Method for assisting occupant in leaving vehicle with adaptation of warning zone, computing device and leaving assistance system

Abstract

The invention relates to a method for assisting an occupant in leaving a vehicle (1), comprising the following steps: receiving opening data describing that the occupant is about to open a door (11a, 11b) of the vehicle (1); receiving object data describing a position and a speed of an object (5) in the surroundings (6) of the vehicle (1); checking whether the object (5) is located in a predetermined warning zone (19) in the surroundings (6) of the vehicle (1), wherein a collision between the object (5) and the door (11a, 11b) will face in the warning zone (19); if the object is located in the warning area (19), a warning is given; wherein at least one lane (15, 16, 17) in the surroundings (6) of the vehicle (1) is detected, a shape of the at least one lane (15, 16, 17) is determined, and a warning zone (19) is predetermined as a function of the shape.

Description

Technical Field

[0001] The present invention relates to a method for assisting an occupant to leave a vehicle. Furthermore, the present invention relates to a computing device for a departure assistance system of a vehicle. Furthermore, the present invention relates to a departure assistance system for a vehicle having such a computing device. Finally, the present invention relates to a computer program. Background Art

[0002] From the prior art, different driver assistance systems for assisting an occupant or a driver to operate a vehicle are known. Here, the focus is on driver assistance systems for assisting an occupant to leave. Such driver assistance systems, also known as departure warning systems, usually include sensors for identifying an occupant opening a door. In addition, these departure warning systems also have at least one environmental sensor for detecting objects or other traffic participants in the vehicle's surrounding environment. Depending on the detected objects, the occupant can be warned to prevent a collision between the opened door and the objects.

[0003] In known departure warning systems, radar sensors or side radars are used to detect objects or other traffic participants in the surrounding environment. Usually, a so-called warning zone is defined in the vehicle's surrounding environment. If an object or other traffic participant is located within this warning zone, a warning is issued to the driver or the occupant. The warning zone is usually determined based on the time to collision (TTC). In addition, the warning zone can be determined, for example, such that the warning zone has a defined width, for example.

[0004] In this context, EP 1 433 657 A1 discloses a method for door collision warning in a motor vehicle. The method includes monitoring a rear space behind the driver's side with at least a predetermined width and depth. In addition, the method also includes detecting an object in the rear space to be monitored and determining the distance and speed of the detected object. In addition, a warning distance is calculated based on the object speed and a pre-given total reaction time. If the object distance is less than the warning distance, a warning signal is issued. Preferably, both sides of the motor vehicle can be monitored, wherein in particular the width of the rear space to be monitored can be less than or equal to 3 meters. Summary of the Invention

[0005] The object of the present invention is to provide a solution for improving the reliability of a method for assisting an occupant to leave a vehicle of the above type.

[0006] According to the present invention, this object is achieved by a method, a computing device, a departure warning system, and a computer program having the features described in the independent claims. Advantageous developments of the present invention are given in the dependent claims.

[0007] The method according to the invention is used to assist an occupant in leaving the vehicle. The method includes receiving opening data describing that the door is about to be opened by the occupant. In addition, the method also includes receiving object data describing the position and speed of an object in the vehicle's surrounding environment. The method also includes checking whether the object is located in a predefined warning zone in the vehicle's surrounding environment, where a collision between the object and the door will occur within the warning zone. In addition, the method also includes issuing a warning if the object is located in the warning zone. The method also includes detecting at least one lane in the vehicle's surrounding environment and determining the shape of the at least one lane. In addition, the warning zone is predefined according to the shape of the at least one lane.

[0008] The method is intended to assist the occupants of the vehicle in leaving the vehicle. Here, the occupants can be located on the driver's seat, the front passenger seat and / or the rear seat of the vehicle. In principle, the method can be used for all occupants to leave the vehicle. The method can be used when opening the corresponding door of the vehicle, namely the driver's door, the front passenger door and / or the rear door. The method can be executed by a computing device of the departure warning system. The computing device can be composed of at least one electronic controller, a processor, etc. of the vehicle.

[0009] The computing device can receive, for example, opening data provided by a sensor or an opening sensor. For example, the opening and / or touching of a door contact or a lever or operating element for opening the door can be detected using the opening sensor. Alternatively or additionally, the opening sensor can be an interior camera, by means of which the movement of the occupant can be detected. The computing device of the departure warning system can evaluate the opening data accordingly, and it can be recognized here that the occupant is opening or wants to open the door. In addition, the (expected) time point for opening the door can be determined based on the opening data.

