Car door opening protection

Abstract

A computer-implemented method for door opening protection of a vehicle (200) is disclosed. The method includes receiving radar signal data (122) determined using radar sensors (202) of the vehicle (200). The received radar signal data (122) is used to detect one or more moving objects (260). A map (126; 270) is generated using the received radar signal data (122), the map describing the relative positions of one or more static objects (250, 252) relative to the vehicle (200). A set of objects (128) associated with the door opening protection is determined using the map (126; 270) and the detection results (124) of the one or more moving objects (260). A door protection function (130) is performed using the set of associated objects (128).

Description

Technical Field

[0001] This invention relates to the field of vehicle door opening protection. More specifically, this invention relates to a computer-implemented method for vehicle door opening protection using radar signal data determined by the vehicle's radar sensors. Background Technology

[0002] Door opening protection devices are used to protect vehicle doors from damage when they are opened. For this purpose, sensors (such as ultrasonic sensors) are used to determine if there are obstacles nearby that might collide with the door when it is opened. However, due to the limitations of ultrasonic technology, systems using ultrasonic sensors may require embedding multiple ultrasonic sensors in the door to cover a sufficiently large area on the side of the vehicle to detect obstacles. Furthermore, multiple ultrasonic sensors are needed to provide information about the relative angle of the detected obstacles. However, blind spots may still exist due to the narrow field of view of ultrasonic sensors. Therefore, an improved door opening protection system is needed.

[0003] The objective is to provide a computer-implemented method, computer program, and computer device for vehicle door opening protection. This objective is achieved through the features of the independent claims. Summary of the Invention

[0004] In one aspect, a computer-implemented method for door opening protection of a vehicle is disclosed. The method includes receiving radar signal data determined using radar sensors of the vehicle. The received radar signal data is used to detect one or more moving objects. Detection includes determining the relative speed and relative position of the moving object relative to the vehicle. A map is generated using the received radar signal data. The map describes the relative positions of one or more static objects relative to the vehicle. A set of objects associated with door opening protection is generated using the map and the detection results of the one or more moving objects. If one or more static objects described by the map are determined to be associated with door opening protection, the set of associated objects includes the one or more static objects. If a static object is located within a door opening area, the corresponding static object is determined to be associated with door opening protection, the door opening area being a predefined area relative to the vehicle covered by opening one or more doors of the vehicle. If one or more moving objects are determined to be associated with door opening protection, the set of associated objects also includes one or more moving objects. If the relative speed and relative position of a moving object allow the corresponding moving object to enter the door opening area within a predetermined time limit and its path is not obstructed by static objects, the corresponding moving object is determined to be associated with door opening protection. Use this set of related objects to perform door protection functions.

[0005] The received radar signal data can describe the relative position of a static object within the sensing area of ​​the radar sensor used to determine the radar signal data. Since the radar sensor is also suitable for determining the relative velocity of objects, the received radar signal data can also describe the relative position and velocity of a moving object within the sensing area of ​​the radar sensor. Therefore, the radar sensor enables the door opening protection system to consider not only static objects but also moving objects, and especially the interaction between static and moving objects, to provide improved door opening protection.

[0006] Using radar sensors (e.g., multiple-input multiple-output (MIMO) radar sensors) to identify obstructions that may block door opening can provide several advantages for door opening protection in vehicles, including improved spatial resolution, object separation, enhanced sensitivity, and motion detection capabilities. Improved detection of objects relevant to door opening protection can be achieved by using, for example, one or two well-placed MIMO radar sensors in each of the vehicle's side fields of view (FOV) in two different planes (i.e., horizontal (azimuth) and vertical (elevation)), combined with appropriate imaging techniques (e.g., synthetic aperture radar (SAR) maps around the vehicle).

[0007] Radar is used in various autonomous driving scenarios, such as adaptive cruise control (ACC) and intersection traffic alert (CTA). A radar sensor is a device for emitting radar signals and detecting reflections of the emitted radar signals from objects within the radar sensor's detection range (i.e., the sensor's sensing area). The radar reflections contained in the detected radar signals depend on the characteristics of the objects within the sensor's sensing area. These characteristics of the objects may include, for example, position, shape, motion characteristics, and / or trajectory. Radar signal data may include four-dimensional (4D) feature information of the object determined based on the reflected radar signals received by the radar sensor. This four-dimensional data may include, for example, the detected object's distance, velocity, azimuth, and elevation relative to the radar sensor.

[0008] For example, MIMO radar can be used for door opening protection, employing multiple transmitting and receiving antennas to enhance radar performance. Radar sensors can be integrated, for example, into the vehicle's exterior rearview mirror module, particularly into the bottom side of the rearview mirror module.

[0009] For example, a frequency-modulated continuous wave (FMCW) radar sensor can be used. In the case of an FMCW radar sensor, the transmitted radar signal is frequency-modulated. This frequency modulation allows for range measurement using indirect time-of-flight measurements by comparing the frequency and phase of the received radar signal with a reference (e.g., the transmitted radar signal). Furthermore, velocity can be measured using the Doppler frequency shift of the received radar signal. Depending on the relative distance and velocity of the object to the radar sensor, the acquired reflected radar signal may include frequency variations. These frequency variations can be processed using suitable techniques such as Fast Fourier Transform (FFT) to extract characteristics of the object, such as range and / or velocity. Therefore, by performing an FFT on radar signal data describing the radar signal, the position (e.g., defined in three dimensions in terms of range, azimuth, and / or elevation) and / or velocity of the detected object can be determined. This analysis can, for example, aid in object detection, object recognition, object tracking, etc.

[0010] The received radar signal data can be used to generate a map describing the relative positions of one or more static objects with respect to a vehicle. Therefore, not only can the individual positions of a single object be determined, but also an compilation of the positions of static objects within the sensing area of ​​the radar sensors can be determined. This compilation provides a precise image of the environment surrounding the vehicle and enables the determination of spatial relationships between static objects. For example, such a map can be used to determine potential unobstructed paths of moving objects between static objects and / or paths of moving objects blocked by static objects. Such a map can be, for example, a synthetic aperture radar (SAR) map, which provides high-resolution information about objects, terrain, and structures in the surrounding environment. To generate the SAR, the movement of a vehicle, including radar sensors, can be used. Therefore, as the vehicle moves relative to the various objects, objects can be scanned from different viewpoints, resulting in a finer spatial resolution than an environmental radar scan performed when the vehicle is stationary. For example, such SAR can be used to directly determine the importance of static objects (e.g., infrastructure objects) near the vehicle to the opening of the vehicle's doors. For example, static objects near doors can be detected, and when the door is opened, the door may collide with these static objects. For example, such SAR can be used to indirectly determine the importance of static objects (e.g., infrastructure objects) near the vehicle to the opening of the vehicle's doors. For example, a static object near a door can be detected that obstructs the path of a moving object toward a vehicle or the door of a vehicle that is about to open or is being opened. When the door is opened, such a moving object that obstructs the path toward the car can be determined not to pose a collision hazard, while an unobstructed moving object can be determined to pose a collision hazard, thereby triggering appropriate countermeasures.

