Motor vehicle and system for motor vehicle for contactless obstacle recognition
By designing a system including front door angle sensor, main obstacle sensor and additional obstacle sensor on a motor vehicle, the problem of monitoring the rear door opening area is solved, and reliable monitoring of the rear door opening area and reducing the impact of vehicle design is achieved.
Patent Information
- Application Number
- CN202420789247.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Priority Date
- 2023-04-21
- Filing Date
- 2024-04-16
- Publication Date
- 2025-02-21
- Estimated Expiration
- 2034-04-16
AI Technical Summary
The prior art is difficult to effectively monitor the opening area of the rear side door of the motor vehicle, especially when the front side door is opened, it will distort or conceal the field of view of the main obstacle sensor, resulting in failure of monitoring.
A system is designed, including a front door angle sensor, a main obstacle sensor and an additional obstacle sensor. The upper limit of the rear door opening angle is determined by a data processing device when the front door is closed, and when the front door opening angle exceeds a certain threshold. Additional obstacle sensors monitor the rear door opening area.
Reliable monitoring of the rear door opening area is achieved, obstacles and door collisions are avoided, and there is a small impact on vehicle design.
Smart Images
Figure CN222512195U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a method and a system for contactless obstacle recognition of a motor vehicle with a front side door and a rear side door on the vehicle side, and a corresponding motor vehicle. Background Art
[0002] Especially for motor vehicles with automatically driven side doors, contactless monitoring of the door opening area is required to avoid collision with any obstacles.
[0003] Existing driver assistance systems can detect approaching objects, such as cyclists, very well. However, there are currently gaps in the direct opening or pivoting area of the door, especially for static and slow-moving objects.
[0004] Four main types of sensors are known from the prior art for monitoring the opening area of a vehicle side door: ultrasonic sensors, radar sensors, lidar systems and time-of-flight sensors which operate using the time-of-flight method and are referred to here for short as ToF sensors.
[0005] As long as the front side doors are closed, the pivoting area of the front side doors and the pivoting area of the rear side doors can be well monitored by a single main obstacle sensor statically positioned near the hinge of the front side doors. For example, the sensor can be integrated in the area of the side mirrors or in the area of the front fenders with little design impact. Both places are well protected from dirt.
[0006] However, monitoring of the rear side doors is problematic when the front side door is open, as this distorts or obscures the field of view of the main obstacle sensor. Depending on the nature of the door, there are solutions to integrate another sensor into the door skin of the rear door. However, depending on the type of sensor and the nature of the door, this is only possible to a very limited extent or only with very large cutouts in the door design.
[0007] For design reasons, only concealed installation is required, which means that optical methods have been eliminated so far. Due to positioning tolerances, concealed ultrasound poses considerable difficulties in terms of industrialization. Covert radar sensors can only be integrated if there is an appropriate plastic cover. This is relatively common in the SUV segment, but is particularly uncommon and unpopular in the sedan segment. Utility Model Content
[0008] In view of the above, an object of the present invention is to monitor the opening area of the rear side door while allowing greater flexibility in the type of sensors used and with less impact on vehicle design.
[0009] According to one aspect of the utility model, a system (11) for contactless obstacle recognition of a motor vehicle (10) having a front door (12) and a rear door (14) on the same vehicle side (10.1) is provided, wherein the system (11) comprises: a front door angle sensor (22) for detecting an opening angle (β) of the front door, a main obstacle sensor (16) for monitoring an opening area (14o) of the rear door when the front door (12) is closed, an additional obstacle sensor (20) for monitoring the opening area (14o) of the rear door, and a data processing device (24) configured to determine an upper limit (α) of the opening angle of the rear door using the main obstacle sensor (16) when the front door (12) is closed. max ), characterized in that the additional obstacle sensor (20) is configured to be arranged on the inner side (12i) of the front door (12) and to be activated at least when the front door opening angle (β) exceeds a predetermined minimum angle (β min ), wherein the data processing device (24) is further configured to monitor the rear door opening area (14o) when the front door opening angle (β) exceeds the predetermined minimum angle (β min ) using the additional obstacle sensor (20) and taking into account the current front door opening angle (β) to determine the rear door opening angle upper limit (α max ).