[0010] The computing device can also receive object data describing an object or other traffic participants in the vehicle's surrounding environment. In particular, the object data describes the corresponding position and / or speed of the object. The object data can be provided by an environmental sensor of the vehicle or also by a plurality of environmental sensors. At least one environmental sensor can be a distance sensor, by means of which the distance between the vehicle and the object can be continuously determined. In addition, the speed of the vehicle can also be determined using the distance sensor. The environmental sensor can in particular be designed as a radar sensor. Based on the object data, the computing device can check whether there is an object or other traffic participants in the vehicle's surrounding environment. The object can be, for example, another vehicle, a bicycle, a motorcycle, etc.

[0011] With the aid of a computing device, a warning zone can also be defined. Here, the warning zone can be determined such that if an object is located within the warning zone, a collision between the open door and the object will occur. For example, the warning zone can be determined based on the time to collision (TTC). This time to collision in particular describes the duration between the opening of the door and the possible collision between the object and the open door. In addition, when determining the warning zone, the rotation range of the door can be taken into account.

[0012] In the event of an impending collision, a warning can be issued to one or more occupants by means of a corresponding warning device of the departure warning system. Here, the warning can be issued visually, audibly, and / or haptically. In principle, a distinction can also be made here between a warning and an acute warning. The warning can also be issued in the form of actively preventing the door from opening and / or preventing the movement of the open door.

[0013] According to the invention, it can be provided that at least one lane in the vehicle's surroundings is detected. For example, corresponding data describing the lanes in the vehicle's surroundings can be received. Such lanes can be lanes assigned to a road or street. These lanes can be used by other passenger cars, trucks, motorcycles, etc. It can also be provided that the lane is a bicycle lane.

[0014] Furthermore, it is provided that the shape of at least one lane is determined. Here, the shape can in particular describe the trend and / or the spatial dimensions of the lane. Furthermore, it is provided that the correlation between the warning zone and the shape of at least one lane is defined.

[0015] According to the invention, it is considered that in known departure warning systems, objects have hitherto only been detected based on distance sensors, in particular radar sensors. Thus, for example, it is not possible to take into account which lane or which traffic lane these objects are actually located in. In particular, the exit warning should warn the occupants that there are approaching objects or traffic participants in the first lane next to the vehicle. However, since the shape of the lane is not known in known departure warning systems, a warning may be incorrectly not issued. Instead, a warning may be incorrectly issued even if the object is not directly in the first lane or an adjacent lane. The occupants in the vehicle perform a lane assignment for the approaching objects or vehicles. However, this lane assignment in known departure warning systems is not based on the data of the radar sensor or the distance sensor. This may therefore cause confusion to the customer or the occupants.

[0016] According to the invention, this problem is solved by taking into account the trend of at least one lane when defining the warning zone. In particular, at least one lane in the vehicle's surroundings is identified and the object is assigned to the identified lane. In particular, it can be provided that the warning zone is assigned to the at least one lane. In particular, the warning zone can be assigned to the lane directly adjacent to the vehicle. In summary, the warning output in the departure warning system can thereby be improved.

[0017] Preferably, image data describing the surrounding environment provided by a vehicle camera is received. In addition, the shape of at least one lane is determined based on the image data. Modern vehicles are usually equipped with corresponding cameras. For example, a vehicle or a driver assistance system may have a front camera and / or a rear camera. With these cameras, corresponding image data describing the surrounding environment can be provided. Based on the image data, known image processing methods or object recognition methods can be used to identify, for example, the corresponding lanes, and thus determine the shape or spatial dimensions of the lanes. In particular, for this purpose, corresponding road markings or lane boundaries can be identified in the image data. In summary, the shape of at least one lane can be reliably determined in this way.

[0018] Alternatively or additionally, digital map data describing the lanes in the surrounding area can be considered. Therefore, the shape of at least one lane can be determined alternatively or additionally based on the digital map data. It can also be provided that the credibility of the shape or spatial dimensions of at least one lane determined based on the image data is checked with the aid of the digital map data.

[0019] Preferably, the shape describes the width of at least one lane, and a warning zone is determined based on the width of at least one lane. Here, it is considered that the lane width of the first lane or the adjacent lane next to the vehicle may be different depending on the lane. Therefore, it is possible that if the lane width is large or there is a bicycle lane, for example, between the vehicle and the first lane, the departure warning does not warn the approaching vehicle in the first lane. In addition, objects in the second lane next to the vehicle can be warned in a known departure warning system based on the width of the lane. By considering the width of at least one lane, this problem can be solved and thus the warning can be issued correctly. The width of the lane can in particular describe the lane dimension perpendicular to the defined driving direction of the lane.