[0011] Objects related to door opening protection can be identified. When a static object is located within the vehicle's door opening area using a map, its association with door opening protection can be determined. The vehicle's door opening area is a predefined area relative to the vehicle, covered by opening the vehicle's doors. Multiple door opening areas can be predefined for multiple doors of the vehicle. These areas can be defined by the physical characteristics of the doors. For doors that open by rotating around a hinge providing a rotation axis, the door opening area can be defined by a circular sector, where the hinge defines the center and the length of the door defines the radius. The radius of the circular sector can be defined by the maximum opening angle of the corresponding door. The rotation axis can be, for example, a vertical axis. The door can be, for example, a conventional door hinged at the forward-facing edge of the door. This type of door swings outward from the vehicle body. The rotation axis can be, for example, a horizontal axis. The door can be, for example, a gull-wing door, also known as a lift-up door, i.e., a door hinged to the roof rather than the side of the vehicle. Since the door opens in a 3D environment, the circular sector can be extended to a cylindrical sector, taking into account the door's height or width and / or distance from the door to the ground. The door height can define the height of the cylindrical sector with a vertically oriented longitudinal axis, while the distance from the door to the ground can define the distance from the cylindrical sector to the ground. The door width can define the length of the cylindrical sector with a horizontally oriented longitudinal axis, while the distance from the door to the ground can define the distance from the cylindrical sector to the ground. In this case, the door opening area can be defined as part of the 3D door opening volume, for example, in the form of a cylindrical sector. Alternatively, for example, the mounting height of a radar sensor or another predetermined height less than the door height and / or less than the radar sensor mounting height can be used to define the height of the cylindrical sector. For example, the door opening volume can be used to determine objects related to door opening protection.

[0012] Moving objects associated with door opening protection can be identified by analyzing received radar signal data describing radar reflections from moving objects. For example, the relative speed and relative position of each moving object can be determined. It can be determined whether the relative speed and relative position allow each moving object to enter the door opening area within a predetermined time limit. The predetermined time limit defines the time period associated with door opening protection, i.e., the period during which protection is required. If a moving object cannot enter the door opening area within the predetermined time limit (i.e., the time period associated with protection), the corresponding moving object can be classified as at least temporarily unrelated to door opening protection. Moving objects that can enter the door opening area within the predetermined time limit may potentially be associated with door opening protection. To determine relevance, a map can be used to determine if there are paths for moving objects that are not blocked by static objects, allowing the corresponding moving object to enter the door opening area within the predetermined time limit. If such unblocked paths exist, the moving object can be considered associated with door opening protection. If all paths allowing a moving object to enter the door opening area within the predetermined time limit are blocked by one or more static objects, the corresponding moving object can be classified as at least temporarily unrelated to door opening protection. Therefore, not only the position and speed of the moving object can be considered, but also the environment through which the object must move, in order to determine whether the moving object detected by the radar sensor is related to the door opening protection.

[0013] The predetermined time limit can be a uniform time limit for all moving objects, or it can be an individual time limit for each object, for example, depending on the individual characteristics of the moving objects, such as their individual speeds. The predetermined time limit can, for example, include a predefined time period required for a vehicle door to open. The predetermined time limit can, for example, include an additional time period considered appropriate for the moving object to become aware of the opening door and initiate an evasive maneuver to avoid a collision. This additional time period can, for example, depend on the speed of the moving object. For example, assuming a pedestrian's speed relative to a vehicle is slower than a cyclist's relative speed, the pedestrian can adapt more easily than the cyclist to avoid a collision with an opening door.

[0014] For example, for a moving object, a potential movement path can be determined by extrapolating the object's current movement path. These current movement paths can be determined using the position and velocity determined for these moving objects using the vehicle's radar sensors. For example, additional radar sensors within the same radar system of the vehicle, or other sensor data fused with sensor data from the vehicle's radar system, can also be used. For example, multiple positions and velocities can be determined for a moving object to determine its current movement path. These positions and velocities can be determined from different viewpoints in space and time, for example, due to the movement of the vehicle with radar sensors. For example, the extrapolated path can be used to determine whether the moving object can enter a door opening area within a predetermined time limit. For example, the extrapolated path can be a path checked regarding obstructions from one or more static objects determined using a map.

[0015] Those moving objects whose paths are not blocked can be added to the set of related objects. The fact that the paths are not blocked allows the corresponding moving objects to enter the door opening area within a predetermined time limit.

[0016] To protect vehicle doors, a set of objects associated with door opening protection is used to perform door protection functions. Such door protection functions may, for example, include outputting a collision warning signal to warn vehicle occupants that one or more doors of the vehicle may collide with one or more objects from the associated object set. The warning signal may be output in the form of an audible, visual, and / or tactile signal. A tactile signal may, for example, be vibration or other tactile signals. For example, the warning signal may warn of a potential collision between an occupant door and a static object within the door protection area when the door is opened. For example, the warning signal may warn of a potential collision between an occupant door and a moving object that enters the door protection area within a predetermined time limit when the door is opened. For example, such door protection functions may include limiting the door opening angle of the vehicle.

[0017] For example, the acquired radar signals include radar signals acquired while the vehicle is moving. The map generated using the received radar signal data is a synthetic aperture radar map, which describes the relative positions of one or more static objects relative to the vehicle within an area covered by the radar sensing area of ​​the radar sensors when the vehicle is moving.

[0018] The movement of the vehicle can be used to generate a map in the form of a SAR map, which describes the position of one or more static objects in the radar sensing area relative to the vehicle and relative to each other. The movement of the vehicle (e.g., when the vehicle decelerates to a stop) can be used to acquire radar signals from different viewpoints by moving the vehicle.

[0019] Radar sensors can be tuned, for example, to obtain more detection points, i.e., to increase resolution and display smaller obstacle sizes. This can be achieved by changing waveform properties such as bandwidth, field of view (FOV), and / or antenna beam direction to enhance radar sensor performance.

[0020] For example, a radar sensor can be controlled to change its focus. For example, the radar sensor can operate in a near-range mode and a far-range mode. Compared to the far-range mode, the near-range mode can be optimized for detecting nearby objects, while the far-range mode is optimized for detecting objects at greater distances. For example, the resolution in the near-range mode can be higher than the resolution in the far-range mode. For example, the waveform and / or bandwidth of the radar signal emitted by the radar sensor can be adjusted to switch between the two modes. For example, the radar sensor can be controlled to alternate between the two modes. For example, the radar sensor can operate in near-range mode for a first predefined time period (e.g., milliseconds) to capture objects at close range, and then switch to far-range mode to operate in far-range mode for a second predefined time period (e.g., milliseconds) to capture objects at greater distances.

[0021] For example, higher resolution in both range and azimuth / elevation allows for more detailed information about objects at close range. It enables radar sensors to better distinguish closely spaced objects and provides a more accurate representation of the surrounding environment at close range. The choice of waveform characteristics can affect resolution. Radar waveform and bandwidth can directly impact the performance of a radar system. Wider bandwidth allows for higher resolution and the ability to separate closely spaced objects. Modulation techniques such as frequency modulation or phase modulation can provide additional information about objects, such as their velocity or range distribution.

[0022] For example, the method further includes receiving a first speed signal indicating that the vehicle's speed has reached a first predefined speed threshold. Map generation is performed in response to the receipt of the first speed signal.

[0023] For example, a map can only be generated when the vehicle has slowed sufficiently to the point that a stop is expected or likely. A map can be generated to provide an accurate description of the surrounding environment where the vehicle is expected to stop. When the vehicle stops, information about the surrounding environment accumulated from the map is used to determine if there are any objects that could potentially collide with the open vehicle door. These relevant objects can include one or more static objects near the vehicle door, such that the vehicle door might collide with these static objects when opened. These relevant objects can also include one or more moving objects approaching the vehicle, such that the open vehicle door might collide with these objects when they reach the vehicle. The map can be used, for example, to determine whether the path of a moving object approaching the vehicle is blocked by static objects, thus preventing the corresponding moving object from reaching the vehicle and causing a collision, or whether the path of a moving object approaching the vehicle is not blocked by static objects, allowing the corresponding moving object to reach the vehicle and cause a collision with the door when it is opened.

