Method for detecting obstacles when opening motorized opening panel of vehicle

Abstract

The invention relates to a method (100) for determining a current value of a collision distance between an opening element and an obstacle when opening a motorized opening element of a vehicle, the opening element comprising a detection device arranged in an end region which is located on the opposite side from the axis of rotation of the opening element, the method (100) comprises, when the vehicle is stationary and the opening element is pivoted about its axis of rotation between a closed position and a final open position, performing the following steps: determining (108) polar coordinates of the obstacle in a reference frame centered on the detection device, the polar coordinates comprise: a distance between the detection device and the obstacle; and-an angle formed between the detection device and the obstacle; determining (109) a collision distance between the opening element and the obstacle as a function of the polar coordinates.

Description

Technical Field

[0001] The field of this invention is the detection of obstacles when opening elements of a vehicle. More specifically, but not exclusively, the invention applies to opening elements of the trunk lid type. Background Technology

[0002] The trunk lid of a motor vehicle is typically motorized. However, in certain situations, this motorization can lead to collisions with obstacles in the vehicle's environment. Therefore, when opening a motorized trunk lid, it is necessary to prevent the lid from colliding with obstacles in its opening path (such as garage ceilings, pillars, or even walls that are too close to allow the lid to open fully).

[0003] To address this, vehicle manufacturers typically equip trunk lids with obstacle detection systems that interact with the lid's motor to stop its movement before a collision with a detected obstacle. Such systems include ultrasonic sensors positioned within the trunk lid's interior space, usually between the interior trim panel and the rear skin. The ultrasonic sensors can then detect the presence of obstacles through the lid's skin.

[0004] However, due to the limitation of the detection cone angle, the sensor may have an "insufficient field of view," thus failing to detect obstacles positioned on the right or left edge of the vehicle's trunk lid. To overcome this shortcoming, vehicle manufacturers typically have to install multiple sensors along the width of the trunk lid. While this solution allows for effective obstacle detection, it is costly. Summary of the Invention

[0005] The purpose of this invention is to provide a low-cost solution for distinguishing obstacles near the opening element when opening a vehicle.

[0006] Therefore, the present invention relates, in its broadest sense, to a method for determining a current value of the collision distance between a motorized opening element of a vehicle and an obstacle when opening the vehicle, the opening element including a detection device disposed in an end region of the opening element, wherein the end region is located on a side opposite to the axis of rotation of the opening element, the method comprising: performing the following steps when the vehicle is stationary and the opening element pivots about its axis of rotation between a closed position and a final open position: - The detection device is used to transmit a pulse-modulated radio frequency signal, known as the transmitted signal, and to receive a radio frequency signal, known as the received signal, which is a reflection of the transmitted signal on the obstacle. - Determine the Doppler frequency of the received signal; - Receive the current value of the rotational angular velocity (ω=dΘ / dt) or angular position (Θ(t)) of the detection device (either value can be transmitted, where the two are related by a differential / time integral relationship); - Determine the polar coordinates of the obstacle in a reference frame centered on the detection device, the polar coordinates including: - The distance between the detection device and the obstacle; and - The angle formed between the detection device and the obstacle, which depends on the current value of the rotational angular velocity of the detection device (ω=dΘ / dt), the angular position of the detection device (Θ(t)), and the Doppler frequency; - Determine the collision distance between the opening element and the obstacle based on the polar coordinates.

[0007] This implementation allows the use of a single detection device to distinguish between obstacles positioned directly in front of and to the sides of the detection device. Therefore, the cost of implementing this solution is low.

[0008] By means of the method according to the invention, the collision distance between the opening element and the obstacle is determined, rather than the distance between the detection device and the obstacle. This prevents an obstacle located on one side of the detection device from being perceived as being far from the opening element.

[0009] In addition to the features mentioned in the preceding paragraph, the method according to the invention may have one or more additional features among the following features, which may be considered individually or in any technically possible combination.

