Method for operating an access door in a vehicle

Abstract

A method for operating an access door in a vehicle comprises receiving, by means of an electronic control system, a command to open the access door and detecting an obstacle within the operating area of ​​the access door. The method further comprises generating, by means of a camera, a predefined image of the obstacle relative to the access door and processing, by means of the electronic control system, a pixelated resolution of the generated image. The method additionally comprises determining, by means of the electronic control system, the distance of the obstacle from the access door and relative to an operating area of ​​the door using the pixelated resolution of the image.Furthermore, the procedure includes limiting, by means of electronic control, the operating area of ​​the access door when the distance of the obstacle from the door and relative to the operating area of ​​the door is within a predetermined zone in order to avoid physical contact between the access door and the obstacle.

Description

[0001] The present disclosure relates to the automatic control of a vehicle access door using the vehicle camera.

[0002] A typical vehicle has at least one door to provide the occupant with access to the vehicle's interior. Generally, such access doors are either hinged to swing outward relative to the vehicle body or designed to slide relative to it. An access door typically has a locking mechanism that holds the door closed until access to or exit from the vehicle is required. The door locking mechanism is usually operated by an exterior door handle to gain access to the vehicle's interior and by an interior door handle to allow occupants to exit.

[0003] Vehicles often feature enclosed cargo compartments located at either the front or rear of the vehicle body. The design of such cargo compartments typically includes a hinged loading door, such as a hatch or tailgate, to ensure security and convenient access. Similar to vehicle side doors, cargo compartment doors generally employ locking mechanisms to keep the compartment closed until access is required. In modern vehicles, the locking mechanisms for both side and cargo compartment doors are often electrically operated. Furthermore, some vehicles offer remote door operation systems that utilize various sensors and transmitters to detect a user's intention to enter or secure the vehicle.

[0004] DE 10 2018 101 613 A1 describes a method and a device for controlling a tailgate movement. The method includes capturing an image of a pattern on a surface, determining a distance between the tailgate and the surface based on the pattern image, and controlling a movement of the tailgate based on the determined distance.

[0005] DE 10 2010 009 889 A1 relates to a device for preventing a collision between a pivoting vehicle flap of a vehicle and an obstacle located in its pivoting area.

[0006] DE 10 2017 128 294 A1 describes vehicle environment imaging systems and methods, wherein a vehicle includes at least one image acquisition device and a user display configured to display images received from the at least one image acquisition device.

[0007] US 2014 / 0207344A1 discloses a tailgate control system for a vehicle comprising a camera located at a rear part of the vehicle and having a rearward field of view that includes an area at the rear of the vehicle swept by a tailgate or trunk lid or a door of the vehicle when the tailgate is opened and closed.

[0008] US 2023 / 0055978A1 concerns a method for controlling a vehicle, wherein the vehicle has an image recording device.

[0009] DE 10 2023 128 654 A1 concerns an automatic detection system for a vehicle.

[0010] It can be considered an objective to provide an improved method by which an access door in a vehicle can be operated while avoiding physical contact with an obstacle. This objective is achieved by the subject matter of claim 1.

[0011] The inventive method for operating an access door in a vehicle comprises receiving, by means of an electronic control unit, a command to open the access door and detecting an obstacle in the operating area of ​​the access door. The method further comprises determining a global position of the detected obstacle and transmitting the determined global position of the obstacle by means of the electronic control unit to an information technology (IT) cloud server, which is located remotely from the vehicle and communicates wirelessly with the electronic control unit. The method also comprises generating, by means of a camera, a predetermined image of the obstacle relative to the access door and processing, by means of the electronic control unit, a pixelated resolution of the generated image.The method additionally includes determining, by means of electronic control, the distance of the obstacle from the access door and relative to the operating area of ​​the access door using the pixel resolution of the generated image. Furthermore, the method includes limiting, by means of electronic control, the operating area of ​​the access door if the distance of the obstacle from the door and relative to the operating area of ​​the door is within a predetermined zone, in order to prevent physical contact between the access door and the obstacle.

[0012] According to one embodiment, the method comprises generating, by means of the electronic control, a sensor signal or alarm when the distance of the obstacle from the access door and relative to the operating area of ​​the access door is within the predetermined zone.

