sensors 302. In some instances, when multiple sensors 302 are used to detect the presence of the user's movement device 150, the liftgate controller 142 detects whether the user's movement device 150 is within a critical region 310 via the multiple sensors 302. When the user's movement device 150 is within the threshold distance 303 or the critical region 310, the method proceeds to step 610. When the user's movement device 150 is not within the threshold distance 303 or the critical region 310, the method proceeds to step 612.

[0059] At frame 610, the lift door controller 142 stops the lift door 110 from closing and causes the alarm system 130 to provide an alarm to the user.

[0060] At box 612, the liftgate controller 142 also prompts the user's mobile device 150 via alarm system 130 and OBCP 120 whether the user wishes to continue the liftgate closing operation. The liftgate controller 142 determines whether input has been received from the user's mobile device 150. If the input indicates that the user wishes to resume the liftgate closing operation, the method continues to box 614. If the input indicates that the user does not wish to resume the liftgate closing operation, the method returns to box 612.

[0061] At frame 614, the lift door controller 142 sets the closing speed of the lift door 110 to a second speed.

[0062] At frame 616, the lift door controller 142 causes the lift door 110 to close at the current speed setting.

[0063] At frame 618, the liftgate 110 determines whether it is closed. When the liftgate 110 is closed, the method terminates. When the liftgate 110 is not closed, the method returns to step 606.

[0064] Figure 5 and Figure 6 The flowchart represents the storage in memory (such as...) Figure 4 Machine-readable instructions in memory, comprising one or more programs, which are executed by a processor (such as memory) Figure 4 When the processor executes, it causes vehicle 100 to implement the exemplary lifting door controller 142, and / or more generally implement Figure 1 and Figure 4 An exemplary lifting door controller 142. Furthermore, although referenced in... Figure 5 and Figure 6 The flowchart shown describes an exemplary procedure, but many other methods for implementing the exemplary lift-up door controller 142 and / or the more general exemplary lift-up door controller 142 can be used instead. For example, the execution order of the boxes can be changed, and / or some of the boxes described can be changed, canceled, or combined.

[0065] In this application, the use of the conjunction "adversative" is intended to include the conjunction. The use of the definite or indefinite article is not intended to indicate cardinality. In particular, references to "the" object or "an" and "a" object are also intended to indicate one of a possible plurality of such objects. Additionally, the conjunction "or" can be used to express concurrent features rather than mutually exclusive alternatives. In other words, the conjunction "or" should be understood to include "and / or". As used herein, the terms "module" and "unit" refer to hardware having circuitry typically combined with sensor 302 to provide communication, control, and / or monitoring capabilities. "Module" and "unit" may also include firmware executing the circuitry. The term "comprising" is inclusive and has the same scope as "including".

[0066] The above embodiments, and especially any "preferred" embodiments, are possible examples of implementations and are merely illustrative for the purpose of clearly understanding the principles of the invention. Many variations and modifications can be made to the above embodiments without substantially departing from the spirit and principles of the technology described herein. All modifications are intended to be included within the scope of this disclosure and are protected by the following claims.

[0067] According to the present invention, a vehicle is provided, the vehicle having: a lift-up door including a surface facing the interior of the vehicle when the lift-up door is closed; a camera mounted on the surface; and a processor configured to: initiate a lift-up door closing operation; detect an object within the closing path of the lift-up door via the camera; estimate the trajectory of the object when it is in motion; and control the lift-up door based on the estimated trajectory and a speed setting for the lift-up door closing.

[0068] According to one embodiment, the processor also determines whether the object is a person.

[0069] According to one embodiment, the processor compares at least one image captured by the camera with a lookup table stored in memory to determine whether the object is a person.

[0070] According to one embodiment, when the processor determines that the object is a person, the processor causes the liftgate to stop moving.

[0071] According to one embodiment, the liftgate is configured to move at a first speed or a second speed during a liftgate closing operation, the second speed being slower than the first speed.

[0072] According to one embodiment, when the camera does not detect any object within the closing path of the liftgate, the processor causes the liftgate to close at a first speed.

[0073] According to one embodiment, when the camera detects an object within the closing path of the liftgate, the processor stops the liftgate closing operation, and wherein when the processor is commanded to resume the liftgate closing operation, the processor resumes the liftgate closing operation, causing the liftgate to move at a second speed.

[0074] According to one embodiment, the camera is mounted on the surface such that the direction in which the center of the camera's field of view is oriented is perpendicular to or substantially perpendicular to the direction in which the surface extends.

[0075] According to one embodiment, the invention is further characterized by at least one speaker, wherein the processor causes at least one speaker to sound an alarm when the processor detects an object within the closing path of the liftgate via a camera.

[0076] According to one embodiment, the lift-up door also includes an outer surface opposite the said surface, wherein the vehicle also includes a rearview camera mounted on the outer surface, and wherein the rearview camera and the camera are integrally connected to each other.