[0024] For example, a map can be generated when the vehicle decelerates to a low speed and is expected to stop. This improves the estimation of static objects near the doors and allows for advance prediction of when the vehicle will stop. The resulting map describing the static objects in the vehicle's surrounding environment can be further saved during the vehicle's start-stop cycle so that it can be used as a starting map of the surrounding environment when the vehicle restarts.

[0025] For example, the method further includes receiving a second speed signal indicating that the vehicle's speed has reached a second predefined speed threshold. In response to receiving the second speed signal, a determination of the set of related objects is performed. The second predefined speed threshold is lower than a first predefined speed threshold.

[0026] For example, as the vehicle decelerates further, the relevant set of objects can be identified, indicating that the vehicle may be about to stop and the doors may be about to open. For instance, the second threshold could be zero speed, indicating that the vehicle has already stopped.

[0027] For example, the method further includes determining whether the path of one or more moving objects is not blocked by static objects. The determination includes determining whether the moving objects have a relative speed and relative position that allows the corresponding one or more moving objects to enter the door opening area within a predetermined time limit. From the one or more moving objects determined to be able to enter the door opening area within the predetermined time limit, those moving objects whose paths toward the door opening area, as determined by the map, are blocked by one or more static objects are excluded and not added to the relevant object set; while those moving objects whose paths toward the door opening area, as determined by the map, are not blocked by static objects are added to the relevant object set.

[0028] An example could have the beneficial effect of using a map to determine whether a moving object's path is unobstructed. To reduce the necessary computational workload, path blocking can be implemented only for moving objects that can actually reach the door opening area within a predetermined time limit based on their relative position and speed. For example, paths can be predicted for these objects using a map, and it can be determined whether the path leads to the door opening area and whether it is not blocked by static objects. For example, it can be first determined whether the path leads to the door opening area, and if so, whether the path is unobstructed. Only moving objects that move along unobstructed paths toward the door opening area, such that they can enter the door opening area within the predetermined time limit and cause a collision with the door of an open vehicle, can be considered relevant.

[0029] For example, one or more static objects determined to block a path of one or more moving objects are determined to have a size exceeding a predefined minimum size as a prerequisite for being able to block the corresponding path of the moving object. The example can have the beneficial effect that a path is considered blocked only if the static object blocking the path has a sufficiently small minimum size to prevent the moving object from continuing to move along the path. For example, the minimum size can be an object-specific minimum size. For example, a pedestrian might have their own specific minimum size criterion. For example, due to their smaller size and greater maneuverability compared to a car, a pedestrian can easily walk around a utility pole without deviating from, or at least not significantly deviating from, the current path. A car might have to travel a wider curve around the pole due to its significantly greater width and lower (i.e., lack of) flexibility.

[0030] Using a map, for example, you can determine alternative paths for a moving object that is moving along a blocked path. For these alternative paths, you can also determine whether they lead to a door opening area and / or whether they are blocked by static objects.

[0031] For example, the execution of door protection functions includes outputting a door collision warning. The warning signal can be output in the form of an audible, visual, and / or tactile signal. A tactile signal can be, for example, vibration or other tactile signals. For example, the warning signal can warn of a potential collision between the occupant door and a static object within the door protection area when the door is opened. For example, the warning signal can warn of a potential collision between the occupant door and a moving object that enters the door protection area within a predetermined time limit when the door is opened.

[0032] For example, performing a door protection function includes determining a predicted point of impact between at least one door of the vehicle and at least one object associated with door opening protection. The door opening angle used to open at least one door of the vehicle is limited to prevent the door from reaching the predicted point of impact.

[0033] By limiting the door opening angle, the door can be prevented from reaching the predicted collision point. This prevents a collision. When the limited door opening angle is reached, the limitation can, for example, impede the movement of the door. Therefore, it can prevent a manually operated vehicle door from opening too wide and colliding with a static object near the door or a moving object moving towards the door. For example, if the door is opening automatically, when the limited door opening angle is reached, the automatic opening of the door can be stopped, thus preventing a collision. For example, when the limited door opening angle is reached, the motor configured to open the door can be stopped.

[0034] To calculate the restricted door opening angle, the positions of one or more hinges that provide the door's axis of rotation, along with the door's length, can be used. For example, the collision angle, i.e., the door opening angle at which the door reaches the point of impact, can be determined. The restricted door opening angle can be determined, for example, by reducing the collision angle by a predetermined safety margin. The purpose of restricting the door opening angle is to prevent the door from colliding with or coming into contact with nearby and / or adjacent objects, such as utility poles, trees, walls, other vehicles, people, and / or animals. This measure may help protect the door from damage and minimize the risk of injury to vehicle occupants or bystanders.

[0035] The example not only provides instantaneous detection of static obstacles but also prevents doors from opening onto static objects that are too close to the door's opening trajectory. Furthermore, the map is used to consider moving objects and their predicted paths to additionally determine whether and / or which moving objects might be associated with door opening protection.

[0036] For example, it can be estimated whether the restricted opening angle is large enough for a person to exit the vehicle. If so, the door mechanism can, for example, open the door to the corresponding restricted opening angle. Otherwise, a warning signal can be output to warn the vehicle occupants of a potential collision. Furthermore, for example, it can prevent the door from opening beyond the restricted opening angle.

[0037] For example, the start of a predetermined time limit is triggered by a door opening signal. When a door opening signal is received, the predetermined time limit can be initiated. Such a door opening signal could, for example, indicate that a locked door has been unlocked, a door handle has been actuated, and / or an automatic door opening has been activated.

[0038] The predetermined time limit can be a uniform time limit for all moving objects, or it can be an individual time limit for each object, for example, depending on the individual characteristics of the moving objects, such as their individual speeds. The predetermined time limit can, for example, include a predefined time period required for a vehicle door to open. The predetermined time limit can, for example, include an additional time period considered appropriate for the moving object to become aware of the opening door and initiate an evasive maneuver to avoid a collision. This additional time period can, for example, depend on the speed of the moving object. For example, assuming a pedestrian's speed relative to a vehicle is slower than a cyclist's relative speed, the pedestrian can adapt more easily than the cyclist to avoid a collision with an opening door.

[0039] For example, radar sensors are integrated into the exterior rearview mirror module of a vehicle. For instance, the radar sensor is integrated into the bottom side of the vehicle's rearview mirror module. The arrangement of the radar sensor within the exterior rearview mirror module allows, for example, a single radar sensor to effectively cover the door opening area on one side of the vehicle. Positioning the radar sensor on the bottom side of the vehicle's rearview mirror module allows the radar to be particularly effective at detecting nearby low-lying objects. However, the field of view can still be wide enough to also detect approaching moving objects at a distance sufficient to trigger effective door opening protection measures.

[0040] For example, radar sensors can be tilted to illuminate a desired area and still be capable of 3D detection of objects in the vehicle's surrounding environment, such as determining the height and / or position of these objects. For instance, radar sensors integrated into a vehicle's rearview mirror module can cover the B-pillar blind spot. Furthermore, when a door with the vehicle's rearview mirror module is opened, the mirror module and therefore the radar's field of view move along with the door. Therefore, when the corresponding door opens slowly, continuous radar monitoring of the environment around the opening door can be achieved by using a radar sensor that has moved in the same direction as the door's movement.