[0013] According to one embodiment, the vehicle has a vehicle body defined by body sides, a front end and a rear end, and the access door is a tailgate located at the rear end of the vehicle.

[0014] According to one embodiment, the obstacle is detected using the camera.

[0015] According to one embodiment, generating the predetermined image on the obstacle includes projecting a light onto the obstacle using a light source attached to the vehicle next to the camera, such that the image generated on the obstacle lies within the projected light.

[0016] According to one embodiment, the determination of the distance of the obstacle from the access door and relative to the operating area of ​​the access door is achieved by means of a machine learning algorithm programmed into the electronic control.

[0017] According to one embodiment, the method additionally includes storing or saving the transmitted specific global position of the detected obstacle on the IT cloud server in order to create an obstacle database.

[0018] According to one embodiment, the method also includes communicating or forwarding the determined global position of the detected obstacle from the obstacle database to another electronic control system (e.g., positioned on another vehicle) via the IT cloud server.

[0019] According to one embodiment, the method additionally includes monitoring, using the camera, an area around the vehicle for changing obstacle conditions (e.g. another parked vehicle that is parked within the specified zone).

[0020] According to one embodiment, the method further includes operating the vehicle, by means of the electronic control, in an autonomous mode in order to move the vehicle outside the predetermined zone and thereby achieve an operating range for the access door relative to the detected obstacle.

[0021] As an application of the method according to the invention, a system for operating an access door in a vehicle with the electronic control and the camera is also disclosed.

[0022] The above features and advantages, as well as other features and advantages of the present disclosure, will be readily apparent from the following detailed description of the embodiment(s) and the best embodiment(s) of the disclosed disclosure when considered in conjunction with the accompanying drawings and the accompanying claims. Fig. Figure 1 is a schematic top view of a vehicle with a passenger compartment and a cargo compartment with corresponding access doors and with a system for automatically operating the access doors in question relative to an obstacle as disclosed. Fig. Figure 2 is a partial side view of the vehicle with the system for controlling the operation of a vehicle access door relative to an obstacle, wherein the access door is represented as a tailgate in a closed state, according to the disclosure. Fig. 3 is a partial side view of the in Fig. 2 of the vehicle shown, which shows the operating range of the tailgate in relation to the obstacle, according to the disclosure. Fig. Figure 4 illustrates, in the form of a flowchart, a procedure for operating an access door in a building. Fig. Vehicle 1-3 as shown in the disclosure.

[0023] Referring to the drawings, in which identical reference numbers refer to identical components, shows Fig. Figure 1 shows a schematic view of a motor vehicle 10 positioned in an XY plane relative to a road surface 12. The vehicle 10 comprises a vehicle body 14. As shown, the vehicle body 14 is arranged relative to a longitudinal centerline CL. The vehicle body 14 generally defines six body sides. The six body sides include a first body end or front end 16, an opposite second body end or rear end 18, a first side body side or left side 20, a second side body side or right side 22, an upper body section 24, which may include a vehicle roof, and an underbody section (not shown), which generally faces the road surface 12.The left side 20 and the right side 22 are generally arranged parallel to each other and in relation to the longitudinal centerline CL of the vehicle body 14 and bridge the distance between the front end 16 and the rear end 18.

[0024] The body sides 16, 18, 20, 22, 24, together with the underbody section, form a vehicle exterior 26. The body 14 also defines a vehicle interior 28, which includes a passenger compartment 28-1. The passenger compartment 28-1 is suitable for accommodating vehicle occupants and their belongings. As in Fig. As shown in Figure 1, the vehicle 10 also includes at least one access opening 30, defined by the body 14, which provides access to the vehicle interior 28. As shown, the vehicle body 14 has five individual access openings 30. The vehicle 10 also includes a number of access doors 32, one door for each of the access openings 30. Each of the side access doors can be pivoted outwards relative to the vehicle body 14. Accordingly, each access door 32 is configured to selectively cover and uncover at least a portion of the respective access opening 30 in order to control the passage between the vehicle exterior 26 and the vehicle interior 28. As shown, four of the access openings are side entrances configured to provide access to the passenger compartment 28-1, while the fifth opening provides access to a cargo area 34.

