Method for avoiding a collision of a vehicle door and / or vehicle lid with an obstacle

Abstract

The invention relates to a method for avoiding a collision of a vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) with an obstacle (2), wherein at a parking location of the vehicle (1) - a permissible opening angle (α1, α2) of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) at which a distance between the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) and the obstacle (2) is greater than zero is determined, and - an automatic opening device of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) is controlled in such a way that it opens the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) up to a maximum of the permissible opening angle (α1, α2) is reached, and / or a warning signal is emitted before or during a manual or automatic opening of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) if the permissible opening angle (α1, α2) is smaller than a maximum possible opening angle of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5). According to the invention, during an automated parking process of the vehicle 1 or of another vehicle having access to the stored permissible opening angles α1, α2 at the respective parking location, the vehicle 1 is positioned at the parking location depending on the permissible opening angle α1, α2 in such a way that a real opening angle of the vehicle door 1.1, 1.2 and / or vehicle flap 1.3 to 1.5 is maximized, but a collision with the obstacle 2 is avoided.

Description

The invention relates to a method for avoiding a collision of a vehicle door and / or vehicle flap with an obstacle according to the preamble of claim 1.German patent application DE 10 2015 013 013 A1 discloses a method and a device for opening a vehicle door of a vehicle, wherein the vehicle door is moved in a movement range between an open and closed position and obstacles are detected at least in the movement range of the vehicle door, wherein a distance to a detected obstacle is determined in the movement range of the vehicle door and the movement range of the vehicle door is automatically limited without contact with the obstacle as a function of the distance. According to the invention, a maximum open position reached by the limitation is stored and, during a subsequent opening of the vehicle door in the same surrounding situation, the range of movement is limited in such a way that the stored maximum open position is not exceeded.German patent application DE 10 2018 124 930 A1 describes the following: A control device for automatically, adaptively opening a tailgate of a vehicle is provided, wherein the control device is configured to receive and / or acquire environmental data about an environment of the vehicle and to determine therefrom one or more buildings that can potentially be started up to reach a parking position, and then to query data about present ceiling heights in the potentially started-up building or buildings from an external source or from an internal memory. Furthermore, it is configured to detect that a building is actually being approached and which building is being approached, and then, depending on the approached building and based on the queried data, to suppress automatic opening of the tailgate or to specify a maximum opening angle during automatic opening of the tailgate, which is less than the existing ceiling height.DE 10 2018 005 464 A1 discloses a vehicle door or flap having an outer panel and a sensor for collision monitoring, wherein the sensor is arranged on the outer panel for collision monitoring with vehicle-external objects at least in the case of a door or flap movement. In this case, light is emitted in the region of the sensor by means of a lighting means, wherein the light color changes in the case of an imminent collision.Furthermore, DE 10 2013 020 671 A1 discloses a method for determining an opening angle of a tailgate of a motor vehicle, in which a space surrounding the motor vehicle is detected before the tailgate is opened and an admissible opening angle of the tailgate is determined as a function of this detected space. Before opening the tailgate, a mobile device generates an image of the tailgate of the motor vehicle and of the space surrounding the motor vehicle, wherein an image recognition system of the mobile device determines the permissible opening angle. The mobile device transmits the permissible opening angle of the tailgate directly or via a server to a computing unit of the motor vehicle, which actuates an actuating device of the tailgate for setting the permissible opening angle.The invention is based on the object of specifying a novel method for avoiding a collision of a vehicle door and / or vehicle flap with an obstacle.The object is achieved according to the invention by a method which has the features specified in claim 1.In a method for avoiding a collision of a vehicle door and / or vehicle flap with an obstacle, it is provided that a parking location of the vehicle is provideda distance of the vehicle door and / or vehicle flap from an obstacle located in the vicinity of the vehicle and, from this, an admissible opening angle of the vehicle door and / or vehicle flap, at which the distance between the vehicle door and / or vehicle flap and the obstacle is greater than zero, are determined on the basis of measurement data of the vicinity of the vehicle acquired by means of a sensor system, andan automatic opening device of the vehicle door and / or vehicle flap is actuated in such a way that it opens the vehicle door and / or vehicle flap up to a maximum until the permissible opening angle is reached, and / or a warning signal is emitted before or when the vehicle door and / or vehicle flap is manually opened, if the permissible opening angle is smaller than a maximum possible opening angle of the vehicle door and / or vehicle flap.In this case, the permissible opening angle of the vehicle door and / or vehicle flap is stored for the parking location of the vehicle.It is known that when vehicle doors and vehicle flaps, including engine hoods and hinged exterior mirrors, are opened, they can touch fixed obstacles, as a result of which damage to the vehicle doors and vehicle flaps, for example paint damage, bulges and dimples, and damage to the