System and vehicle

Abstract

The invention relates to a system for a vehicle. The vehicle (2, 2') has a vehicle body (4) and a vehicle door (6). The vehicle door (6) is pivotally held on the vehicle body (4) about a pivot axis (8). The system (10) has: an obstruction detection function (12), which is designed to detect a collision event occurring between the vehicle door (6) and an object (14) in the area (U) surrounding the vehicle (2, 2'), using at least one sensor (16), wherein the sensor (16) is secured to a vehicle door (6) outer face (18) facing the surrounding area and is pivotally held on the vehicle body (4) together with the vehicle door (6). The sensor (16) has a field of vision (20) which covers an angle (22) about the pivot axis (8) in plan view along the pivot axis (8), said angle equaling 45° or less on the basis of the outer face (18).

Description

[0001] Description

[0002] System and vehicle

[0003] The present invention relates to a system for a vehicle, the vehicle having a vehicle body and a vehicle door, the vehicle door being pivotably mounted on the vehicle body about a pivot axis. The system comprises: an obstacle detection system configured, for example, to detect a collision event occurring between the vehicle door and an object in the vehicle's surroundings, having at least one sensor, the sensor being attached to the vehicle door and pivotably mounted on the vehicle body together with the vehicle door. Furthermore, the invention relates to a vehicle having such a system.

[0004] Obstacle detection systems on vehicles are used to prevent collisions with people or objects when a vehicle door or hatch is opened manually or partially or fully automatically. For example, an opening movement can be aborted or an immediate (partial) closing movement can be executed in the opposite direction to the opening movement if an obstacle is detected in the surrounding area. Furthermore, a warning signal can be issued, for example, if opening a vehicle door could potentially lead to a collision with a static or moving object in the vicinity of the vehicle. This is intended to prevent injuries to people, damage to objects, or damage to the vehicle itself.

[0005] Sensors for environmental detection are often expensive and only of limited suitability for use in the near field of the vehicle. Against this background, the present invention addresses the technical problem of providing a system for a vehicle and a vehicle with such a system that enable reliable and cost-effective obstacle detection, particularly in the near field or in the immediate vicinity of the vehicle.

[0006] The technical problem described above is solved by the independent claims. Further embodiments of the invention emerge from the dependent claims and the following description.

[0007] The invention is based on the basic idea of ​​attaching a sensor with a limited field of view and / or with a limited resolution to a moving part of a vehicle in order to generate an enlarged monitoring area and / or an increased resolution by a pivoting movement of the sensor.

[0008] According to a first aspect, the invention relates to a system for a vehicle, wherein the vehicle has a vehicle body and a vehicle door, wherein the vehicle door is held on the vehicle body so as to be pivotable about a pivot axis, wherein the system comprises: an obstacle detection system configured to detect a collision event occurring between the vehicle door and an object in an environment of the vehicle, having at least one sensor, wherein the sensor is in particular fastened to the vehicle door and, together with the vehicle door, is held on the vehicle body so as to be pivotable. The system is characterized in that the sensor has a field of view which, viewed in a plan view along the pivot axis, covers an angle around the pivot axis, wherein the field of view covers a partial area of ​​an overall monitoring area of ​​the obstacle detection system, wherein the field of view is smaller than the overall monitoring area.In this way, obstacle detection limited to the near field of the vehicle door can be achieved in the immediate vicinity of the vehicle.

[0009] When we speak here of the detection of a collision event occurring between the vehicle door and an object in the surroundings of the vehicle, the term “detection” includes both the recognition of an actually occurring collision event, i.e. the presence of a collision of an object with the vehicle door, and the recognition of a possible, imminent collision event in the future in order to prevent this with appropriate countermeasures or warning functions.

[0010] The terms "door" and "vehicle door" are used synonymously here. When referring to a door or "vehicle door," this includes not only the doors to the passenger compartment but also all flaps and lids of a vehicle, such as a hood, a trunk lid, a flap covering a fuel tank or charging interface, and the like.

[0011] The angle of the field of view can be 45° or less. The angle of the field of view can be 25° or less, in particular 15° or less. This allows obstacle detection limited to the near field of the vehicle door to be achieved.

[0012] The total monitoring area can correspond to the sum of the angle and a maximum opening angle of the vehicle door around the pivot axis.

[0013] The sensor can be arranged on an outside of the vehicle door facing the surroundings. According to alternative embodiments, the sensor can be arranged inside the vehicle, for example, behind a pane of glass or a viewing window, in order to monitor the surroundings.

[0014] It can be provided that a portion of the sensor monitors an outside of an associated door and that another portion of the same sensor monitors an inside of the associated door.

[0015] It can be provided that the sensor is an optical sensor that has exactly one pixel.