[0025] A corresponding access door 32 is provided to selectively cover and expose at least part of the access opening 30 to the cargo compartment 34. The cargo compartment 34 can be configured as a separate compartment, e.g., as a fully enclosed trunk, such as in a traditional three-box sedan, while the respective access door 32 can be configured as a hinged lid, as shown in Fig. 2 shown. The access door 32 can also be used as a tailgate, as in Fig. Figure 3 shows that the trunk can be configured for a fully or partially enclosed trunk, with at least one side of the trunk being open towards the passenger compartment 28-1. As shown, the tailgate type of access door 32 is hinged to the rear end 18 of the vehicle body 14 to pivot outwards relative to the vehicle body 14. The tailgate access door 32 can pivot in a substantially vertical (Z-direction) or outwards in a pivoting motion relative to the vehicle body 14, like a tailgate. Additionally, the access door 32 can be configured as a tailgate hinged to the rear end 18 of the vehicle body 14 for a substantially horizontal (in the XY-plane) pivoting motion, such as a swing door (not shown).

[0026] Although the cargo compartment 34 is mainly described and depicted in the figures as being located at the rear end 18 of the vehicle body 14, such a cargo compartment can also be located near the front end 16. Such a front-mounted cargo compartment 34 (not shown) can, for example, be used in a rear-engine or mid-engine vehicle. The disclosed tailgate is of the type commonly used for accessing the interiors and storage compartments in vans, station wagons, and sport utility vehicles (SUVs). As provided herein, each access door 32 includes a mechanism 32A (in Fig. 3 shown), which may include a drive unit or actuator for opening and closing the respective access door and a locking mechanism designed to selectively attach the door to the vehicle body 14 and to release the door from it.

[0027] As in Fig. As shown in Figures 1-3, the vehicle 10 also includes a system 36 for operating an access door 32, such as the doors described above, of the vehicle 10. The system 36 includes a camera 38, which is mounted externally on the vehicle body 14 (on the vehicle exterior 26) near or at the access door 32. In the tailgate embodiment, the camera 38 can be the device generally used for parking the vehicle, while in the case of side doors, the camera 38 can be one of the devices used to assemble an exterior view of the vehicle. The camera 38 is configured to detect an obstacle 40 within the operating radius R of the access door 32, e.g., the swing path or trajectory of the door, and to generate a predefined image 42 on the obstacle relative to the access door in question. The predefined image 42 can, for example, have a specific shape or define a specific aspect of the access door, such as...a section that is closest to the obstacle. Obstacle 40 could be, for example, a parking garage wall, a nearby vehicle, a parking garage ceiling, etc.

[0028] The vehicle 10 also includes an energy storage device 43, for example, one or more rechargeable batteries. The system 36 further includes an electronic control unit 44, which is mounted on the vehicle 10 and communicates with the camera 38. The electronic control unit 44 may be a central processing unit (CPU) or a body control module (BCM) configured to receive data signals from various vehicle sensors and to control the operation of vehicle systems, including the system 36. The electronic control unit 44 may be arranged in the vehicle 10 in operational communication with such vehicle systems and sensors via a data network, e.g., a controller area network (CAN bus).The energy storage unit 43 serves to generate electrical energy for the operation of the camera 36, ​​the electronic control unit 44 and various other vehicle systems, such as a powertrain, the lighting, the infotainment system and the heating, ventilation and air conditioning (HVAC).

[0029] The electronic control unit 44 includes a tangible, non-transferable memory. This memory can be a writable medium involved in providing computer-readable data or process instructions. Such a medium can take many forms, including, but not limited to, non-volatile and volatile media. Non-volatile media used by the electronic control unit 44 can be, for example, optical or magnetic disks and other permanent storage devices. Volatile media used by any memory of the control unit can include, for example, dynamic random access memory (DRAM), which can represent main memory. These instructions can be transmitted via one or more transmission media, including coaxial cable, copper wire, and fiber optic cable, including the lines that form a system bus connected to the vehicle systems.

[0030] The memory of the electronic control 44 can also include a flexible disk, a hard disk, a magnetic tape, another magnetic medium, a CD-ROM, a DVD, another optical medium, etc. The electronic control 44 can be equipped with a high-speed primary clock, the necessary analog-to-digital (A / D) and / or digital-to-analog (D / A) circuits, input / output (I / O) circuits and devices, and suitable signal conditioning and / or buffer circuits. Algorithms required by or accessible to the electronic control 44, generally designated by the number 46, can be programmed in the control, stored in memory, and executed automatically to provide the required functionality, e.g., to actuate the system 36.