[0020] Preferably, the shape of the lane directly adjacent to the door is determined as the shape of at least one lane. As described above, the departure warning should in particular take into account those objects or traffic participants located on one or more lanes directly adjacent to the vehicle or the open door. Here, the adjacent lane can be assigned to the passenger side and / or the driver side of the vehicle. Thus, the departure warning can be improved.

[0021] In addition, it is advantageous that a bicycle lane is detected as at least one lane. In other words, according to an embodiment of the present invention, in addition to the lanes assigned to the road, bicycle lanes or bicycle paths are also considered. Therefore, collisions between cyclists and open doors can be reliably prevented.

[0022] Furthermore, advantageously, the shape describes the trend of at least one lane and a warning area is determined based on the trend of at least one lane. For example, it is possible that a parked vehicle is located in an area behind a bend in the road or lane. In other words, it may occur that an approaching object passes the bend before approaching the vehicle. If the shape of at least one lane is considered, errors in the departure warning can also be avoided.

[0023] In another embodiment, it is checked whether there is a structural separation between the vehicle and at least one lane, and a warning is issued based on the presence of the structural separation. First, it can be checked whether such a structural separation exists. For example, if such a structural separation exists, the output of the warning can be blocked. This applies in particular to the case where there is a structural separation in the form of a wall or guardrail and thus an object cannot or does not overcome the structural separation and thus does not enter the warning area. It is also possible that the structural separation between the vehicle and the road is designed such that when the door is opened, the door does not or should not enter the area of the road due to the dimensions of the structural separation. This can be the case when there is a structural separation in the form of a green area or a so-called safety belt. In this case, the issuance of the departure warning can also be ignored.

[0024] The computing device of the departure warning system for a vehicle according to the invention is configured to receive opening data describing that an occupant is about to open a door. Furthermore, the computing device is configured to receive object data describing the position and speed of an object in the vehicle's surroundings. Furthermore, the computing device is also configured to check whether the object is located in a predefined warning area in the vehicle's surroundings, where a collision between the object and the door will occur within the warning area. Furthermore, the computing device is configured to issue a warning if the vehicle is located in the warning area. Furthermore, the computing device is configured to detect at least one lane in the vehicle's surroundings, determine the shape of the at least one lane, and predetermine the warning area based on the shape.

[0025] The departure warning system for a vehicle according to the invention includes a computing device according to the invention. Furthermore, the departure warning system includes at least one environmental sensor for detecting object data in the vehicle's surroundings and / or for detecting the shape of at least one road in the surroundings. Furthermore, the departure warning system includes at least one sensor for detecting that a door of the vehicle is about to open and a warning device for issuing a warning.

[0026] A vehicle according to the invention includes a departure warning system according to the invention. The vehicle can in particular be designed as a passenger car.

[0027] On the other hand, the present invention relates to a computer program comprising instructions which, when executed by a computing device, cause the computing device to carry out the method according to the invention and its advantageous configurations. Furthermore, the present invention relates to a computer-readable storage medium comprising instructions which, when executed by a computing device, cause the computing device to carry out the method according to the invention and its preferred configurations.

[0028] The preferred embodiments and their advantages proposed with reference to the method according to the invention apply accordingly to the computing device according to the invention, the departure warning system according to the invention, the vehicle according to the invention, the computer program according to the invention and the computer-readable storage medium according to the invention.

[0029] Further features of the present invention result from the claims, the drawings and the description of the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the drawings and / or shown individually in the drawings, can be used not only in the combinations specifically specified, but also in other combinations or individually, without departing from the scope of the present invention. Description of the Drawings

[0030] The present invention will now be described in more detail on the basis of preferred embodiments and with reference to the drawings. Shown herein are:

[0031] Figure 1 Schematic view of a vehicle having a departure warning system for assisting an occupant to leave the vehicle;

[0032] Figure 2 Schematic view of a traffic situation in which the vehicle is stopped and there is an object in the form of another vehicle in the vehicle's surroundings;

[0033] Figure 3 Schematic view of another traffic situation in which the vehicle is stopped. Detailed Description

[0034] Figure 1 A schematic view of the vehicle 1 in a top view, in its current configuration as a passenger car. The vehicle 1 includes a departure warning system 2 which is used to assist an occupant to leave the vehicle 1. The departure warning system 2 includes a computing device 3 which can, for example, be constituted by an electronic controller of the vehicle 1.