[0010] The system further comprises a rear door angle sensor (28) for detecting an opening angle (α) of the rear door, wherein the data processing device (24) is configured to determine an upper limit (α) of the opening angle of the rear door. max ) also takes into account the currently detected rear door opening angle (α).
[0011] According to the system, the main obstacle sensor (16) is further configured to monitor the front door opening area (12o), and wherein the data processing device (24) is further configured to determine the upper limit (β) of the front door opening angle using the main obstacle sensor (16). max ).
[0012] According to the system, the additional obstacle sensor (20) is a radar sensor, a lidar sensor or a ToF sensor.
[0013] The system further comprises a door drive (30) and / or a door controller (26) for the front door (12) and / or the rear door (14).
[0014] According to another aspect of the utility model, a motor vehicle (10) is provided having a front door (12) and a rear door (14) on the same vehicle side (10.1) and an obstacle sensor (20) for contactless obstacle recognition, characterized in that the obstacle sensor (20) is arranged on the inner side (12i) of the front door (12) and is configured to detect the obstacle when the front door opening angle (β) exceeds a predetermined minimum angle (β min ) when monitoring the rear door opening area (14o), and wherein the motor vehicle (10) preferably includes a system (11) according to the above content.
[0015] As mentioned before, the additional obstacle sensor may be, for example, an ultrasonic sensor, a radar sensor, a lidar sensor or a ToF sensor.
[0016] The system of the present invention can cooperate with a door control system. However, preferably, these systems are integrated with each other, that is, the claimed system preferably further comprises a door drive and / or door controller for a rear door and / or a front door.
[0017] It should be added that the motor vehicle of the invention preferably comprises a system for contactless obstacle recognition, as described herein.
[0018] According to another aspect of the invention, a method for contactless obstacle recognition of a motor vehicle having a front door and a rear door on the same vehicle side is proposed, preferably using a system according to the invention as described herein, wherein the method comprises the following steps:
[0019] -Detect the current front door opening angle,
[0020] -Monitor the back door opening area,
[0021] - Determine the upper limit of the rear door opening angle based on monitoring,
[0022] When the detected current front door opening angle exceeds a predetermined minimum angle, monitoring of the rear door opening area is performed using an obstacle sensor arranged on the inner side of the front door, wherein the detected current front door opening angle is taken into account when determining the upper limit of the rear door opening angle.
[0023] As long as the front doors are closed, the monitoring of the rear door opening area can be carried out using a main obstacle sensor which also monitors the front door opening area and is preferably arranged in the area of the side mirrors or the front fenders of the motor vehicle.
[0024] If the front door is not closed but has not yet been opened to a predetermined minimum angle, two sensors can be used to determine the upper limit of the rear door opening angle, namely the main obstacle sensor and the additional obstacle sensor, wherein the current front door opening angle must be taken into account if it affects the field of view of the additional obstacle sensor.
[0025] Alternatively or additionally, in this case, the upper rear door opening angle limit may also be implemented using previously stored data from a main obstacle sensor, for example stored before the front door was opened.
[0026] Finally, protection is also claimed for a method for automatically opening a door in a motor vehicle having a front door and a rear door on the same vehicle side, wherein the method comprises the following steps: executing the non-contact obstacle monitoring method of the present invention, as described herein, to determine the current upper limit of the rear door opening angle, and driving or assisting the opening movement of the rear door so that the upper limit of the rear door opening angle is not exceeded.
[0027] In particular, the assistance to the opening movement may comprise a deceleration of the opening movement performed by the user, which opening movement prevents the tailgate from colliding with obstacles not necessarily identified by the user in the method. A fully automatic or semi-automatic opening movement is also possible.
[0028] Additional obstacle sensors on the inside of the front doors can also advantageously monitor the closing movement of the front doors. This can prevent collisions with the user when the door is closing. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] The principle of the present utility model will be described below through some embodiments shown in the accompanying drawings.
[0030] In the attached picture:
[0031] Figure 1 A schematic diagram of a motor vehicle according to a first embodiment of the utility model is shown in a side view,
[0032] Figure 2 Shows Figure 1 A top view of the object in the vehicle, where, in addition to the opening area of the side door, the field of view of the main obstacle sensor is also shown.