[0031] The electronic control unit 44 is designed, i.e., structured and programmed, to enable automatic control of the respective access door 32 of the vehicle using the vehicle camera 38. As shown in Fig. As shown in Figure 2, the electronic control unit 44 is configured to receive a command 48, e.g., a signal from the vehicle user via a switch positioned on the vehicle (in the interior 28 or on the door 32), or via a remote transmitter (not shown), or a mobile phone application, to open the access door 32. The electronic control unit 44 is also configured to display a pixelated resolution 42A (shown in Figure 2). Fig. 2 and Fig. 3) to process the image 42 of the obstacle 40, which is positioned relative to the access door 32. The electronic control 44 is additionally configured to determine a distance 50 of the obstacle 40 from the access door 32 and relative to the operating area R of the access door using the pixel resolution 42A of the generated image 42.

[0032] Determining the distance 50 can be achieved by analyzing the number of pixels per specific feature or by defining the overall shape of the generated image 42. In other words, the electronic control 44 can be programmed to determine the number of pixels in the generated image 42 and correlate this pixel count with the distance of the obstacle 40 from the corresponding access door 32. For example, if the image 42 generated on the obstacle 50, or a specific feature thereof, requires a certain number of pixels, the electronic control 44 can assume that the obstacle 40 is within a certain distance 50 from the vehicle 10. As in Fig. As shown in Figure 1, the generated image 42, including the obstacle 50, can be displayed in the passenger compartment 28-1 for viewing and distance assessment by a vehicle user or operator.

[0033] As in Fig. 2 and Fig. As shown in Figure 3, the electronic control unit 44 is also configured to limit the operating area R of the access door when the distance 50 of the obstacle 40 from the access door 32 and relative to the operating area of ​​the access door is within a predetermined zone 52 in order to prevent physical contact 53 (in Fig. (3 shown) between the access door and the obstacle. The electronic control unit 44 can completely block the opening of the access door 32 if the distance 50 is within the predetermined zone 52. Alternatively, the electronic control unit 44 can allow the access door 32 to open completely if the distance 50 is outside the predetermined zone 52. The predetermined zone 52 is an area near the vehicle exterior 26 where fully opening the door 32 would pose a risk of physical contact 53 with the obstacle 40. The vehicle control unit 44 can also be configured to release the access door 32 by means of the mechanism 32A in response to the command 48 when the opening of the access door 32 has been authorized.

[0034] As in the Fig. 2 and Fig. As shown in Figure 3, the electronic control unit 44 can additionally be configured to generate a sensor signal or an alarm 54 when the distance 50 of the obstacle 40 from the access door 32 and relative to the operating area R of the access door is within the predetermined zone 52. The warning signal 54 can be an audible alarm and / or a visual signal displayed on the vehicle's instrument panel or on the user's communication device, e.g., a mobile phone. As shown in Fig. As shown in Figure 1, the system 36 can further comprise a light source 56, which is mounted on the exterior of the vehicle 26 (on the vehicle body 14) next to the camera 38. The light source 56 is configured to project a light beam 56A onto the obstacle 40 when the camera generates the image 42 on the obstacle, so that the image generated on the obstacle lies within the projected light. In other words, as soon as the light beam 56A is projected onto the obstacle 40, the light and the image 42 contained therein become visible to the camera 38. The light beam 56A is particularly advantageous for illuminating the detected obstacle 40 and generating a clear image 42 in limited visibility conditions, such as at night and in bad weather.

[0035] The algorithm 46 programmed into the electronic control unit 44 can be a machine learning algorithm. This machine learning algorithm can be specifically trained to determine the distance 50 of the obstacle 40 from the access door 32 and relative to the operating area R of the access door based on the pixel resolution 42A of the generated image 42. The machine learning algorithm 46 can be used for object detection in low-light conditions to stop the movement of the access door 32 before it comes into contact with the obstacle 40. A particular machine learning algorithm 46 can be structured to recognize pixel shapes and sizes in order to correlate this data with specific distances 50 of the obstacle 40 from the vehicle 10.The electronic control 44 can additionally communicate with a global positioning system (GPS) 58 and be trained to determine or establish a global position 60 of the detected obstacle 40 using the GPS (shown in . Fig. 1).