[0010] According to a non-limiting embodiment of the present invention, determining the angle formed between the detection device and the obstacle includes, for the position where the vehicle's wheels are stationary on a horizontal surface: - When the opening element is in the first stage of its opening movement, i.e. between its closed position and intermediate position, the angle formed between the axis connecting the detection device to the obstacle and the longitudinal vertical plane of the vehicle passing through the detection device is determined according to the projection in the horizontal plane; - When the opening element is in the second stage of its opening movement, i.e. between the intermediate position and its final opening position, the angle formed between the axis connecting the detection device to the obstacle and the longitudinal vertical plane is determined based on the projection in the transverse vertical plane passing through the detection device.

[0011] According to a non-limiting embodiment of the invention, with the vehicle's wheels stationary on a level surface, and when the opening element is in the first stage of its opening movement, the collision distance between the opening element and the obstacle is determined by the following formula: D 28= cos α1 D 48 in, -cos α1 = (the Doppler frequency of the received signal) The speed of light in vacuum that emitted the signal / (2 The frequency of the carrier wave of the transmitted signal. Vx); -Vx = (the radius between the rotation axis of the opening element and the detection device) The rotational angular velocity of the axis of rotation cos θ (It should be understood that the angular velocity of the rotation axis corresponds to the rotational speed of the detection device); -θ = the opening angle of the opening element relative to the lateral and vertical planes of the vehicle (it should be understood that this angle corresponds to the angular position of the detection device).

[0012] According to a non-limiting embodiment of the invention, for a position where the vehicle's wheels are stationary on a level surface, and when the opening element is in the second stage of its opening movement, the collision distance between the opening element and the obstacle is determined by the following formula: D 28 = cos α2 D 48 in, -cos α2 = (the Doppler frequency of the received signal) The speed of light in vacuum that emitted the signal / (2 The frequency of the carrier wave of the transmitted signal. Vy); -Vy = (the radius between the rotation axis of the opening element and the detection device) The rotational angular velocity of the axis of rotation sin θ; -θ = the opening angle of the opening element relative to the lateral and vertical planes of the vehicle.

[0013] According to a non-limiting embodiment of the present invention, the method includes the step of generating a command to stop opening the opening element when the collision distance is less than or equal to a threshold collision distance.

[0014] According to a non-limiting embodiment of the invention, the opening element is in the intermediate position when the radius between the rotation axis of the opening element and the detection device forms an angle θ between 70° and 110° with respect to the transverse vertical plane.

[0015] According to a non-limiting embodiment of the present invention, the pulse-modulated radio frequency signal is of the ultra-wideband type.

[0016] According to a non-limiting embodiment of the invention, the method includes the step of detecting a command for opening the opening element using signals emitted and received by the detection device, the opening command being formed by movement of a user located within the coverage area of ​​the detection device.

[0017] According to a non-limiting embodiment of the present invention, the method includes the following steps: - The presence of a user authorized to access the vehicle is detected within the coverage area of ​​the detection device by using two-way radio frequency communication with the user's badge; - When this presence is detected, an unlock command is sent to the device used to lock and unlock the open element.

[0018] The present invention also relates to a computer program product comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method according to any one of the foregoing embodiments.

[0019] The present invention further relates to a motor vehicle, the motor vehicle comprising: -Motorized opening element; - A device for rotating the opening element, the device being capable of controlling the opening and closing of the opening element; and - A detection device capable of emitting a pulse-modulated radio frequency signal, referred to as a transmitted signal, and capable of receiving a radio frequency signal, referred to as a received signal, derived from the reflection of the transmitted signal on an obstacle, the detection device being disposed in the end region of the opening element, the end region being located on the side opposite to the rotation axis of the opening element, the detection device being capable of performing the steps of the method according to any of the foregoing embodiments.

[0020] The invention and its various applications will be better understood by reading the following description and referring to the accompanying drawings. Attached Figure Description

[0021] These accompanying drawings are presented in a manner that is entirely non-limiting to the invention.

[0022] [ Figure 1 The diagram schematically illustrates a three-dimensional view of a vehicle according to a non-limiting aspect of the invention.