[0035] In addition, the departure warning system 2 includes at least one environmental sensor 4 by means of which objects 5 in the surroundings 6 of the vehicle 1 can be detected. In the present example, the departure warning system 2 includes two environmental sensors 4 which are arranged in the rear region 7 of the vehicle 1. By means of the environmental sensors 4, the distance between the environmental sensors 4 and an object 5 in the surroundings 6 of the vehicle 1 can be determined. In addition, the relative speed between the vehicle 1 and the object 5 can be determined based on the measurements of the environmental sensors 4. The environmental sensors 4 can in particular be designed as radar sensors. Object data describing the objects 5 in the surroundings 6 can be provided by means of these environmental sensors 4. These object data can be transmitted from the environmental sensors 4 to the computing device 3.

[0036] In addition, the departure warning system 2 includes a plurality of cameras 8a, 8b, 8c, 8d. Here, the camera 8a is not only in the front region 9 of the vehicle 1. By means of this camera 8a or the front camera, image data describing the surroundings 6 in front of the vehicle 1 in the forward direction can be provided. The camera 8b or the rear camera assigned to the rear region 7 can provide image data describing the surroundings 6 behind the vehicle 1 in the forward direction. The cameras 8c and 8d (or side cameras) can provide image data describing the side regions of the vehicle 1 respectively. The image data from each of the cameras 8a to 8d can be transmitted to the computing device 3.

[0037] In addition, the driver assistance system 2 includes a sensor 10 or opening sensor, which is only schematically shown at present, by means of which the opening of the doors 11a, 11b of the vehicle 1 can be detected. It can also be provided that by means of the sensor 10, the opening intention of an occupant or the movement of an occupant towards the doors 11a, 11b can also be recognized. Opening data describing the opening or imminent opening of the doors 11a, 11b can be provided by means of the sensor 10. These opening data can be transmitted from the sensor 10 to the computing device 3. By means of the sensor 10, the opening or imminent opening of the driver's door 11a, the front passenger door 11b and the rear doors can be detected.

[0038] In addition, the departure warning system 2 includes a warning device 12 by means of which a warning can be issued to the occupants. For example, an acoustic and / or optical warning can be issued by means of the warning device 12. In addition, the departure warning system 2 includes a display device 13 by means of which a display can be provided based on the different image data provided by the cameras 8a to 8d.

[0039] Figure 2 A traffic situation in which the vehicle 1 is stopped is schematically shown. For example, the vehicle 1 may be parked in a parking area. Currently, it is assumed that the occupants in the driver's seat and the front passenger seat of the vehicle 1 want to leave the vehicle 1. The imminent opening of each of the doors 11a and 11b can be recognized by the computing device 3 based on the opening data of the sensor 10.

[0040] There is a road 14 with a first lane 15 and a second lane 16 beside the driver's door 11a of the vehicle 1, where the first lane 15 is adjacent to the vehicle 1 or the driver's door 11a. There is an object 5 in the form of another vehicle on the second lane 16, and this other vehicle is approaching the vehicle 1. The object 5 can be detected based on the object data of the environmental sensor 4.

[0041] Regarding the opening of the driver's door 11a of the vehicle, a warning zone 19 is defined. The warning zone 19 is determined on the one hand based on the collision time between the object 5 and the opened door 11a. In addition, the warning zone 19 is determined based on the shape of the lane 15 adjacent to the vehicle 1. Here, the width 20 of the lane 15 is obtained as the shape. Here, the shape or width 20 of the lane 15 is determined based on the image data provided by the cameras 8a to 8d.

[0042] Here, the warning zone 19 is defined to adapt to the width 20 of the first lane 15. Thus, it can be achieved that a departure warning is issued only when the object 5 or another traffic participant is located on the relevant first lane 15. In the current example, no departure warning is issued when the object 5 is on the second lane 16 and the door 11a is opened.

[0043] There is a bicycle lane 17 beside the co-driver's door 11b of the vehicle 1, and this bicycle lane is separated from the vehicle 1 or the parking area of the vehicle 1 by a structural separation 18. This structural separation 18, which can be composed of grass for example, is also recognized based on the image data of the cameras 8a to 8d and is taken into account when issuing a departure warning. Currently, the structural separation 18 is designed such that a cyclist on the bicycle lane 17 cannot move into the swing range of the co-driver's door 11b. Therefore, in this case, no warning zone is defined for the bicycle lane 17.