[0041] In another aspect, a computer program for door opening protection of a vehicle is disclosed. The computer program includes program instructions. These instructions are executable by a processor of a computer device to cause the computer device to receive radar signal data determined using radar sensors of the vehicle. The received radar signal data is used to detect one or more moving objects. Detection includes determining the relative speed and relative position of the moving object relative to the vehicle. A map is generated using the received radar signal data. This map describes the relative positions of one or more static objects relative to the vehicle. A set of objects associated with door opening protection is generated using the map and the detection results of the one or more moving objects. If one or more static objects described by the map are determined to be associated with door opening protection, the set of associated objects includes the one or more static objects. If a static object is located within a door opening area, the corresponding static object is determined to be associated with door opening protection. This door opening area is a predefined area relative to the vehicle covered by opening one or more doors of the vehicle. If one or more moving objects are determined to be associated with door opening protection, the set of associated objects also includes one or more moving objects. If the relative speed and relative position of a moving object allow it to enter the door opening area within a predetermined time limit without being blocked by a static object, then the moving object is determined to be associated with door opening protection. This set of associated objects is used to perform the door protection function.

[0042] The program instructions contained in the computer program can also be executed by the processor of the computer device to cause the computer device to perform any of the above-described computer implementation methods for vehicle door opening protection.

[0043] For example, a computer program product for door opening protection of a vehicle is disclosed. This computer program product includes a computer-readable storage medium having program instructions embodied therein. The program instructions are executable by a processor of a computer device to cause the computer device to receive radar signal data determined using radar sensors of the vehicle. One or more moving objects are detected using the received radar signal data. Detection includes determining the relative speed and relative position of the moving objects relative to the vehicle. A map is generated using the received radar signal data. The map describes the relative positions of one or more static objects relative to the vehicle. A set of objects associated with door opening protection is generated using the map and the detection results of one or more moving objects. If one or more static objects described by the map are determined to be associated with door opening protection, the set of associated objects includes the one or more static objects. If a static object is located in a door opening area, the corresponding static object is determined to be associated with door opening protection, the door opening area being a predefined area relative to the vehicle covered by opening one or more doors of the vehicle. If one or more moving objects are determined to be associated with door opening protection, the set of associated objects also includes one or more moving objects. If the relative speed and relative position of a moving object allow it to enter the door opening area within a predetermined time limit without being blocked by a static object, then the moving object is determined to be associated with door opening protection. This set of associated objects is used to perform the door protection function.

[0044] The program instructions contained in the computer program product may also be executed by the processor of the computer device to cause the computer device to perform any of the above-described computer implementation methods for vehicle door opening protection.

[0045] In another aspect, a computer device for door opening protection of a vehicle is disclosed. The computer device includes a processor and a memory storing program instructions executable by the processor. The processor executes the program instructions, causing the computer device to receive radar signal data determined using radar sensors of the vehicle. The received radar signal data is used to detect one or more moving objects. Detection includes determining the relative speed and relative position of the moving object relative to the vehicle. A map is generated using the received radar signal data. This map describes the relative positions of one or more static objects relative to the vehicle. A set of objects associated with door opening protection is generated using the map and the detection results of the one or more moving objects. If one or more static objects described by the map are determined to be associated with door opening protection, the set of associated objects includes the one or more static objects. If a static object is located in a door opening area, the corresponding static object is determined to be associated with door opening protection; the door opening area is a predefined area relative to the vehicle covered by opening one or more doors of the vehicle. If one or more moving objects are determined to be associated with door opening protection, the set of associated objects also includes the one or more moving objects. If the relative speed and relative position of a moving object allow it to enter the door opening area within a predetermined time limit without being blocked by a static object, then the moving object is determined to be associated with door opening protection. This set of associated objects is used to perform the door protection function.

[0046] The processor can execute program instructions stored in memory, and can also cause the computer device to perform any of the above examples of computer-implemented methods for vehicle door opening protection.

[0047] It should be understood that one or more of the foregoing examples can be combined as long as the combined embodiments are not mutually exclusive. Attached Figure Description

[0048] The example is described in more detail below with reference to the accompanying drawings, in which:

[0049] Figure 1 A flowchart illustrating an exemplary method for door opening protection for a vehicle is shown;

[0050] Figure 2 A diagram of an exemplary exterior rearview mirror module for a vehicle, including radar sensors, is shown.

[0051] Figure 3 It shows the result of, as Figure 2 A diagram of an exemplary side view of the area covered by the radar sensors arranged as shown.

[0052] Figure 4 This shows what happens when the vehicle doors are closed. Figure 2A diagram showing an exemplary top view of the area covered by the radar sensors arranged as shown.

[0053] Figure 5 This shows how the vehicle's doors open. Figure 2 A diagram showing an exemplary top view of the area covered by the radar sensors arranged as shown.

[0054] Figure 6 A diagram illustrating an exemplary use case of a method for door opening protection in a vehicle is shown;

[0055] Figure 7 A flowchart illustrating an exemplary method for door opening protection in a vehicle is shown; and

[0056] Figure 8 A block diagram of an exemplary computer device configured for door opening protection in a vehicle is shown. Detailed Implementation

[0057] In the following text, similar elements are indicated by the same reference numerals.

[0058] Figure 1 An exemplary method for door opening protection of a vehicle is shown. To perform the door protection function, a set of objects associated with door opening protection are identified and used.

[0059] In box 12, radar signal data determined using radar sensors is received. The received radar signal data describes the characteristics of objects within the radar sensing area of ​​the radar sensors located in the environment surrounding the vehicle. In box 14, the received radar signal data is used to detect one or more moving objects. Detection may include determining the relative speed and relative position of the moving object relative to the vehicle.

[0060] In box 16, a map is generated using the received radar signal data. This map describes the relative positions of one or more static objects with respect to the vehicle. For example, the generated map could be a SAR map. Such SAR can provide high-resolution information about objects, terrain, and structures in the environment surrounding the vehicle. Vehicle movement can be used to generate the SAR map. In box 18, static objects within the vehicle's surrounding environment can be identified.

[0061] In box 20, it is determined whether one or more static objects described by the map are associated with door opening protection. If a static object is located within a door opening area, it is determined that the static object is associated with door opening protection. The door opening area is a predetermined area relative to the vehicle, which is covered by the vehicle's door when the corresponding door is opened. Another prerequisite for determining a static object associated with door opening protection is, for example, that the size of the static object exceeds a predetermined minimum size. For example, the static object must be tall enough to impose a risk of collision with an open door. For example, in the case of a curb near the door, the risk of collision may depend on the height of the curb.

[0062] If a static object is determined to be relevant in box 20, it is added to the collection of relevant objects in box 26. Otherwise, it can be rejected, at least temporarily, in box 21, since it is irrelevant.

[0063] In box 22, for one or more moving objects detected in box 14, it is determined whether they are allowed to enter the door opening area within a predetermined time limit. For example, it can be predicted whether moving objects following extrapolated movement paths can enter the door opening area within the predetermined time limit. If so, in box 24, it can be determined whether the path of one or more moving objects toward the door opening area is blocked by one or more static objects described by the map generated in box 16. For a static object to block the vehicle's path, a prerequisite could be, for example, that the size of the static object exceeds a predefined minimum size. Otherwise, the corresponding moving objects can be rejected at least temporarily in box 23 because they are irrelevant.