[0033] Figure 3 Shows Figure 1 A top view of the object in the figure, in which, in addition to the opening area of the side door, the field of view of the additional obstacle sensor when the front door is opened is also shown.
[0034] Figure 4 Shows Figure 1 A top view of an object in order to illustrate obstacle recognition when the side door is closed.
[0035] Figure 5Shows Figure 1 A top view of an object in the image to illustrate obstacle recognition when the front door is opened.
[0036] Figure 6 A schematic diagram of a motor vehicle according to another embodiment of the utility model is shown in a side view,
[0037] Figure 7 A flowchart of a non-contact obstacle recognition method according to an embodiment of the present utility model is shown, and
[0038] Figure 8 A flow chart of a non-contact obstacle recognition method according to another embodiment of the present utility model is shown.
[0039] Fig. 9 A flowchart of an exemplary method for automatically opening a front door is shown, and
[0040] Fig.10 A flow chart showing an exemplary method for automatically opening a rear door.
[0041] All drawings are highly simplified and schematic diagrams, which are mainly used to explain the basic principles of the present invention. Not all features in all drawings are marked with reference numerals, but mainly those features used to explain the corresponding drawings. DETAILED DESCRIPTION
[0042] Figures 1 to 5 The motor vehicle 10 shown comprises a front door 12 and a rear door 14 on the same vehicle side 10.1 (see Figure 2 ). On the side mirror 13 of the front door 12, a main obstacle sensor 16, for example in the form of a ToF sensor in this example, can be integrated, which is symbolically represented by a black triangle in the figure and has a field of view 16f in Figure 2 The position, orientation and viewing angle of the main obstacle sensor 16 are selected to cover the front door opening area 12o and the rear door opening area 14o, at least as long as both side doors 12, 14 are closed.
[0043] According to the present invention, an additional obstacle sensor 20 in the form of an optical sensor, for example, arranged behind the inner lining of the front door 12 is arranged on the inner side 12i of the front door 12 so that its field of view 20f covers the opening area 14o of the rear side door 14, provided that the opening angle β of the front door reaches or exceeds the value shown in FIG. Figure 3 The predetermined minimum value β min The position and orientation of the additional obstacle sensor 20 are selected here only as an example, and may be specifically configured so that the field of view 20 f of the additional sensor 20 completely covers the minimum opening angle β of the front door 12 of the opening area 14 o of the rear side door 14 min Significantly less than Figure 3 For example,
[0044] The front door opening angle β is detected by the front door sensor 22. The front door sensor 22 is the same as the main obstacle sensor 16 and the obstacle sensor 20. Figure 1 The data processing device 24 may further be connected to the storage unit 18, and a door controller 26, which may operate a door drive 30 for automatic opening of the side doors, but at least the rear door 14.
[0045] The data processing device 24 is used to determine the upper limit α of the rear door opening angle based on the measurement results of the sensors 16, 20 and 22, for example at regular intervals or upon request. max , i.e. the current maximum permissible opening angle of the rear door 14, and preferably determining the corresponding front door opening angle upper limit βmax of the front door (see Figure 4 ). The determined upper limit will be transmitted to the door controller 26 to avoid collision with obstacles.
[0046] Unlike the example in the figures, the data processing device 24 may be integrated in one or more of the sensors 16 , 20 and 22 and / or in the door controller 26 , or may be distributed among these components.
[0047] Figure 4 The diagram shows a situation where both side doors 12, 14 are closed, wherein an obstacle H1, such as a bollard, is located in the rear door opening area 14o, and another obstacle H2 is located in the front door opening area 12o. The upper opening angle limit α determined based on the monitoring result of the main obstacle sensor 16 max and β max exist Figure 4 In this case, the additional obstacle sensor 20 is not used because its field of view only covers the interior of the vehicle when the front door 12 is closed.
[0048] However, if the front door 12 is opened, Figure 5 As shown in the simplified figure, the field of view 16 f of the main obstacle sensor 16 arranged on the side rearview mirror 13 is also wasted as the front door 12 is opened, so that it no longer covers the opening area 14 o of the rear door 14.