[0036] As in Fig. As shown in Figure 1, the electronic control unit 44 can further communicate (share) the determined global position 60 of the obstacle 40 with an information technology (IT) cloud server 62, which is located remotely from the vehicle 10 and is in wireless communication with the electronic control unit. Such an IT cloud server 62 can be configured to store the transmitted determined global position 60 of the detected obstacle 40 on the IT cloud server in order to generate an obstacle database 64. The IT cloud server 62 can be in wireless communication with remote detection sources, such as GPS, and with multiple electronic control units on corresponding vehicles and can be configured to receive vehicle location data from such vehicle control units.The IT cloud server 62 can also be configured to communicate or share the determined global position 60 of the detected obstacle 40 with the electronic control of another vehicle (not shown) from the obstacle database 64.

[0037] The control unit 44 can use the GPS 58 and the camera(s) 38 to monitor an area 66 around the vehicle 10 for changing obstacle conditions, e.g., another parked vehicle entering and parking in the predetermined zone 52. The system 36 can also use vehicle-to-vehicle communication to request a nearby vehicle to move out of zone 52 and increase the clearance for the access door 32. The electronic control unit 44 can further be configured to operate the vehicle 10 in an autonomous mode 68, i.e., in which the vehicle is controlled by vehicle sensors without human intervention to move the vehicle outside the predetermined zone 52 and thereby achieve a sufficient clearance for the access door 32 relative to the detected obstacle 40.Such a function can be activated remotely by the vehicle user, for example, using a mobile phone or by entering a command into the vehicle's infotainment system before leaving the vehicle. System 36 can also allow the vehicle user to focus the camera 38 and the light source 56 on a specific feature of the obstacle in order to measure the distance to it while manually controlling the opening (and closing) of the access door 32.

[0038] Fig. Figure 4 shows a method 100 for operating a vehicle access door 32, using the above in relation to Fig. System 36 described in 1-3. Overall, the method 100 is designed to provide automatic detection of an obstacle in the path of the vehicle's access door, an assessment of the distance between the obstacle and the door's opening path, and thereby enable intelligent control of the access door in question to avoid physical contact between the access door and the obstacle. As explicitly mentioned above, the access door 32 can be a swing-out tailgate located at the rear end 18 of the vehicle 10. The method begins in frame 102 with the receipt, by means of the electronic control 44, of a user or vehicle system command 48 to open a specific access door 32. Following frame 102, the method proceeds to frame 104. In frame 104, the method includes detecting the obstacle 40 within the operating range R of the access door 32. As above with regard to the Fig. As described in sections 1-3, the detection of obstacle 40 can be carried out using camera 38. The procedure then proceeds to frame 106 after frame 104.

[0039] According to the disclosure, the method in frame 106 comprises generating, by means of the camera 38, the specified image 42 on the obstacle 40 relative to the access door 32 in question. As in relation to Fig. As described in sections 1-3, generating the image 42 of the obstacle 40 relative to the access door 32 can include projecting a light beam 56A onto the obstacle using the light source 56, such that the image generated on the obstacle lies within the projected light. The method then transitions to frame 108 in frame 106. In frame 108, the method includes processing the pixel resolution 42A of the generated image 42 using the electronic control 44. The method then transitions to frame 110 in frame 110. In frame 110, the method includes determining, using the electronic control 44, the distance 50 of the obstacle 40 from the access door 32 and relative to the working area R of the access door, using the pixel resolution 42A of the generated image.Determining the distance 50 of the obstacle 40 from the access door 32 and relative to the working area R of the access door can be carried out using the machine learning algorithm 46 programmed into the electronic control 44. After determining the distance 50, the procedure proceeds to the frame 112.

[0040] In frame 112, the procedure involves determining whether the distance 50 is sufficient to open the access door 32 without endangering contact between the door and the obstacle 40. If the distance 50 of the obstacle 40 from the access door 32, and with respect to the operating range R of the access door, is outside the predetermined zone 52, the procedure in frame 114 involves releasing the full operating range R of the access door by means of the electronic control 44. After frame 114, the procedure can return to frame 102. On the other hand, if the distance 50 of the obstacle 40 from the access door 32, and with respect to the working range R of the access door, is outside the predetermined zone 52, the procedure in frame 116 involves limiting the working range R of the access door and possibly blocking the opening of the access door by means of the electronic control 44 to prevent physical contact between the access door and the obstacle.Following framework 116, the procedure can proceed to framework 118.