[0064] If a moving object is determined to be relevant in box 24 (i.e., it has a path not blocked by a static object), then it is added to the set of relevant objects in box 26. Otherwise, the corresponding moving objects can be rejected, at least temporarily, in box 25 because they are not relevant.

[0065] The set of related objects generated in box 26 may include static objects in the door opening area and moving objects, for which the path is determined to be unobstructed by static objects located in the radar sensing area of ​​the radar sensor. The map generated in box 16 is used to determine information about the location of static objects that may potentially block the path of the moving object.

[0066] In box 28, a door protection function is performed using the set of relevant objects identified in box 26. This door protection function may, for example, include outputting a collision warning signal that warns of a potential collision between one or more doors of the vehicle's occupants and one or more objects from the relevant object set. The warning signal may be output in the form of an audible, visual, and / or tactile signal. A tactile signal may, for example, be a vibration or other tactile signal. For example, the warning signal may warn of a potential collision between an occupants' door and a static object within the door protection area when the door is opened. For example, the warning signal may warn of a potential collision between an occupants' door and a moving object that enters the door protection area within a predetermined time limit when the door is opened.

[0067] For example, door protection features may include limiting the door opening angle of a vehicle's doors. To do this, a point of impact with at least one object associated with door opening protection can be determined for the respective vehicle door. The door opening angle used to open the door can then be limited to prevent the door from reaching the predicted point of impact.

[0068] By limiting the door opening angle, the door can be prevented from reaching the predicted collision point. This prevents a collision. When the limited door opening angle is reached, the limitation can, for example, impede the movement of the door. Therefore, it can prevent a manually operated vehicle door from opening too wide and colliding with a static object near the door or a moving object moving towards the door. For example, if the door is opening automatically, when the limited door opening angle is reached, the automatic opening of the door can be stopped, thus preventing a collision. For example, when the limited door opening angle is reached, the motor configured to open the door can be stopped.

[0069] To calculate the restricted door opening angle, the positions of one or more hinges that provide the door's axis of rotation, as well as the door's length, can be used. For example, the collision angle, i.e., the door opening angle at which the door reaches the point of impact, can be determined. The restricted door opening angle can be determined, for example, by reducing the collision angle by a predetermined safety margin. The purpose of restricting the door opening angle is to prevent the door from colliding with or coming into contact with nearby and / or adjacent objects, such as poles, trees, walls, other vehicles, people, and / or animals. This measure may help protect the door from damage and minimize the risk of injury to vehicle occupants or bystanders.

[0070] Figure 2 An exemplary exterior rearview mirror module 204 of a vehicle 200, including a radar sensor 202, is shown. Figure 2 In the example shown, radar sensor 202 is integrated into the bottom side 206 of rearview mirror module 204. Rearview mirror module 204 is a streaming rearview mirror, but radar sensor 202 can also be integrated into modules including classic mirrors. Figure 2The radar sensor 202 shown is positioned such that the same radar sensor can be used, for example, not only for door protection but also for blind spot monitoring. The radar sensor 202 can be integrated, for example, into the bottom side 206 of the rearview mirror module 204, forming a flat or uniformly curved bottom surface of the rearview mirror module 204. Alternatively, the radar sensor 202 can, for example, protrude at least partially from the bottom surface of the exterior rearview mirror module 204. The radar sensor 202 can be tilted to better illuminate the desired area while still being able to perform 3D detection, for example, describing the height and position of static objects near the door 208 of the vehicle 200. The radar sensor 202 can be specifically integrated into the bottom side 206 of the exterior rearview mirror module 204 of the vehicle 200, thereby utilizing previously unused areas without compromising the aerodynamics and / or aesthetics of the rearview mirror module 204.

[0071] Figure 3 This shows that when the door 208 of vehicle 200 is closed, as shown by... Figure 2 An exemplary side view of the area 220 covered by a radar sensor 202 arranged in an exterior rearview mirror module 204 of a vehicle 200 is shown. The radar sensor 202 is integrated into the exterior rearview mirror module 204 such that when open, it appears slightly downward, completely covering a portion of the space below the exterior rearview mirror module 204, which is covered by the two doors 208. Figure 3 In the middle, door 208 of vehicle 200 is closed.

[0072] Figure 4 This shows what happens when both doors 208 of vehicle 200 are closed, such as... Figure 3 The diagram shows an exemplary top view of the area 220 covered by radar sensor 202. Radar sensor 202 is integrated into the exterior rearview mirror module 204 of vehicle 200. Circular sector 240 illustrates the door opening areas of the two doors 208 of vehicle 200. Door opening areas 240 define the areas covered by the two doors 208 when opened. The size and position of door opening areas 240 may depend, for example, on the position of hinges about which the two doors 208 rotate when opened. The hinge positions may coincide, for example, with the center of circular sector 240, and their radii may be defined by the length of the doors 208.

[0073] Figure 5 This shows the effect of door 208 of vehicle 200 being opened. Figure 2 An exemplary top view of the area 222 covered by the radar sensor 202 arranged as shown. The instantaneous coverage area 220 of the radar sensor 202 is shown as a rectangle parallel to the front door 208. This instantaneous coverage area 220 is similar in size and shape to... Figure 3 and Figure 4The area 220 shown is matched. As the front door 208 moves from a closed state to an open state, the area 222 covered by the radar sensor 202 is larger than the instantaneous coverage area 220 when the door 208 is closed. This expansion of the instantaneous coverage area 220 represented by area 222 is caused by the movement of the radar sensor 292 when the door 208 is currently open, and the radar sensor 292 moves together with the exterior rearview mirror module 204. This feature of the dynamic expansion of the instantaneous coverage area 220 can be used, for example, when there is ambiguity in the surrounding environment detected by the radar sensor 202 after the initial scan when the door 208 is in the closed state. Therefore, the radar sensor 202 does not, for example, stop acquiring radar signals and forwarding radar signal data when the front door 208 of the vehicle 200 is opened. This means that the radar sensor 202 is able to capture the environment around the front door 208 that changes due to the movement of the door 208 and / or predict the trajectory of the door 208 as it is opened.

[0074] The door mechanism can, for example, open the front door 208 first. As the front door 208 slowly opens, continuous radar sensor monitoring can be performed by moving the radar sensor 202 together with the side mirror 204 in the same direction as the front door 208. For example, imaging techniques (such as synthetic aperture imaging) can be used to overlay multiple radar sensor estimates on this area to obtain a better estimate of the quality of objects present within area 222. In this way, even if the detection of a potential object is uncertain, the opening of the front door and / or rear door 208 can be stopped in time to avoid a collision between the corresponding door 208 and the corresponding object.

[0075] Figure 6 The illustration shows the usage for example Figure 1 A diagram illustrating an exemplary use case of the door opening protection method for vehicle 200 described herein. For example, when vehicle 200 decelerates and... Figure 6 When stopped at the indicated location, a map 270 (e.g., a SAR map) can be generated by the radar sensors of vehicle 200. Map 270 can depict static objects 250, 252 arranged within the area covered by the radar sensing area 220 of the vehicle 200's radar sensors while the vehicle 200 is moving. These static objects may include, for example, static object 250, such as a pole, which is at least partially arranged within the door opening area 240 of the vehicle 200's door. Furthermore, static objects may include, for example, static object 252, such as a curb. Figure 6 In this context, a static object 252 in the form of a curb also extends into the door opening area 240. However, when the vehicle door is open, the size (especially its height) of the curb 252 may be too small to cause a collision. However, when the door is fully open, the static object 250 may be large enough to cause a collision. Therefore, the static object 250 can be identified as being related to door opening protection, while the static object 252 can be considered unrelated.