[0016] The sensor can be an optical sensor with a low resolution, in particular 20,000 pixels or less, further in particular 10,000 pixels or less, further in particular 5,000 pixels or less. This allows reliable environmental monitoring to be achieved using a cost-effective sensor.

[0017] It can be provided that only a subset of the pixels of an optical sensor are used for obstacle detection, in particular less than 50% of the pixels are used, further in particular less than 25% of the pixels are used, further in particular less than 10% of the pixels are used.

[0018] The sensor can be a triangulation sensor. The sensor can be camera-based. The sensor can be a non-optical sensor, in particular a radar sensor. Therefore, measurement systems based on geometric measurement principles, such as the triangulation sensor, can be used, or measurement systems whose distance measurement uses phase-based or time-based measurement principles can be used. According to one embodiment of the invention, the sensor can be an optical line sensor, wherein the sensor has two or more pixels arranged in a row. The sensors can be, for example, C-MOS or SPAD sensors.

[0019] It can be provided that the sensor has exactly one row or the sensor has two or more rows, wherein in particular a sensor length in the row direction corresponds to at least twice a sensor width transverse to the row direction.

[0020] According to one embodiment of the invention, it can be provided that at least one row of the line sensor is oriented substantially vertically. According to one embodiment of the invention, it can be provided that at least one row of the line sensor is oriented substantially horizontally.

[0021] It can be provided that a light source is assigned to the sensor, wherein a beam cone of the light source covers the field of view of the sensor at least partially or completely.

[0022] According to one embodiment of the invention, the light source can be attached to the outside of the vehicle door facing the environment and, together with the vehicle door, can be pivotally mounted on the vehicle body. Alternatively or additionally, the relative position of the light source to the sensor can be fixed and cannot be changed.

[0023] Depending on the measuring principle, the light source can be a broadband or narrowband light source, in particular an LED or laser light source, preferably in the non-visible range (UV, NIR), which can be used modulated or non-modulated.

[0024] It can be provided that a beam cone of the light source, viewed in a plan view along the pivot axis, covers an angle around the pivot axis that, starting from the outside of the vehicle door, is 45° or less, in particular 25° or less, further in particular 15° or less, and in particular substantially corresponds to the angle of the field of vision. The beam cone limited to 45° or less, 25° or less, or 15° or less enables a locally increased illumination intensity within the legal and / or standardized specifications. It can be provided that an illumination intensity of the light source is increased or decreased depending on the ambient conditions of the vehicle.

[0025] According to one embodiment of the invention, it can be provided that discrete evaluation electronics are assigned to the sensor, such as a comparator, a phase evaluation, a time-based evaluation or the like. This can ensure cost-effective and robust sensor operation. Alternatively or additionally, an optical mask can be provided which limits the field of view of the sensor, in particular a mechanical mask, an electronic mask or a software-based mask. A mechanical mask can be an aperture or the like in order to cover part of the sensor. A software-based mask can limit an evaluation to data from a specific sensor area. Electronic masking can be achieved, for example, by only reading out certain areas, lines or pixels of the sensor.

[0026] A door drive can be assigned to the vehicle door, wherein the door drive is configured for semi-automatic or fully automatic pivoting of the vehicle door. The door drive can therefore assist in opening and / or closing the vehicle door or perform this completely automatically. In particular, the door drive can have a motor for semi-automatic or fully automatic pivoting of the vehicle door. In particular, the motor can be assigned mechanical components for increasing or reducing the motor movement, such as a spindle drive or the like. It is understood that the motor can also be designed as a direct drive.

[0027] The sensor can be configured for one-dimensional, two-dimensional or three-dimensional environment detection and / or distance measurement.

[0028] It can be provided that a control device is assigned to the obstacle detection, wherein the control device has, for example, the following function: door assistance, wherein in the event of detection of a collision event one or more of the following functions are triggered: issuing a warning signal; limiting an opening path of the door; initiating countermeasures; blocking or releasing the door in a door angle position, a door open position or a door closed position.

[0029] The obstacle detection system can comprise a control device configured to record sensor data for a variety of angular positions of the vehicle door during the pivoting of the vehicle door and to compile the data into a three-dimensional image of the surroundings. Accordingly, a three-dimensional image of the surroundings can be generated, particularly with a low-resolution sensor, by using a pivoting movement of the vehicle door to "scan" the surroundings.

[0030] The distance between the angular positions can be smaller than a pixel size and / or a pixel pitch of the sensor, so that the resolution of the image of the surroundings is greater than the sensor resolution. Therefore, multiple images of the surroundings can be superimposed and evaluated, so that a pivoting movement of the door can generate an image of the surroundings that is greater than the native resolution of the sensor.