[0049] However, in this case, the inner side 12i of the front door 12 provides an ideal view to the opening area 14o of the rear door 14. In this case, the obstacle sensor 20 located on the inner side 12i of the front door 21 and, for example, behind the door lining is responsible for monitoring the pivoting area of the rear door 14. Of course, the current front door opening angle β detected by the front door angle sensor 22 is also taken into account.
[0050] Figure 6 Additional installation options for sensors are shown. For example, the main obstacle sensor 16 can be arranged in the area of the front fender 15.
[0051] Typically, the described system is of course designed for both sides of the vehicle, wherein for each side of the vehicle there is one main obstacle sensor and one additional obstacle sensor located on the inside of the front door.
[0052] Figure 7 and Figure 8 Two very simple design variations of the non-contact obstacle recognition method of the present invention are illustrated. The order of the steps shown can be modified unless different results are produced due to logical reasons.
[0053] like Figure 7 As shown, the method starts in step S1, for example, when the engine is started, and in the subsequent step S2, the rear door opening angle upper limit α max and the upper limit of the front door opening angle β max Set them to appropriate initial values α in and β in , for example, zero.
[0054] Then, in optional step S3, it is determined whether the driving speed v of the motor vehicle is less than a predetermined threshold v min , in order to anticipate that the door will be opened, and as long as this does not apply, step S3 is repeated.
[0055] Otherwise, in step S4 , the current front door opening angle β is detected or read out by the front door angle sensor 22 and the current rear door opening angle α is detected or read out by the rear door angle sensor 28 .
[0056] Then, in step S5, the main obstacle sensor 16 is used to monitor at least the front door opening area, or the monitoring result of the main obstacle sensor 16 is read out. 16 This can be an image recorded directly by the sensor or data based on, for example, the current front door opening angle β.
[0057] In step S6, it is determined whether the front door is closed, for example, based on the data of the front door angle sensor. When the front door is closed, in steps S8 and S9, the main obstacle sensor is used to monitor the obstacle. 16 Determine the upper limit of the rear door opening angle α max and the upper limit of the front door opening angle β max , and store it in the memory. Then, the method returns to step S3.
[0058] However, if the front door is not closed, then in step S7, the obstacle sensor 20 inside the front door is used to perform monitoring of the rear door opening area, or the monitoring result of the obstacle sensor 20 is read out. 20 .
[0059] Then, in step S10, it is determined whether the currently detected front door opening angle β exceeds a predetermined minimum angle β min .
[0060] If so, considering the monitoring result of the obstacle sensor 20, 20 Taking into account the currently detected front door opening angle β, the rear door opening angle upper limit α is determined in step S11 max .
[0061] However, if the currently detected front door opening angle β is not greater than the minimum angle β min , then in Figure 7 In the implementation variant of the method, in addition to the monitoring result I of the obstacle sensor 20 20 In addition to the currently detected front door opening angle β, the monitoring result I of the main obstacle sensor 16 16 Also used to determine the upper limit α of the rear door opening angle in step S12 max .
[0062] In any case, this method is effective in determining α max Then, the process moves to step S9 and then returns to step S3.
[0063] Figure 8 The embodiment of the non-contact obstacle recognition method shown is Figure 7 The difference of the variant in FIG. 1 is that the upper limit α of the rear door opening angle determined in step S8 when the front door is closed is max The value of is assigned to the appropriate variable α0 in step S8a and stored in memory. If the front door is opened later and the opening angle is less than the predetermined minimum angle β min , then in step S12', the rear door opening angle upper limit α max The obstacle sensor 16 can be used to determine the obstacle based on the value α0 last determined by the main sensor 16 when the front door is closed and the current monitoring result I 16 Determine the value of α max (I 16 ) is determined as the minimum value. In addition, in step S12', α max When the current monitoring result of the additional obstacle sensor 20 is taken into account, it should not be excluded that the current front door opening angle β is also taken into account.