[0076] However, when determining whether a moving object 260 (e.g., another vehicle) is related to door opening protection, a static object 252 can be considered. The moving object 260 moves parallel to vehicle 200 in segment A. If the moving object 260 continues to move forward, it will enter the door opening area 240 and may potentially collide with the door of vehicle 200 that is open during that movement. However, using a map 270 generated, for example, by synthetic aperture radar mapping, and a prediction algorithm, for example, utilizing the speed of the moving object 260, it can be determined that the moving object 260 will not be able to enter segment C, which includes the door opening area 240, because the static object 252 blocks the path of the moving object 260 into segment C and toward the door opening area 240. Upon reaching segment B, the moving object 260 may more likely be expected to stop before the static object 252. Therefore, the moving object 260 need not be considered as a related object for door opening protection. It might be sufficient to consider static objects 250 and, for example, limit the opening angle of the doors of vehicle 200 so that they do not collide with object 250 when they are open.

[0077] Figure 7 An exemplary method for door opening protection of a vehicle is illustrated. A radar sensor (e.g., mounted on an exterior rearview mirror module) can be used in a dual-mode method for blind spot detection (BSD) at higher speeds and door opening protection at lower speeds down to zero. The radar sensor can be used to acquire radar signals for detecting both static and moving objects within the sensing area of ​​the radar sensor. The radar sensor used to acquire the radar signals can be, for example, a MIMO radar sensor and / or an FMCW radar sensor. In block 701, radar signal data determined using the radar signals acquired by the radar sensor is received and used to detect objects in the environment surrounding the vehicle. In block 208, moving objects are detected. For example, the relative position and speed of one or more objects are determined for each detected moving object. In block 700, a speed signal “vvehicle” indicating the speed of the vehicle is received. In blocks 702, 704, and 706, the speed of the vehicle indicated by “vvehicle” is compared with different thresholds. Figure 7The diagram illustrates the use of three different thresholds: the "BSD threshold," the "map threshold," and the "door protection threshold." These three thresholds satisfy the following relationship: "BSD threshold" > "map threshold" > "door protection threshold." In box 702, it checks whether the speed indicated by the speed signal "v vehicle" received in box 700 is greater than the "BSD threshold." If not, the check exits in box 703. If the speed is greater than the "BSD threshold," the method continues to box 712. In box 712, the moving object detected in box 708 is evaluated. It is determined whether one or more detected moving objects (e.g., other vehicles) are moving to the side and / or rear of the vehicle, thereby performing a blind spot monitoring warning function. If not, the check exits in box 711. If the blind spot monitoring warning function is to be performed, the method continues to box 714. In box 714, an alarm, i.e., a warning signal, is output using a human-machine interface (HMI). The warning signal can be, for example, a visual, auditory, or tactile signal. A tactile signal can be, for example, a vibration or other tactile signal.

[0078] In box 704, it is checked whether the speed indicated by the speed signal "BSD threshold" received in box 700 is less than the "map threshold". If not, the check exits in box 705. If the speed is less than the "map threshold", the method continues to box 710. In box 710, a map, such as a SAR map, is generated. This map describes the relative positions of one or more static objects relative to the vehicle.

[0079] In box 706, it is checked whether the speed indicated by the speed signal "v vehicle" received in box 700 is less than the "door protection threshold". If not, the check exits in box 707. If the speed is less than the "door protection threshold", the method continues to box 716. In box 716, it is determined whether to perform the door protection function.

[0080] For example, a set of objects related to door opening protection is generated using the map from box 710 and the detection results of one or more moving objects from box 708. If one or more static objects described by the map are determined to be related to door opening protection, the set of related objects includes those one or more static objects. If a static object is located within a door opening area, the corresponding static object is determined to be related to door opening protection; this door opening area is a predefined area relative to the vehicle covered by opening one or more doors of the vehicle. If one or more moving objects are determined to be related to door opening protection, the set of related objects also includes those one or more moving objects. If the relative speed and relative position of a moving object allow it to enter the door opening area within a predetermined time limit and its path is not blocked by static objects, the corresponding moving object is determined to be related to door opening protection. This set of related objects is used to determine whether to execute the door protection function. For example, if the set of related objects includes one or more related objects, the door protection function is executed.

[0081] If the door protection function is not executed, the check exits in box 717. If the door protection function is to be executed, the method continues to box 718. In box 718, an alarm, i.e., a warning signal, is output, for example, using a human-machine interface (HMI). The warning signal can be, for example, a visual, audible, or tactile signal. A tactile signal can be, for example, a vibration or other tactile signal. Additionally or alternatively, the door protection function may include stopping the door at a limited opening angle. For example, executing the door protection function includes determining a predicted collision point between the vehicle door and an object in a relevant object group. The door opening angle of the vehicle door can be limited to prevent the door from reaching the predicted collision point and colliding with the corresponding object in the relevant object group.

[0082] By limiting the door opening angle, the door can be prevented from reaching the predicted collision point. This prevents a collision. When the limited door opening angle is reached, the limitation can, for example, impede the movement of the door. Therefore, it can prevent a manually operated vehicle door from opening too wide and colliding with a static object near the door or a moving object moving towards the door. For example, if the door is opening automatically, when the limited door opening angle is reached, the automatic opening of the door can be stopped, thus preventing a collision. For example, when the limited door opening angle is reached, the motor configured to open the door can be stopped.

[0083] Figure 8An exemplary computer device 102 for door opening protection in a vehicle is shown. Computer device 102 may be integrated into a vehicle (e.g., an automobile). Computer device 102 is intended to represent one or more computers that may be distributed. Computer device 102 is shown as including a computing system 104. Computing system 104 is intended to represent one or more computing systems. Computer device 102 is also shown as including an optional hardware interface 106. If such other components are present, the hardware interface allows computing system 104 to control these components, such as radar sensors for acquiring object signal data. Computing system 104 is further shown as communicating with an optional user interface 108. User interface 108 may also include, for example, a display device, such as a display device in a vehicle. This may include things such as a two-dimensional computer monitor, a touchscreen, a virtual reality system, and an augmented reality system.

[0084] The computing system 104 is further shown as communicating with memory 110. Memory 110 is intended to represent various types of memory that the computing system 104 can access. In one example, memory 110 is a non-transitory storage medium.

[0085] Memory 110 is shown to contain machine-executable instructions 120. The machine-executable instructions 120 enable the computing system 104 to perform various numerical, stereo processing, and computational tasks. The machine-executable instructions 120 also enable the computing system 104 to control and operate other components, such as radar sensors, via hardware interface 106. Execution of the machine-executable instructions 120 by the computing system 104 causes the computing system 104 to control computer device 102 to execute a vehicle door opening protection method. Radar signal data 122 determined using the vehicle's radar sensors is received. Memory 110 is shown to contain the results 124 of detecting one or more moving objects using the received radar signal data 122. Detection includes determining the relative speed and relative position of the moving object relative to the vehicle. A map 126, such as a SAR map, is generated using the received radar signal data 122. Map 126 describes the relative position of one or more static objects relative to the vehicle. A set 128 of objects related to door opening protection is generated using map 126 and the results 124 of detecting one or more moving objects. If one or more of the static objects described by the map are determined to be associated with door opening protection, then the set 128 of associated objects includes said one or more static objects. If a static object is located in a door opening area, then the corresponding static object is determined to be associated with door opening protection; the door opening area is a predefined area relative to the vehicle covered by opening one or more doors of the vehicle. If one or more moving objects are determined to be associated with door opening protection, then the set 128 of associated objects also includes said one or more moving objects. If the relative speed and relative position of a moving object allow it to enter the door opening area within a predetermined time limit and its path is not blocked by a static object, then the corresponding moving object is determined to be associated with door opening protection. The set 128 of associated objects is used to perform door protection function 130.