[0031] According to a second aspect, the invention relates to a vehicle, wherein the vehicle has a vehicle body and a vehicle door, wherein the vehicle door is pivotally mounted on the vehicle body, with a system according to the invention.

[0032] It can be provided that at least two doors of the vehicle are monitored by the system, with at least one sensor assigned to each of the at least two doors. It can be provided that one sensor is configured to monitor or partially monitor two doors.

[0033] The sensor may be mounted on a movable device of the vehicle, such as an exterior mirror or the like, or on an actuator specifically designed for the sensor. In particular, the movable device may be designed to follow a door opening or to execute a movement proportional to the door opening.

[0034] Fig. 1 shows a vehicle according to the invention in a side view;

[0035] Fig. 2 shows a top view of the vehicle from Fig. 1; Fig. 3 shows a top view of the vehicle from Fig. 1 with the driver's door open;

[0036] Fig. 4 shows a further vehicle according to the invention in a plan view;

[0037] Fig. 5 a line sensor;

[0038] Fig. 6 another line sensor

[0039] Fig. 7 shows another vehicle according to the invention in a plan view.

[0040] Fig. 1 shows a side view of a vehicle 2 according to the invention. The vehicle 2 has a vehicle body 4 and a vehicle door 6, wherein the vehicle door 6 is pivotably mounted on the vehicle body 4 about a pivot axis 8.

[0041] The vehicle 2 has a system 10 according to the invention, which has an obstacle detection system 12. The obstacle detection system 12 is configured to detect a collision event occurring between the vehicle door 6 and an object 14 in an environment U of the vehicle 2. The obstacle detection system 12 has a sensor 16, wherein the sensor 16 is attached to an outer side 18 of the vehicle door 6 facing the environment U and is pivotally mounted on the vehicle body 4 together with the vehicle door 6.

[0042] The sensor 16 has a field of view 20 which, viewed in a plan view (Fig. 2) along the pivot axis 8, covers an angle 22 around the pivot axis 8 which, starting from the outside of the vehicle door, is 45°.

[0043] The sensor 16 is an optical line sensor. The sensor 16 has two or more pixels 24, which are arranged, for example, in a single row (Fig. 5) or a double row (Fig. 6), i.e., in one row (Fig. 5) or in two rows (Fig. 6). According to alternative embodiments, the sensor 16 may have more than two rows.

[0044] A sensor length 11 in the row direction corresponds to at least twice a sensor width b2 transverse to the row direction.

[0045] The sensor 16 can be oriented substantially vertically, so that the sensor length 11 extends along the z-direction shown in Figures 1-4. A light source 26 is associated with the sensor 16, with a beam cone 28 of the light source 26, which is delimited by the dashed lines in Figure 2, completely covering the field of view 20 (Figure 2).

[0046] The light source 26 is also attached to the outer side 18 of the vehicle door 6 facing the environment U and, together with the vehicle door 6, is pivotally mounted on the vehicle body 4. A relative position of the light source 26 to the sensor 16 is fixed and cannot be changed.

[0047] The beam cone 28 of the light source 26 covers an angle 30 around the pivot axis 8 when viewed in plan view along the pivot axis 8 (Fig. 2), which, starting from the outer side 18 of the vehicle door 6, is approximately 50°.

[0048] The line sensor 16 is in particular a distance sensor that can detect a distance of an object 14 from the vehicle door 6.

[0049] The system 10 has a control device 36 associated with the obstacle detection 12, which processes signals from the sensor 16.

[0050] A door drive 44 is assigned to the vehicle door 6 (Fig. 1), wherein the door drive 44 is configured for the semi-automatic or fully automatic pivoting of the vehicle door 6. The door drive 44 has a motor 46 for the semi-automatic or fully automatic pivoting of the vehicle door 6.

[0051] The vehicle 2 has three further doors 36 and a trunk lid 38, each of which can be assigned its own obstacle detection system, which can be designed in a manner comparable to the obstacle detection system 12.

[0052] Fig. 3 shows the vehicle 2 with the vehicle door 6 open. Because the sensor 16 can be pivoted about the pivot axis 8 together with the vehicle door 6, the sensor 16 covers a total monitoring area 40 which, viewed in plan view along the pivot axis 8, covers an angle 42 around the pivot axis 8 that is more than 90°. In particular, the total measuring area 40 results from the sum of a maximum opening angle 43 of the vehicle door 6 and the angle 22.

[0053] Fig. 4 shows a further embodiment of an inventive

[0054] Vehicle 2', wherein only the differences from the embodiment described above are discussed below and the same features are assigned the same reference numerals.