[0023] [ Figure 2 The diagram schematically shows a side view of a vehicle according to a non-limiting aspect of the invention, the vehicle including a trunk lid positioned in a first location.

[0024] [ Figure 3The steps of a method according to a non-limiting aspect of the invention are illustrated schematically.

[0025] [ Figure 4 ]Symbolic illustration Figure 2 The diagram shows a top view of the vehicle according to the present invention.

[0026] [ Figure 5 ]Symbolic illustration Figure 2 The side view of the vehicle according to the invention is shown, wherein the trunk lid is positioned in a second position.

[0027] [ Figure 6 ]Symbolic illustration Figure 2 The rear view of the vehicle according to the invention is shown, wherein the trunk lid is positioned in a second position. Detailed Implementation

[0028] Unless otherwise stated, the same element appearing in different figures has a single figure reference numeral.

[0029] Figure 1 A motor vehicle 1 according to a non-limiting embodiment of the present invention is shown schematically.

[0030] The longitudinal vertical plane P1, the transverse vertical plane P2, and the horizontal plane P3 of vehicle 1, based on the ground reference frame, are shown.

[0031] like Figure 2 The vehicle 1 shown includes a motorized opening element 2 formed by the rear trunk lid.

[0032] The vehicle 1 further includes a device 3 for rotating the opening element 2, wherein the rotation drive device 3 is capable of controlling the opening and closing of the opening element 2. The rotation drive device 3 is formed, for example, by an electric motor and a means for controlling the electric motor.

[0033] Vehicle 1 also includes a detection device 4, which is capable of emitting a pulse-modulated radio frequency signal, referred to as a transmitted signal, and receiving a radio frequency signal, referred to as a received signal, derived from reflections of the transmitted signal on an obstacle. The detection device 4 is, for example, formed by a sensor capable of emitting and receiving radio frequency signals and means for controlling the sensor.

[0034] Pulse-modulated radio frequency (RF) signals (as opposed to continuous signals) have pulses called RF pulses. In other words, RF signals have pulse-type modulation. This type of signal is particularly useful for determining the distance between a target and a sensor.

[0035] According to a non-limiting embodiment, the transmitted pulse-modulated radio frequency signal is a signal modulated using a modulation technique known as "UWB" (Ultra-Wideband). This modulation technique is based on pulses with extremely short transmission durations (preferably shorter than one nanosecond) and a wide frequency spectrum.

[0036] The detection device 4 is disposed in the end region 5 of the opening element 2. The end region 5 is disposed on the side opposite to the rotation axis 6 of the opening element 2. More specifically, the end region 5 is located in the area near the opening button of the opening element 2, or covers the opening button of the opening element 2.

[0037] According to this non-limiting embodiment, the vehicle 1 also includes a device 7 for locking and unlocking the opening element 2.

[0038] The detection device 4, the rotation drive device 3, and the locking and unlocking device 7 can perform the steps of the method 100 described below together when the vehicle 1 is stationary.

[0039] Method 100 uses detection device 4 to perform step 101: transmitting a pulse-modulated radio frequency signal, referred to as the transmitted signal, and step 102: receiving the signal originating from the transmitted signal at obstacle 8. a 8 b The reflected signal is called the radio frequency signal of the received signal.

[0040] In this example, obstacle 8 a Formed by columns. (As in the formation) Figure 2 The top view of vehicle 1 shown Figure 4 As can be seen in column 8 a It is positioned on the right side of vehicle 1. For clarity, obstacle 8... b Not in Figure 4 As shown in the image. Additionally, obstacle 8 b Formed by a crossbeam. Similarly, as in the rear view forming vehicle 1. Figure 6 As can be seen in the image, there is a crossbeam 8. b It is positioned on the right side of vehicle 1. For clarity, obstacle 8... a Not in Figure 6 As shown in the image.