[0086] Although the invention has been illustrated and described in detail in the accompanying drawings and the foregoing description, such illustrations and descriptions should be considered illustrative or exemplary rather than restrictive; the invention is not limited to the disclosed embodiments.

[0087] Those skilled in the art, through studying the accompanying drawings, the disclosure, and the claims, will be able to understand and implement other variations of the disclosed embodiments when practicing the claimed invention. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude multiple. The mere fact that certain measures are recited in mutually different dependent claims does not imply that combinations of these measures cannot be advantageously used. Any reference numerals in the claims should not be construed as limiting the scope.

[0088] A single processor or other unit may perform the functions of several claims. A computer program may be stored / distributed on a suitable medium, such as an optical storage medium or solid-state medium provided with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunications systems.

[0089] As will be understood by those skilled in the art, aspects of the present invention can be embodied as apparatus, method, or computer program product. Therefore, aspects of the present invention can take the form of a completely hardware embodiment, a completely software embodiment (including firmware, resident software, microcode, etc.), or an embodiment combining software and hardware aspects, all of which are generally referred to herein as “circuit,” “module,” or “system.” Furthermore, aspects of the present invention can take the form of a computer program product embodied in one or more computer-readable media having computer-executable code embodied thereon.

[0090] Any combination of one or more computer-readable media can be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. As used herein, "computer-readable storage medium" encompasses any tangible storage medium capable of storing instructions executable by a processor or computing system of a computing device. A computer-readable storage medium can be referred to as a computer-readable non-transitory storage medium. A computer-readable storage medium can also be referred to as a tangible computer-readable medium. In some embodiments, a computer-readable storage medium may also be capable of storing data accessible by a computing system of a computing device. Examples of computer-readable storage media include, but are not limited to: floppy disks, magnetic hard disk drives, solid-state drives, flash memory, USB flash drives, random access memory (RAM), read-only memory (ROM), optical discs, magneto-optical discs, and register files of computing systems. Examples of optical discs include compact discs (CDs) and digital universal discs (DVDs), such as CD-ROMs, CD-RWs, CD-Rs, DVD-ROMs, DVD-RWs, or DVD-R discs. The term computer-readable storage medium also refers to various types of recording media accessible by computer devices via a network or communication link. For example, data can be retrieved via a modem, via the Internet, or via a local area network. Computer-executable code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, or any suitable combination thereof.

[0091] Computer-readable signal media may include propagated data signals having computer-executable code implemented therein, for example, in baseband or as a portion of a carrier wave. Such propagated signals may take any of a variety of forms, including, but not limited to, electromagnetic, optical, or any suitable combination thereof. Computer-readable signal media may be any computer-readable medium that is not a computer-readable storage medium but can communicate, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0092] "Computer memory" or "memory" is an example of a computer-readable storage medium. Computer memory is any memory that can be directly accessed by a computing system. "Computer storage device" or "storage device" is another example of a computer-readable storage medium. A computer storage device is any non-volatile computer-readable storage medium. In some embodiments, a computer storage device may also be computer memory, and vice versa.

[0093] As used herein, "computing system" encompasses electronic components capable of executing programs or machine-executable instructions or computer-executable code. References to computing systems, including examples of "computing system," should be interpreted as potentially including more than one computing system or processing core. A computing system can be, for example, a multi-core processor. A computing system can also refer to a collection of computing systems within a single computer system or distributed across multiple computer systems. The term computing system should also be interpreted as potentially referring to a collection or network of computing devices, each including a processor or computing system. Machine-executable code or instructions can be executed by multiple computing systems or processors, which may be within the same computing device or even distributed across multiple computing devices.

[0094] Machine-executable instructions or computer-executable code may include instructions or programs that instruct a processor or other computing system to perform aspects of the invention. Computer-executable code for performing operations toward aspects of the invention may be written in any combination of one or more programming languages ​​and compiled into machine-executable instructions, including object-oriented programming languages ​​such as Java, Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages. In some cases, the computer-executable code may be in the form of a high-level language or a pre-compiled form and may be used with an interpreter that generates machine-executable instructions on the spot. In other cases, the machine-executable instructions or computer-executable code may be in the form of programming for programmable gate arrays.

[0095] Computer executable code can run entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0096] Various aspects of the present invention have been described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block or portion of a block in a flowchart, illustration, and / or block diagram can be implemented, where applicable, by computer program instructions in the form of computer-executable code. It should also be understood that combinations of blocks in different flowcharts, illustrations, and / or block diagrams can be combined without mutual exclusion. These computer program instructions can be provided to a computing system of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, executable via the computing system of the computer or other programmable data processing apparatus, create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0097] These machine-executable instructions or computer program instructions may also be stored in a computer-readable medium that may instruct a computer, other programmable data processing apparatus or other device to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of writing comprising instructions that implement the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0098] Machine-executable instructions or computer program instructions may also be loaded onto a computer, other programmable data processing apparatus or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide a process for implementing the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0099] As used herein, a "user interface" is an interface that allows a user or operator to interact with a computer or computer system. A "user interface" can also be referred to as a "human-machine interface device." A user interface can provide information or data to and / or receive information or data from an operator. A user interface enables the computer to receive input from the operator and to provide output from the computer to the user. In other words, a user interface allows an operator to control or manipulate a computer, and the interface allows the computer to indicate the effects of the operator's control or manipulation. Displaying data or information on a monitor or graphical user interface is an example of providing information to an operator. Receiving data via a keyboard, mouse, trackball, touchpad, pointing stick, graphics tablet, joystick, game controller, webcam, headset, pedal, wired gloves, remote control, and accelerometer are all examples of user interface components that enable the receiving of information or data from an operator.

[0100] As used herein, "hardware interface" encompasses the interfaces that enable a computer system to interact with and / or control external computing devices and / or devices. A hardware interface allows the computing system to send control signals or instructions to external computing devices and / or devices. It also enables the computing system to exchange data with external computing devices and / or devices. Examples of hardware interfaces include, but are not limited to: Universal Serial Bus (USB), IEEE 1394 port, parallel port, IEEE 1284 port, serial port, RS-232 port, IEEE-488 port, Bluetooth connectivity, wireless LAN connectivity, TCP / IP connectivity, Ethernet connectivity, control voltage interfaces, MIDI interfaces, analog input interfaces, and digital input interfaces.

[0101] As used herein, "display" or "display device" encompasses an output device or user interface suitable for displaying images or data. Displays can output visual, audio, and / or tactile data. Examples of displays include, but are not limited to: computer monitors, television screens, touchscreens, tactile electronic displays, Braille screens, etc.

[0102] Cathode ray tubes (CRTs), storage tubes, bistable displays, electronic paper, vector displays, flat panel displays, vacuum fluorescent displays (VFs), light-emitting diode (LED) displays, electroluminescent displays (ELDs), plasma display panels (PDPs), liquid crystal displays (LCDs), organic light-emitting diode (OLED) displays, projectors, and head-mounted displays.