obstacles can arise. Such obstacles are, for example, walls, ventilation shafts, cable ducts, projections on walls, a pillar, other vehicles or the like. The obstacles can be arranged on a wall or on a ceiling, for example a garage. These can be easily overseeed when a vehicle door or flap is opened.For example, in parking garages, obstacles lying at a lower level, such as cable ducts or projections in the wall, may be arranged so deeply that they are not seen by an operator when opening a vehicle door and / or vehicle flap, so that the vehicle door and / or vehicle flap may collide with the obstacle. Furthermore, for example, in parking garages, obstacles on a ceiling, for example ventilation shafts, can also be arranged so low that opening vehicle flaps, for example tailgates, engine hoods or foldable exterior mirrors, collide with these obstacles.According to the present invention, the present method makes it possible in a simple, reliable manner and in a manner comfortable for a vehicle user to avoid collisions of vehicle doors and vehicle flaps with obstacles. Due to the storage of the permissible opening angle of the vehicle door and / or vehicle flap for the respective parking location, this is available when the vehicle is once again parked at the parking location or a further vehicle having access to the stored permissible opening angle at the parking location, so that a collision of vehicle doors and vehicle flaps with obstacles at the parking location can be particularly reliably avoided by taking countermeasures at an early stage.Exemplary embodiments of the invention are explained in more detail below with reference to a drawing.The following shows: FIG. 1 schematically shows a top view of a section of a vehicle and an obstacle.The single FIG. 1 shows a plan view of a section of a vehicle 1 and of an obstacle 2.The vehicle 1 is located, for example, in a parking garage at a parking location, and the obstacle 2 is, for example, a wall.The vehicle 1 comprises a plurality of vehicle doors 1.1, 1.2 and a plurality of vehicle flaps 1.3 to 1.5, in particular a tailgate (=vehicular flap 1.3), a bonnet (=vehicular flap 1.4) and foldable exterior mirrors (=vehicular flap 1.5).In order to avoid a collision of the vehicle doors 1.1, 1.2 with the obstacle 2 when opening the vehicle doors 1.1, 1.2 manually or by motor, a distance of the vehicle door 1.1, 1.2 from the obstacle 2 and from this a respectively permissible opening angle α1, α2 of the corresponding vehicle door 1.1, 1.2 are determined at the parking location of the vehicle 1 on the basis of measurement data of the environment of the vehicle 1 recorded by means of a sensor system 3, at which the distance between the vehicle door 1.1, 1.2 and the obstacle 2 is greater than zero, i.e. no collision occurs.An automatic opening device of the corresponding vehicle door 1.1, 1.2 is then controlled in such a way that it opens the vehicle door 1.1, 1.2 up to a maximum for reaching the permissible opening angle α1, α2. Alternatively or additionally, a warning signal is output to the vehicle user before or during manual or automatic opening of the corresponding vehicle door 1.1, 1.2 if the permissible opening angle α1, α2is smaller than a maximum possible opening angle of the vehicle door 1.1, 1.2. The vehicle user can, for example, confirm the warning and the vehicle door 1.1, 1.2 opens at most until the permissible opening angle α1, α2is reached.Analogously to the above-described determination of the permissible opening angles α1, α2for the vehicle doors 1.1, 1.2, a determination of permissible opening angles of the vehicle flaps 1.3, 1.4 with respect to obstacles which are located above the vehicle 1 and are not shown in more detail can also be carried out. Such obstacles are, for example, ceilings of buildings or parts arranged on them. It is also possible to determine permissible opening angles of the vehicle flap 1.5, which is designed as an external mirror, with respect to obstacles 2 located next to the vehicle 1.To acquire the measurement data of the environment of the vehicle 1, the sensor system 3 comprises as sensors at least one 3D camera and / or at least one measurement laser and / or at least one imaging sensor and / or at least one further sensor. The acquired measurement data represent, for example, a topography of the environment of the vehicle 1, in particular in the pivot range of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5, wherein the respective distance of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 from the obstacle 2 and the permissible opening angles α1, α2 of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 are determined from this based on topography measurement data acquired by means of the sensor system 3. In particular, a three-dimensional grid of the environment of the vehicle is generated by means of the sensor system 3 as topography in the pivot range of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5. The topography can be determined on the basis of measurement data of one of the sensors of the sensor system 3 or of a plurality of the sensors of the sensor system 3.The sensors of the sensor system 3 can be arranged at locations of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 exposed for collisions with obstacles 2, for example at pivotable edges thereof.In a further possible embodiment, the sensor system 3 comprises pressure sensors which are arranged in each case on the vehicle doors 1.1, 1.2 and / or the vehicle flaps 1.3 to 1.5 and emit a signal when the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 are opened when the respective vehicle door 1.1, 1.2 and / or vehicle flap 1.3 to 1.5 is touched. In such a configuration of the sensor system 3, the permissible opening angles α1, α2 of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 are selected to be smaller than an opening angle of the respective vehicle door 1.1, 1.2 and / or vehicle flap 1.3 to 1.5 detected when the signal of the corresponding pressure sensor is output.The determination of the permissible opening angles α1, α2of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 can be carried out in combination from the measurement data acquired by means of the above-mentioned sensors of the sensor system 3 and the force effect acquired by means of the pressure