[0041] Method 100 includes the following steps: in step 103, detecting the presence of a user authorized to access vehicle 1 within the coverage area of ​​detection device 4 via detection device 4 and using bidirectional radio frequency communication with the user badge; and then in step 104, when the presence of a user authorized to access vehicle 1 is detected, transmitting an unlock command to device 7 for locking and unlocking the opening element 2.

[0042] In other words, when the user badge of vehicle 1 is located within the coverage area of ​​detection device 4, the device is able to detect the presence of the badge. The detection of the badge within the coverage area of ​​detection device 4 then generates a command for unlocking the opening element 2 of vehicle 1. This unlock command is then sent to device 7, which controls the unlocking of opening element 2.

[0043] According to a non-limiting embodiment, method 100 includes step 105: detecting a command to open the opening element 2 using radio frequency signals transmitted and received by the detection device 4. The opening command is formed by movement of a user located within the coverage area of ​​the detection device 4. The opening command may be formed by movement of the user's foot or hand within the coverage area of ​​the detection device 4.

[0044] Method 100 includes step 106: determining the Doppler frequency of the received signal via detection device 4.

[0045] Method 100 further includes step 107: receiving the current value of the rotational angular velocity or the current value of the angular position of the detection device 4. This current value of the rotational angular velocity or angular position of the detection device 4 can be determined via a control device (not shown) of the vehicle 1 and then transmitted to the detection device 4.

[0046] Next, method 100 proceeds to step 108: Identify obstacles 8 a 8 b Polar coordinates in a reference frame centered on detection device 4.

[0047] During the rotation of the opening element 2, the opening element changes from the closed position to the position according to... Figure 5 The middle position is shown. Then, by continuing to open, the opening element 2 changes from the middle position to the final open position.

[0048] According to a non-limiting embodiment, when the rotation axis 6 of the connecting opening element 2 and the radius R of the detection device 4 form an angle θ between 70° and 110° with respect to the horizontal vertical plane P2, the opening element 2 is in the middle position.

[0049] Polar coordinates include: -Detection equipment 4 and obstacles 8 a 8 b Distance D between 48 ;as well as - Detection device 4 and obstacle 8 a 8 b The angles α1 and α2 formed between them depend on the current value of the rotational angular velocity of the detection device 4 or the current value of the angular position of the detection device 4 and the Doppler frequency.

[0050] Detection equipment 4 and obstacles 8 a 8 b The distance between them is determined by the detection device 4 and the obstacle 8. a 8 b Distance D between 48 The distance is determined by the wave's flight time.

[0051] like Figure 4 As shown, it was determined that there was a connection between the detection device 4 and the obstacle 8. a The angle formed between them includes: for the position where the wheels of vehicle 1 are stationary on the horizontal ground, and when the opening element 2 is in the first stage of its opening movement, i.e., between its closed position and intermediate position, the angle is determined based on the projection in the horizontal plane P3 when the detection device 4 is connected to the obstacle 8. a The angle α1 formed between axis A1 and the longitudinal vertical plane P1 of vehicle 1 passing through detection device 4. More specifically, axis A1 connects reference point P4 of detection device 4 to obstacle 8. a Axis A1 is similar to distance D. 48 .

[0052] like Figure 6 As shown, it was determined that there was a connection between the detection device 4 and the obstacle 8. b The angle formed between them includes: for the position where the wheels of vehicle 1 are stationary on a horizontal surface, and when the opening element 2 is in the second stage of its opening movement, i.e., between its intermediate position and its final opening position, the angle is determined based on the projection in the transverse vertical plane P2 passing through the detection device 4, when the detection device 4 is connected to the obstacle 8. b The angle α2 formed between axis A2 and the vertical plane P1. Axis A2 is similar to distance D. 48 .

[0053] Depending on the determined polar coordinates, method 100 includes step 109: determining the relationship between the opening element 2 and the obstacle 8. a 8 b Collision distance D between 28 .

[0054] It should be noted that opening element 2 and obstacle 8 a 8 b Collision distance D between 28 Shorter than detection equipment 4 and obstacles 8 a 8 b Distance D between 48 This difference is due to obstacle 8 a 8 b There is an angular offset relative to detection device 4.