[0077] According to one embodiment, a vehicle is provided, the vehicle having: a liftgate including a surface facing the interior of the vehicle when the liftgate is closed; a sensor disposed on the surface; and a processor configured to: define a critical region at the rear end of the vehicle via the sensor, wherein the critical region is stationary when the liftgate is moved; and control the liftgate when the sensor detects a moving device within the critical region.

[0078] According to one embodiment, the invention is further characterized by at least one speaker, wherein when a sensor detects that a moving device is within a critical area, the processor causes at least one speaker to sound an alarm.

[0079] According to one embodiment, the mobile device is wirelessly connected to the vehicle.

[0080] According to one embodiment, the mobile device is a keychain.

[0081] According to one embodiment, a method for operating a vehicle is provided, the method comprising: initiating a liftgate closing operation via a processor; detecting an object within the closing path of the liftgate via a camera; estimating the trajectory of the object via the processor in response to the object being in motion; and controlling the liftgate via the processor based on the estimated trajectory and a speed setting for the liftgate closing.

[0082] According to one embodiment, the invention is further characterized in that: the processor determines whether the object is a person.

[0083] According to one embodiment, the invention is further characterized by controlling the lifting door based on the current angle of the lifting door relative to the upper edge of the cargo area inside the vehicle.

[0084] According to one embodiment, the invention is further characterized in that: after detection, the lifting door closing operation is stopped by the processor; and in response to receiving input, the lifting door closing operation is resumed by the processor; and the speed of the lifting door movement is changed by the processor.

[0085] According to one embodiment, the invention is further characterized in that: in response to detection, at least one speaker is caused to sound an alarm via a processor.

[0086] According to one embodiment, the invention is further characterized in that: prior to detection, the mobile device is communicatively paired to the vehicle via a processor; and in response to detection, an alarm is transmitted to the mobile device via the processor.

Claims

1. A vehicle comprising: A lift-up door, the lift-up door including a surface facing the interior of the vehicle when the lift-up door is closed; A camera, which is mounted on the surface; as well as Processor, the processor being used to: Initiate the closing operation of the lift-up door at the fastest speed; The camera detects objects within the closing path of the liftgate to determine whether the object is a person. When the processor determines that the object is a person, the processor causes the liftgate to stop moving and causes the user's mobile device to prompt the user whether the user wants to continue the liftgate closing operation; Determine whether input has been received from the user's mobile device. If the input indicates that the user wishes to resume the liftgate closing operation, resume the liftgate closing operation and set the liftgate closing speed to the second speed.

2. The vehicle of claim 1, wherein the processor compares at least one image captured by the camera with a lookup table stored in memory to determine whether the object is a person.

3. The vehicle as claimed in claim 1, wherein the second speed is slower than the first speed.

4. The vehicle of claim 3, wherein when the camera does not detect any object within the closing path of the liftgate, the processor causes the liftgate to close at the first speed.

5. The vehicle of claim 4, wherein when the camera detects the object within the closing path of the liftgate, the processor stops the liftgate closing operation, and When the processor is commanded to resume the closing operation of the lift door, the processor resumes the closing operation of the lift door, causing the lift door to move at the second speed.

6. The vehicle of claim 1, wherein the camera is mounted on the surface such that the direction in which the center of the camera's field of view is oriented is perpendicular to or substantially perpendicular to the direction in which the surface extends.

7. The vehicle of claim 1, further comprising at least one speaker, wherein the processor causes the at least one speaker to sound an alarm when the processor detects an object within the closing path of the liftgate via the camera.

8. The vehicle of claim 1, wherein the lift-up door further includes an outer surface opposite the surface. The vehicle also includes a rearview camera mounted on the outer surface, and The rear-view camera and the camera are integrally connected to each other.

9. A vehicle comprising: A lift-up door, the lift-up door including a surface facing the interior of the vehicle when the lift-up door is closed; Sensor, the sensor being mounted on the surface; as well as Processor, the processor being used to: The sensor defines a critical region at the rear end of the vehicle, wherein the critical region is stationary when the liftgate moves at a first speed. as well as When the sensor detects a moving device within the critical area, the closing of the liftgate is stopped and the user's moving device prompts the user whether they wish to continue the liftgate closing operation. Determine whether input has been received from the user's mobile device. If the input indicates that the user wishes to resume the liftgate closing operation, resume the liftgate closing operation and set the liftgate closing speed to the second speed.

10. The vehicle of claim 9, further comprising at least one speaker, wherein the processor causes the at least one speaker to emit an alarm when the sensor detects the moving device in the critical area.

11. The vehicle of claim 9, wherein the mobile device is wirelessly connected to the vehicle.

12. The vehicle of claim 9, wherein the moving device is a key fob.

13. A method of operating a vehicle, comprising: The processor initiates the closing operation of the lifting door at the highest speed; The camera detects objects within the closing path of the liftgate. In response to the object being in motion, the processor estimates the trajectory of the object; And cause the lift door to stop moving and cause the user's mobile device to prompt the user whether the user wants to continue the lift door closing operation; Determine whether input has been received from the user's mobile device. If the input indicates that the user wishes to resume the liftgate closing operation, resume the liftgate closing operation and set the liftgate closing speed to the second speed.

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