[0055] The embodiment shown in Fig. 4 differs from the embodiment shown in Fig. 2 in that the sensor 16 covers a field of view 20' with a smaller angle 22', and the angle 30' of a beam cone 28' of the light source 26 is also smaller. The angles 22' and 30' are each approximately 15°.

[0056] Fig. 7 shows a further embodiment of a vehicle 2" according to the invention, wherein only the differences from the embodiments described above are discussed below and the same features are assigned the same reference numerals.

[0057] The embodiment according to Fig. 7 differs from the embodiments according to Fig. 2 and Fig. 4 in that the sensor 16 covers a field of view 20" with an inwardly directed angle 22" and also an angle 30" of a beam cone 28" of the light source 26 is directed inward.

[0058] According to alternative embodiments, it can be provided that one sensor is provided for monitoring both an interior and an exterior area of ​​a vehicle door. According to alternative embodiments, it can be provided that two or more sensors are provided for monitoring both an interior and an exterior area of ​​a vehicle door.

Claims

Patent claims 1. System for a vehicle, wherein the vehicle (2, 2') has a vehicle body (4) and a vehicle door (6), wherein the vehicle door (6) is pivotably mounted on the vehicle body (4) about a pivot axis (8), wherein the system (10) comprises: an obstacle detection system (12) configured to detect a collision event occurring between the vehicle door (6) and an object (14) in the vicinity (U) of the vehicle (2, 2'), with at least one sensor (16), wherein the sensor (16) is pivotably mounted on the vehicle body (4), characterized in that the sensor (16) has a field of view (20) which, viewed from above along the pivot axis (8), covers an angle (22) about the pivot axis (8), wherein the field of view (20) covers a partial area of ​​a total monitoring area (40) of the obstacle detection system (12), wherein the field of view (20) is smaller than the total monitoring area (40).

2. System according to claim 1, characterized in that the sensor is in particular attached to the vehicle door (6) and is pivotable together with the vehicle door (6) and / or the angle (22) about the pivot axis (8) is 45° or less, in particular that the angle (22) is 25° or less, in particular 15° or less, and / or the total monitoring area (40) corresponds to the sum of the angle (22) and a maximum opening angle (43) of the vehicle door (6) about the pivot axis (8), and / or the sensor is an optical sensor which has a low resolution, in particular 20000 pixels or less, further in particular 10000 pixels or less, further in particular 5000 pixels or less.

3. System according to any of the preceding claims, characterized in that the sensor (16) is arranged on an outer surface (18) of the vehicle door (6) facing the environment.

4. System according to one of the preceding claims, characterized in that the sensor (16) is an optical line sensor (16), wherein the sensor (16) has two or more pixels arranged in a row, in particular that the sensor (16) has exactly one row or the sensor (16) has two or more rows, wherein in particular a sensor length (11) in the line direction corresponds to at least twice a sensor width (b1, b2) transverse to the line direction, in particular that at least one row of the line sensor (16) is substantially vertically oriented or at least one row of the line sensor (16) is substantially horizontally oriented.

5. System according to one of the preceding claims, characterized in that a light source (26) is associated with the sensor (16), wherein a beam cone (28) of the light source (26) at least partially or completely covers the field of view (20), in particular that the light source (26) is attached to the outside (18) of the vehicle door (6) facing the environment (U) and is pivotably held on the vehicle body (4) together with the vehicle door (6) and / or that a relative position of the light source (26) to the sensor (16) is fixed and not changeable.

6. System according to claim 5, characterized in that a beam cone (28) of the light source (26) viewed in a top view along the pivot axis (8) covers an angle (30) about the pivot axis (8) which, starting from the outside (18) of the vehicle door, is 45° or less, in particular 25° or less, further in particular 15° or less and in particular corresponds substantially to the angle (22) of the field of view (20).

7. System according to one of the preceding claims, characterized in that discrete evaluation electronics are associated with the sensor (16), such as a comparator, phase evaluation, time-based evaluation or the like, and / or a masking system is provided that limits the field of view (22) of the sensor (16), in particular a mechanical masking system, an electronic masking system or a software-based masking system.

8. System according to one of the preceding claims, characterized in that the obstacle detection (12) has a control device (36) which is configured to record sensor data during the pivoting of the vehicle door (6) for a plurality of angular positions of the vehicle door (6) and to assemble it into a three-dimensional image of the environment (U).

9. System according to claim 8, characterized in that wherein a distance of the angular positions is less than a pixel size and / or a pixel spacing of the sensor and a resolution of the image of the environment is greater than a sensor resolution.

10. Vehicle, wherein the vehicle (2, 2') has a vehicle body (4) and a vehicle door (6), wherein the vehicle door (6) is pivotably held on the vehicle body (4), with a system (10) according to one of the preceding claims.

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