[0064] Fig. 9 and Fig.10The embodiment of the very simple automatic door opening method for the front and rear doors shown can be implemented independently of Figure 7 or Figure 8 method and Figure 7 or Figure 8 The method is carried out in parallel and can be used in Figure 7 or Figure 8 The upper limit β determined by the method and currently stored in the memory max or α max To limit their respective opening angles.
[0065] If the vehicle is slow enough so that the door opening can be expected (v in step S14 or S19), <v min ), then in step S15( Fig. 9 ) or S20( Fig.10 ) determines whether the opening of the front door or the rear door has been started. For example, to this end, when the user operates the door opener, an appropriate signal can be output to the data processing device.
[0066] If so, in step S16 or S21, the opening angle is set to a value not exceeding the respective upper limit β. max or α max The method for driving or assisting the opening movement of the front door or the rear door is respectively performed in a manner.
[0067] therefore, Fig. 9 and Fig.10 Methods and Figure 7 or Figure 8 The method is combined to form an embodiment of the automatic door opening method of the utility model.
[0068] The invention proposed here allows the opening area or pivoting area of the rear doors to be reliably monitored with minimal impact on the vehicle design. Furthermore, by means of high-precision optical systems such as ToF cameras or LiDAR systems, all doors can be monitored with priority, thus eliminating the usual approval efforts and global standardization difficulties of radars.
Claims
1. A system (11) for contactless obstacle recognition of a motor vehicle (10), the motor vehicle (10) having a front door (12) and a rear door (14) on the same vehicle side (10.1), wherein: The system (11) comprises: a front door angle sensor (22) for detecting an opening angle (β) of the front door, a primary obstacle sensor (16) for monitoring the rear door opening area (14o) when the front door (12) is closed, An additional obstacle sensor (20) for monitoring the rear door opening area (14o), a data processing device (24) configured to determine the upper limit (α) of the rear door opening angle using the main obstacle sensor (16) when the front door (12) is closed. max ), characterized in that the additional obstacle sensor (20) is configured to be arranged on the inner side (12i) of the front door (12) and to be activated at least when the front door opening angle (β) exceeds a predetermined minimum angle (β min ) when monitoring the rear door opening area (14o), The data processing device (24) is further configured to: when the front door opening angle (β) exceeds the predetermined minimum angle (β min ) using the additional obstacle sensor (20) and taking into account the current front door opening angle (β) to determine the rear door opening angle upper limit (α max ).
2. A system (11) for contactless obstacle recognition of a motor vehicle (10) according to claim 1, having a front door (12) and a rear door (14) on the same vehicle side (10.1), characterized in that further comprising a rear door angle sensor (28) for detecting an opening angle (α) of the rear door, The data processing device (24) is configured to determine the upper limit of the rear door opening angle (α max ) also takes into account the currently detected rear door opening angle (α).
3. A system (11) for contactless obstacle recognition of a motor vehicle (10) according to claim 1 or 2, having a front door (12) and a rear door (14) on the same vehicle side (10.1), characterized in that The primary obstacle sensor (16) is further configured to monitor the front door opening area (12o), and wherein the data processing device (24) is further configured to use the primary obstacle sensor (16) to determine the upper limit (β) of the front door opening angle. max ).
4. A system (11) for contactless obstacle recognition of a motor vehicle (10) according to claim 1, having a front door (12) and a rear door (14) on the same vehicle side (10.1), characterized in that The additional obstacle sensor (20) is a radar sensor, a lidar sensor or a ToF sensor.
5. A system (11) for contactless obstacle recognition of a motor vehicle (10) according to claim 1, having a front door (12) and a rear door (14) on the same vehicle side (10.1), characterized in that It further includes a door driver (30) and / or a door controller (26) for the front door (12) and / or the rear door (14).
6. A motor vehicle (10) having a front door (12) and a rear door (14) on the same vehicle side (10.1) and an obstacle sensor (20) for contactless obstacle detection, It is characterized in that The obstacle sensor (20) is disposed on the inner side (12i) of the front door (12) and is configured to be activated when the front door opening angle (β) exceeds a predetermined minimum angle (β min ) when monitoring a rear door opening area (14o), and wherein the motor vehicle (10) comprises a system (11) according to any one of the preceding claims.