[0103] List of reference numerals

[0104] 102 Computer Equipment

[0105] 104 Computing System

[0106] 106 hardware interface

[0107] 108 User Interface

[0108] 110 memory

[0109] 120 Machine Executable Instructions

[0110] 122 radar signal data

[0111] 124 Results of Detecting Moving Objects

[0112] 126 Map

[0113] 128 related object collections

[0114] 130-door protection function

[0115] 200 vehicles

[0116] 202 radar sensor

[0117] 204 exterior rearview mirror module

[0118] The bottom side of the 206 rearview mirror module

[0119] 208 vehicle door

[0120] Area covered by 220 radar sensors

[0121] Area covered by the 222 radar sensor

[0122] 240 door opening area

[0123] 250 static objects

[0124] 252 static objects

[0125] 260 Move Objects

[0126] 270 Map

[0127] Part A

[0128] Part B

[0129] Part C

Claims

1. A computer-implemented method for door opening protection of a vehicle (200), the method comprising: • Receive radar signal data (122) determined using the radar sensor (202) of the vehicle (200); • Use the received radar signal data (122) to detect one or more moving objects (260), the detection including determining the relative speed and relative position of the moving object (260) relative to the vehicle (200); • A map (126; 270) is generated using the received radar signal data (122), the map (126; 270) describing the relative positions of one or more static objects (250, 252) relative to the vehicle (200); • Using the map (126; 270) and the detection results (124) of the one or more moving objects (260), a set of objects (128) related to the door opening protection is determined. If one or more of the static objects (250, 252) described by the map (126; 270) are determined to be related to the door opening protection, then the set of related objects (128) includes the one or more of the static objects (250, 252). If the static objects (250, 252) are located in the door opening area (240), then the corresponding static objects (250, 252) are determined to be related to the door opening protection, and the door opening area (240) is... The predefined area relative to the vehicle (200) is covered by opening one or more doors (208) of the vehicle (200); if one or more of the moving objects (260) are determined to be associated with the door opening protection, the associated object set (128) includes the one or more of the moving objects (260), and if the moving objects (260) have a relative speed and relative position that allows the corresponding moving object (260) to enter the door opening area (240) within a predetermined time limit and the path is not blocked by the static objects (250, 252), then the corresponding moving object (260) is determined to be associated with the door opening protection; • Use the set of related objects (128) to perform the door protection function (130).

2. The method according to claim 1, wherein the acquired radar signals include radar signals acquired while the vehicle (200) is moving, and the map (126; 270) generated using the received radar signal data (122) is a synthetic aperture radar map (126; 270) describing the relative positions of the one or more static objects (250, 252) relative to the vehicle (200) within an area covered by the radar sensing area (220) of the radar sensor (202) while the vehicle (200) is moving.

3. The method according to any one of the preceding claims further includes receiving a first speed signal indicating that the speed of the vehicle (200) has reached a first predefined speed threshold, wherein the map generation (126; 270) is performed in response to the receipt of the first speed signal.

4. The method according to claim 3, further comprising: Receive a second speed signal indicating that the speed of the vehicle (200) has reached a second predefined speed threshold, and in response to receiving the second speed signal, perform the determination of the set of related objects (128), wherein the second predefined speed threshold is lower than the first predefined speed threshold.

5. The method according to any one of the preceding claims further includes determining whether the path of one or more moving objects (260) is not blocked by static objects (250, 252), the determination including determining whether the moving objects (260) have a relative speed and relative position that enables the corresponding one or more moving objects (260) to enter the door opening area (240) within a predetermined time limit; from the one or more moving objects (260) determined to be able to enter the door opening area (240) within the predetermined time limit, excluding those moving objects (260) whose paths toward the door opening area (240) are blocked by one or more static objects (250, 252) as determined by the map (126; 270) and not adding them to the relevant object set (128); and adding those moving objects (260) whose paths toward the door opening area (240) are not blocked by static objects (250, 252) as determined by the map (126; 270) to the relevant object set (128).

6. According to the method of claim 6, the one or more static objects (250, 252) determined to block the path of the one or more moving objects (260) are determined to have a size exceeding a predefined minimum size as a prerequisite for being able to block the corresponding path of the corresponding moving object (260).

7. The method according to any one of the preceding claims, wherein the execution of the door protection function (130) comprises: For at least one door (208) of the vehicle (200), a predicted collision point of at least one of the objects (128) associated with the door opening protection is determined, and the door opening angle for opening the at least one door of the vehicle (200) is limited to prevent the door from reaching the predicted collision point.

8. The method according to any one of the preceding claims, wherein the start of the predetermined time limit is triggered by a door opening signal.

9. A computer program for door opening protection of a vehicle (200), the computer program comprising program instructions (120) executable by a processor (104) of a computer device (102) to cause the computer device (102) to: • Receive radar signal data (122) determined using the radar sensor (202) of the vehicle (200); • Use the received radar signal data (122) to detect one or more moving objects (260), the detection including determining the relative speed and relative position of the moving object (260) relative to the vehicle (200); • A map (126; 270) is generated using the received radar signal data (122), the map (126; 270) describing the relative positions of one or more static objects (250, 252) relative to the vehicle (200); • Using the map (126; 270) and the detection results (124) of the one or more moving objects (260), a set of objects (128) related to the door opening protection is determined. If one or more of the static objects (250, 252) described by the map (126; 270) are determined to be related to the door opening protection, then the set of related objects (128) includes the one or more of the static objects (250, 252). If the static objects (250, 252) are located in the door opening area (240), then the corresponding static objects (250, 252) are determined to be related to the door opening protection. 0) is a predefined area relative to the vehicle (200) covered by opening one or more doors (208) of the vehicle (200); if one or more of the moving objects (260) are determined to be associated with the door opening protection, the associated object set (128) includes the one or more of the moving objects (260), and if the moving objects (260) have a relative speed and relative position that allows the corresponding moving object (260) to enter the door opening area (240) within a predetermined time limit and the path is not blocked by the static objects (250, 252), then the corresponding moving object (260) is determined to be associated with the door opening protection; • Use the set (128) of related objects to perform the door protection function (130).

10. A computer device (102) for door opening protection of a vehicle (200), the computer device (102) comprising a processor (104) and a memory (110) storing program instructions (120) executable by the processor (104), wherein the processor (104) executes the program instructions (120) to cause the computer device (102) to: • Receive radar signal data (122) determined using the radar sensor (202) of the vehicle (200); • Use the received radar signal data (122) to detect one or more moving objects (260), the detection including determining the relative speed and relative position of the moving object (260) relative to the vehicle (200); • A map (126; 270) is generated using the received radar signal data (122), the map (126; 270) describing the relative positions of one or more static objects (250, 252) relative to the vehicle (200); • Using the map (126; 270) and the detection results (124) of the one or more moving objects (260), a set of objects (128) related to the door opening protection is determined. If one or more of the static objects (250, 252) described by the map (126; 270) are determined to be related to the door opening protection, then the set of related objects (128) includes one or more of the static objects (250, 252). If the static objects (250, 252) are located in the door opening area (240), then the corresponding static objects (250, 252) are determined to be related to the door opening protection, and the door opening area (240) is... The predefined area relative to the vehicle (200) is covered by opening one or more doors (208) of the vehicle (200); if one or more of the moving objects (260) are determined to be associated with the door opening protection, the associated object set (128) includes the one or more of the moving objects (260), and the corresponding moving object (260) is determined to be associated with the door opening protection if the moving object (260) has a relative speed and relative position that allows the corresponding moving object (260) to enter the door opening area (240) within a predetermined time limit and the path is not blocked by the static objects (250, 252); • Use the set (128) of related objects to perform the door protection function (130).

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