[0044] Figure 3 Another traffic situation where the vehicle 1 is stopped is shown schematically. The lane 15 extends beside the driver's door 11a of the vehicle 1, and this lane is currently being traveled by an object 5 in the form of another vehicle. Here, the lane 15 has a bend. Therefore, if the object 5 moves in the direction of the vehicle 1, it first passes through the bend before approaching the vehicle 1. The shape of the lane 15 can be obtained based on the image data of the cameras 8a to 8d and / or based on digital map data. In the current situation, in particular, the trend or curvature of the lane 15 should be obtained. Therefore, in the current example, the warning zone 19 can be adapted to the trend of the lane 15 and thus a warning can be issued in a timely manner regarding the approaching object 5.

[0045] In accordance with Figure 2 and Figure 3In the example, the departure warning in connection with the driver's door 11a and the front passenger door 11b is described. The departure warning can be used in the same way for the rear doors or the back doors.

Claims

1. A method for assisting an occupant to leave a vehicle (1), the method having the following steps: - Receiving opening data that describes an occupant about to open a door (11a, 11b) of the vehicle (1); - Receiving object data that describes the position and speed of an object (5) in the surrounding environment (6) of the vehicle (1); - Checking whether the object (5) is located in a predefined warning zone (19) in the surrounding environment (6) of the vehicle (1), wherein a collision between the object (5) and the door (11a, 11b) will occur within the warning zone (19); - If the object is located within the warning zone (19), issuing a warning; Characterized in that - Detecting at least one lane (15, 16, 17) in the surrounding environment (6) of the vehicle (1); - Determining the shape of the at least one lane (15, 16, 17); And - Predetermining the warning zone (19) according to the shape.

2. The method according to claim 1, Characterized in that Receiving image data provided by a camera (8a to 8d) that describes the surrounding environment (6), and determining the shape of the at least one lane (15, 16, 17) based on the image data.

3. The method according to claim 1 or 2, Characterized in that The shape describes the width (20) of the at least one lane (15, 16, 17), and the warning zone (19) is determined according to the width (20) of the at least one lane (15, 16, 17).

4. The method according to claim 3, Characterized in that The shape of the lane (15, 16, 17) directly adjacent to the door (11a, 11b) is determined as the shape of the at least one lane (15, 16, 17).

5. The method according to any one of the preceding claims, Characterized in that A bicycle lane (17) is detected as the at least one lane (15, 16, 17).

6. The method according to any one of the preceding claims, Characterized in that The shape describes the trend of the at least one lane (15, 16, 17), and the warning zone (19) is determined according to the trend of the at least one lane (15, 16, 17).

7. The method according to any one of the preceding claims, Characterized in that Checking whether there is a structural separation (18) between the vehicle (1) and the at least one lane (15, 16, 17), and issuing the warning according to the presence of the structural separation (18).

8. A computing device (3) for a departure warning system (2) of a vehicle (1), wherein the computing device (3) is configured to: - Receive opening data that describes an occupant about to open a door (11a, 11b) of the vehicle (1); - Receive object data that describes the position and speed of an object (5) in the surrounding environment (6) of the vehicle (1); - Check whether the object (5) is located in a predefined warning area (19) in the surroundings (6) of the vehicle (1), wherein a collision between the object (5) and the doors (11a, 11b) will occur within the warning area (19); - If the object (5) is located within the warning area (19), issue a warning; It is characterized in that the computing device (3) is further configured to: - Detect at least one lane (15, 16, 17) in the surroundings of the vehicle (1); - Determine the shape of the at least one lane (15, 16, 17), and - Predetermine the warning area (19) according to the shape.

9. A departure warning system (2) for a vehicle (1), the departure warning system comprising: The computing device (3) according to claim 8; At least one environmental sensor (4) for detecting an object in the surroundings (6) of the vehicle (1) and / or for detecting the shape of at least one lane (15, 16, 17) in the surroundings (6); at least one sensor (10) for detecting that the doors (11a, 11b) of the vehicle (1) are about to open and a warning device (12) for issuing a warning.

10. A computer program comprising instructions that, when the program is executed by a computing device (3), cause the computing device (3) to perform the method according to any one of claims 1 to 7.

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