sensors.The pressure sensors are formed, for example, as a pressure-active paint or a pressure measuring foil arranged on or under a paint and are arranged in particular at the locations of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 exposed for collisions with obstacles 2. The pressure sensors can detect forces acting on them. If, for example, a vehicle door 1.1, 1.2 or vehicle flap 1.3 to 1.5 is opened and touches an obstacle 2, the corresponding pressure sensor detects a force occurring in this case and absorbs it at least partially before a sheet metal located beneath it is damaged. An opening process of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 can also be automatically stopped if the corresponding pressure sensor detects such a force.In order that the respective permissible opening angle α1, α2for the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 is known even when the vehicle 1 or other, in particular identically constructed, vehicles are once again placed at the place of storage, it is furthermore provided that the permissible opening angles α1, α2of the vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 are stored for the place of storage of the vehicle 1.In one possible embodiment, the permissible opening angles α 1, α 2 of all vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 of the vehicle 1 are stored for the parking location.For example, the opening angles α 1, α 2 stored for a respective parking location are stored in a matrix in which the permissible opening angles α 1, α 2 of all vehicle doors 1.1, 1.2 and / or vehicle flaps 1.3 to 1.5 of the vehicle 1 are stored for each parking location.This is illustrated below with reference to possible examples for a plurality of parking locations A 1 to An:Example 1 for a parking location A 1:Vehicle door 1.1 front right - A1 - permissible opening angle α1 Vehicle door 1.2 rear right - A1 - permissible opening angle α2 Vehicle door front left - A1 - permissible opening angle α3 Vehicle door rear left - A1 - permissible opening angle α4 Vehicle flap 1.3 (tailgate) - A1 - permissible opening angle α5 Vehicle flap 1.4 (engine hood) - A1 - permissible opening angle α6 Vehicle flap 1.5 (exterior mirror right) - A1 - permissible opening angle α7 Vehicle flap (exterior mirror left) - A1 - permissible opening angle α8Example 2 for a parking location A 2:Vehicle door 1.1 front right - A2 - permissible opening angle α1 vehicle door 1.2 rear right - A2 - permissible opening angle α2 vehicle door front left - A2 - permissible opening angle α3 vehicle door rear left - A2 - permissible opening angle α4 vehicle flap 1.3 (tailgate) - A2 - permissible opening angle α5 vehicle flap 1.4 (engine hood) - A2 - permissible opening angle α6 vehicle flap 1.5 (exterior mirror right) - A2 - permissible opening angle α7 vehicle flap (exterior mirror left) - A2 - permissible opening angle α8Example 3 for a parking location An:Vehicle door 1.1 front right - An - Permissible opening angle α1 Vehicle door 1.2 rear right - An - Permissible opening angle α2 Vehicle door front left - An - Permissible opening angle α3 Vehicle door rear left - An - Permissible opening angle α4 Vehicle flap 1.3 (tailgate) - An - Permissible opening angle α5 Vehicle flap 1.4 (bonnet) - An - Permissible opening angle α6 Vehicle flap 1.5 (outer mirror right) - An - Permissible opening angle α7 Vehicle flap (outer mirror left) - An - Permissible opening angle α8The permissible opening angles α 1, α 2 are stored locally in the vehicle 1 and / or centrally in a cloud, for example a cloud of a manufacturer of the vehicle 1, for the respective parking location.In one possible embodiment, the stored permissible opening angles α 1, α 2 for the parking locations relative to the vehicle 1 are made available to other vehicles of a fleet of vehicles of identical construction, in particular anonymously. This can be done, for example, when they are placed at a corresponding place of storage.According to the invention, in the case of an automatically carried out parking process of the vehicle 1 or of a further vehicle having access to the stored permissible opening angles α1, α2at the respective parking location as a function of the permissible opening angle α1, α2, the vehicle 1 is positioned at the parking location in such a way that a real opening angle of the vehicle door 1.1, 1.2 and / or vehicle flap 1.3 to 1.5 is maximized, but a collision with the obstacle 2 is avoided.

Claims

Method for avoiding a collision of a vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) with an obstacle (2), wherein at a parking location of the vehicle (1) - on the basis of measurement data of an environment of the vehicle (1) acquired by means of a sensor system (3) a distance of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) from an obstacle (2) located in an environment of the vehicle (1) and from this an admissible opening angle (α1, α2) of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5), at which the distance between the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) and the obstacle (2) is greater than zero, are determined, and - an automatic opening device of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) is controlled in such a way that it opens the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) up to a maximum for reaching the permissible opening angle (α1, α2), and / or a warning signal is emitted before or in the event of manual or automatic opening of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) if the permissible opening angle (α1, α2) is smaller than a maximum possible opening angle of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5), wherein the permissible opening angle (α1, α2) of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) is stored for the parking location of the vehicle (1), characterized in that, in the event of an automatically carried out parking process of the vehicle (1) or a further, Access to the vehicle (1) having the stored permissible opening angle (α1, α2) at the parking location as a function of the permissible opening angle (α1, α2), the vehicle (1) is positioned at the parking location in such a way that a real opening angle of the vehicle door (1.1, 1.2) and / or vehicle flap (1.3 to 1.5) is maximized.

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