[0041] In frame 118, the procedure comprises generating, by means of the electronic control 44, the alarm 54 when the distance 50 of the obstacle 40 from the access door 32 and relative to the operating area R of the access door is within the predetermined zone 52. After frame 118, the procedure can proceed to frame 120. In frame 120, the procedure comprises determining the global position 60 of the detected obstacle 40 and transmitting the determined global position of the obstacle to the IT cloud server 62 by means of the electronic control 44. After frame 120, the procedure can proceed to frame 122 to store the determined global position 60 of the detected obstacle 40 on the IT cloud server 62 and to generate the obstacle database 64. After frame 122, the procedure can proceed to frame 124.Within framework 124, the procedure includes the communication of the determined global position 60 of the detected obstacle 40 from the obstacle database 64 via the IT cloud server 62 with another electronic control, which is e.g. positioned on another vehicle.

[0042] After each of frames 116-124, the procedure 100 can transition to one of frames 126 and 128. In frame 126, the procedure can use the camera 38 to monitor the area 66 surrounding the vehicle 10 for changes in obstacle conditions, e.g., another vehicle parked within the predetermined zone 52. In frame 128, the procedure can involve actuating the vehicle 10 using the electronic control 44 in autonomous mode 68 to move the vehicle outside the predetermined zone 52 and thereby achieve an actuation distance for the access door 32 with respect to the detected obstacle 40, as described above. Fig.described in sections 1-3. After each of frames 116, 118, 120, 126 and 128, the procedure can return to frame 102 or end in frame 130.

Claims

[1] A method (100) for operating an access door (32) in a vehicle (10), the method comprising: (102) Receiving, by means of an electronic control (44), a command (48) to open the access door; (104) Detection of an obstacle (40) in the operating area (R) of the access door; (120) Determining a global position of the detected obstacle and transmitting the determined global position of the obstacle by means of the electronic control to an information technology (IT) cloud server (62) which is located remotely from the vehicle and in wireless communication with the electronic control; (106) Generating, by means of a camera (38), a predefined image (42) on the obstacle relative to the access door; (108) Processing, by means of electronic control, a pixelated resolution of the generated image; (110) Determining, by means of the electronic control, a distance (50) of the obstacle from the access door and relative to the operating area of ​​the access door using the pixel resolution of the generated image; and (116) Limiting, by means of electronic control, the operating range of the access door when the distance of the obstacle from the access door and relative to the operating range of the access door is within a predetermined zone in order to avoid physical contact between the access door and the obstacle. [2] Method (100) according to claim 1, wherein the vehicle has a vehicle body (14) defined by body sides (20, 22, 24), a front end (16) and a rear end (18), and wherein the access door is a tailgate arranged at the rear end of the vehicle. [3] Method (100) according to claim 1, wherein the detection of the obstacle is carried out using the camera. [4] Method (100) according to claim 1, wherein generating the predetermined image on the obstacle comprises projecting a light (56A) onto the obstacle by means of a light source (56) which is attached to the vehicle next to the camera, such that the image generated on the obstacle lies within the projected light. [5] Method (100) according to claim 1, wherein the determination of the distance of the obstacle from the access door and relative to the operating area of ​​the access door is achieved by means of a machine learning algorithm (46) programmed into the electronic control. [6] Method (100) according to claim 1, further comprising (122) storing the transmitted specific global position of the detected obstacle on the IT cloud server to generate an obstacle database. [7] Method (100) according to claim 6, further comprising (124) communicating from the obstacle database, via the IT cloud server, the determined global position of the detected obstacle with another electronic control. [8] Method (100) according to claim 1, further comprising (126) monitoring, by means of the camera, an area surrounding the vehicle for changing obstacle conditions. [9] Method (100) according to claim 1, further comprising (128) operating the vehicle, by means of the electronic control, in an autonomous mode in order to move the vehicle outside the predetermined zone and thereby achieve operating clearance for the access door relative to the detected obstacle.

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