[0055] In a non-restrictive manner, with the wheels of vehicle 1 positioned on a level surface, and when the opening element is in the first stage of its opening movement, the opening element 2 interacts with the obstacle 8. a Collision distance D between 28 D is determined by the following formula: 28 = cos α1 D 48 in, -cos α1 = (Doppler frequency of the signal) Speed ​​of light in vacuum when the signal is emitted / (2 (Frequency of the carrier wave of the transmitted signal) Vx); -Vx = (Radius R between the rotation axis 6 of open component 2 and the detection device 4) (rotational angular velocity of axis 6) cos θ; -θ = The opening angle of element 2 relative to the vehicle's horizontal and vertical plane P2.

[0056] like Figure 5 As shown, if column 8 a If the distance from the opening element 2 is sufficient, the rotation of the opening element will bring it to a midpoint position, for example, parallel to the horizontal plane P3. In this case, the obstacle is no longer obstructed by the post 8. a It is formed, but is composed of 8 crossbeams. b form.

[0057] In a non-restrictive manner, with the wheels of vehicle 1 positioned on a level surface, and when the opening element is in the second stage of its opening movement, the opening element 2 interacts with the obstacle 8. b Collision distance D between 28 D is determined by the following formula: 28 = cos α2 D 48 in, -cos α2 = (Doppler frequency of the received signal) Speed ​​of light in vacuum when the signal is emitted / (2 (Frequency of the carrier wave of the transmitted signal) Vy); -Vy = (Radius R between the rotation axis 6 of open component 2 and the detection device 4) (rotational angular velocity of axis 6) sin θ; -θ = The opening angle of element 2 relative to the vehicle's horizontal and vertical plane P2.

[0058] Method 100 further includes step 110: when the collision distance D 28 The step of generating a command to stop opening element 2 when the collision distance is less than or equal to a threshold collision distance. This threshold collision distance can be in the range of, for example, 1 cm to 10 cm.

[0059] It should be noted that the above examples of embodiments of the method according to the invention relate to opening elements of the type of vehicle trunk lid, but it should be understood that the method is applicable to any type of motorized opening element of a vehicle, such as the front trunk lid or the door of a vehicle.

Claims

1. A method for determining the opening element (2) and an obstacle (8) when opening a motorized opening element (2) of a vehicle (1). a 8 b The collision distance between (D) 28 The method (100) for determining the current value of the opening element (2) includes a detection device (4) disposed in an end region (5) of the opening element (2), the end region (5) being located on the side opposite to the axis of rotation (6) of the opening element (2), the method (100) including performing the following steps when the vehicle (1) is stationary and the opening element (2) pivots about its axis of rotation (6) between a closed position and a final open position: - Using the detection device (4), a pulse-modulated radio frequency signal, referred to as the transmitted signal, is emitted (101), and a signal originating from the transmitted signal is received (102) at the obstacle (8). a 8 b The radio frequency signal reflected from the image is called the received signal. - Determine the Doppler frequency of the received signal (106); - Receive the current value of the rotational angular velocity or angular position of the detection device (4) as described in (107); - Determine (108) the obstacle (8) a 8 b The polar coordinates in a reference frame centered on the detection device (4), the polar coordinates including: ○ The detection device (4) and the obstacle (8) a 8 b The distance between (D) 48 );as well as ○ The detection device (4) and the obstacle (8) a 8 b The angle formed between the detection device (4) and the detection device (4) depends on the current value of the rotational angular velocity of the detection device (4), the current value of the angular position of the detection device (4), and the Doppler frequency; - Determine the opening element (2) and the obstacle (8) according to the polar coordinates (109). a 8 b The collision distance between (D) 28 ).

2. The method (100) as described in claim 1, characterized in that, Determine the relationship between the detection device (4) and the obstacle (8). a 8 b The angle formed between (1) and (2) includes the position of the wheels of the vehicle (1) when they are stationary on a horizontal surface: ○ When the opening element (2) is in the first stage of its opening movement, that is, between its closed position and intermediate position, it is determined, based on its projection in the horizontal plane (P3), that the detection device (4) is connected to the obstacle (8). a The angle (α1) formed between the axis (A1) of the vehicle (1) and the longitudinal vertical plane (P1) passing through the detection device (4). When the opening element (2) is in the second stage of its opening movement, i.e., between the intermediate position and its final opening position, the projection in the transverse vertical plane (P2) passing through the detection device (4) determines the connection point between the detection device (4) and the obstacle (8). b The angle (α2) formed between the axis (A2) of the longitudinal vertical plane (P1) and the vertical plane (P1).

3. The method (100) as described in claim 2, characterized in that, With the wheels of the vehicle (1) stationary on a level surface, and when the opening element (2) is in the first stage of its opening movement, the opening element (2) and the obstacle (8) a The collision distance between (D) 28 D is determined by the following formula: 28 = cos α1 D 48 in, -cos α1 = (the Doppler frequency of the received signal) The speed of light in vacuum that emitted the signal / (2 The frequency of the carrier wave of the transmitted signal. Vx); -Vx = (radius (R) between the rotation axis (6) of the opening element (2) and the detection device (4)) The rotational angular velocity of the rotation axis (6) cos θ; -θ = the opening angle of the opening element (2) relative to the transverse vertical plane (P2) of the vehicle (1).

4. The method (100) as described in claim 2 or 3, characterized in that, With the wheels of the vehicle (1) stationary on a level surface, and when the opening element (2) is in the second stage of its opening movement, the opening element (2) and the obstacle (8) b The collision distance between (D) 28 D is determined by the following formula: 28 = cos α2 D 48 in, -cos α2 = (the Doppler frequency of the received signal) The speed of light in vacuum that emitted the signal / (2 The frequency of the carrier wave of the transmitted signal. Vy); -Vy = (the radius (R) between the rotation axis (6) of the opening element (2) and the detection device (4)) The rotational angular velocity of the rotation axis (6) sin θ; -θ = the opening angle of the opening element (2) relative to the transverse vertical plane (P2) of the vehicle (1).

5. The method (100) as described in any one of the preceding claims, characterized in that, The method includes when the collision distance (D) 28 Step (110) is to generate a command to stop opening the opening element (2) when the collision distance is less than or equal to the threshold.

6. The method (100) as described in any one of the preceding claims, characterized in that, When the radius (R) between the rotation axis (6) of the opening element (2) and the detection device (4) forms an angle θ between 70° and 110° with respect to the transverse vertical plane (P2), the opening element (2) is in the intermediate position.

7. The method (100) as described in any one of the preceding claims, characterized in that, The pulse-modulated radio frequency signal is of the ultra-wideband type.

8. The method (100) as described in any one of the preceding claims, characterized in that, The method includes a step (105) of detecting a command to open the opening element (2) using signals transmitted and received by the detection device (4), the opening command being formed by movement of a user located in the coverage area of ​​the detection device (4).

9. The method (100) as described in any one of the preceding claims, characterized in that, The method includes the following steps: -The presence of a user authorized to access the vehicle (1) is detected (103) within the coverage area of ​​the detection device (4) by means of the detection device (4) and by means of bidirectional radio frequency communication with the user badge; - When such presence is detected, an unlock command (104) is sent to the device (7) used to lock and unlock the opening element (2).

10. A motor vehicle (1), comprising: -Motorized opening element (2); - A device (3) for rotating the opening element (2), the device being capable of controlling the opening and closing of the opening element (2); as well as - Detection device (4), which is capable of emitting a pulse-modulated radio frequency signal called a transmission signal, and is capable of receiving signals originating from the transmission signal at an obstacle (8). a 8 b The radio frequency signal reflected on the opening element (2) is referred to as the received signal. The detection device (4) is disposed in the end region (5) of the opening element (2), the end region (5) being located on the side opposite to the rotation axis (6) of the opening element (2). The detection device (4) is capable of performing the steps of the method (100) as described in any one of claims 1 to 9.

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