Method for operating a sensor device for a first vehicle door of a vehicle

Abstract

The present invention relates to a method for operating a sensor device (7) of a first vehicle door (2) of a vehicle (1). The first vehicle door (2) is disposed adjacent to a second vehicle door (3). Each vehicle door (2, 3) is movable between a closed position (4) and an open position (5). The method includes determining (S1, S2) first opening information (20) of the first vehicle door (2) and second opening information (21) of the second vehicle door (3). The method also includes inhibiting (S4) the sensor device (7) from emitting a pulse (24) and / or a signal to the environment of the first vehicle door (2) when the respective opening information (20, 21) is within respective opening information ranges (22, 23).

Description

[Technical Field]

[0001] The present invention relates to a method for operating a sensor device of a first vehicle door of a vehicle, and further relates to a vehicle, a control device and a computer program product for carrying out such a method. [Background technology]

[0002] A vehicle may provide an automatic door opening / closing function for at least one vehicle door of the vehicle. To provide such an automatic function, a sensor device is attached to the at least one vehicle door. While the vehicle door moves between a closed position and an open position, the sensor device captures the environment of the moving door and determines whether there is an obstacle that obstructs the movement of the door. For example, when two adjacent vehicle doors are opened simultaneously, a sensor device attached to a rear door of the vehicle may detect at least a portion of the front door as an obstruction to the movement of the rear door. As a result, the rear door may stop moving to an open position at an opening angle that is smaller than the maximum opening angle of the rear door to avoid a collision with the detected front door.

[0003] US 2017 / 0321468 A1 discloses a method for detecting an object within an open door area of ​​a motor vehicle using at least one first distance sensor. The at least one first distance sensor is arranged in or on the first door and has a detection area. The detection area is adapted based on determined state variables. The state variables represent the position and / or operational setting of at least one component of the vehicle different from the first door.

[0004] However, adapting the detection area of ​​the sensor device to avoid the sensor device of the first vehicle door detecting the second vehicle door as an obstacle is relatively complicated.

[0005] SUMMARY OF THE INVENTION It is an object of the present invention to provide a simpler method of operating a sensor device in a vehicle door of a vehicle.

[0006] The independent claims solve the above object. Summary of the Invention

[0007] A first aspect of the present invention relates to a method for operating a sensor device for a first vehicle door of a vehicle. The first vehicle door is, for example, a rear door of the vehicle. The first vehicle door is arranged adjacent to a second vehicle door. The second vehicle door is, for example, a front door of the vehicle. Thus, both the first vehicle door and the second vehicle door are located on the same side of the vehicle when viewed from the side of the vehicle. Each vehicle door is movable between a closed position and an open position. Each closed position is a position in which the respective vehicle door is fully closed. Each open position is preferably a position in which the respective vehicle door is opened to the furthest extent. The opening angle of each vehicle door in the open position may correspond to the maximum opening angle of the respective vehicle door. There may also be intermediate positions that can be reached between the closed position and the open position. Preferably, the first vehicle door and / or the second vehicle door is automatically movable between the closed position and the open position.

[0008] When at least both vehicle doors are in their respective open positions, the second vehicle door is located within the coverage area of ​​the sensor device of the first vehicle door. That is, when both vehicle doors are open, the sensor device of the first vehicle door captures data representing at least a portion of the second vehicle door. That is, the second vehicle door is an object or obstacle in the environment of the first vehicle door. The environment of the first vehicle door is at least a portion of the environment of the vehicle. The coverage area may also be referred to as the detection area. It is possible that both vehicle doors are in an intermediate position, in which case the second vehicle door is already located within the coverage area of ​​the sensor device of the first vehicle door. The sensor device of the first vehicle door is, for example, an ultrasonic sensor device configured to measure distance information. The distance information may represent the distance between the sensor device and an object or obstacle in the environment of the first vehicle door.

[0009] The method includes determining first opening degree information and second opening degree information. The first opening degree information represents a position of the first vehicle door relative to a closed position of the first vehicle door. The second opening degree information represents a position of the second vehicle door relative to a closed position of the second vehicle door. A control unit for each vehicle door may determine and / or receive the first opening degree information and / or the second opening degree information. For example, a stepper motor for each vehicle door may capture the number of steps and / or the angle between a start position and a current position of each vehicle door to determine a current position of each vehicle door. The stepper motor may then provide the determined opening degree information to the control unit. The control unit may be configured to provide a control command for at least the first vehicle door.

[0010] The method includes inhibiting the sensor device from emitting pulses and / or signals to the environment of the first vehicle door when it is determined that the first opening degree information is within a first opening degree information range and the second opening degree information is within a second opening degree information range. That is, it is verified that the first opening degree information is within a first opening degree information range and the second opening degree information is also within a specific opening degree information range, which is a second opening degree information range. Only when this verification reveals that both information ranges match their respective opening degree information ranges, does the sensor device omit emitting pulses and / or signals to the environment. In other words, the method includes deactivating the sensor device's emission function. Inhibiting the emission of pulses and / or signals may alternatively be referred to as silencing the sensor device. The first opening degree information range and the second opening degree information range may be different from or the same as each other. The pulses may be, for example, ultrasonic pulses emitted by an ultrasonic sensor serving as the sensor device. Alternatively or additionally, the sensor device may emit a signal to the environment. The sensor device typically captures echoes of the emitted pulses or reflected signals of the emitted signals when the sensor device is enabled and thus active to emit pulses and / or signals. By inhibiting the emission of pulses and / or signals, the sensor device is unable to determine sensor information representative of the second vehicle door. Thus, the method prevents the second vehicle door from being detected as a potential obstruction of the first vehicle door.

[0011] The above-described method is advantageous because it does not require complex calculations to prevent the second vehicle door from being detected as an obstruction to the first vehicle door, even though the second vehicle door is moving within the coverage area of ​​the sensor device. Therefore, there is no need to adjust the coverage area or perform other complex calculations. Furthermore, the sensor device is not completely deactivated, but only pulses and / or signaling is silenced. Therefore, deactivation information that may be misinterpreted as a result of a sensor device failure is not determined and provided to the vehicle. Therefore, the method provides a simpler way to operate a sensor device for a vehicle door of a vehicle.

[0012] A preferred embodiment includes the respective opening degree information representing an opening angle of a respective vehicle door. The first opening degree information thus represents an opening angle of a first vehicle door, and / or the second opening degree information represents an opening angle of a second vehicle door. A stepping motor may determine the opening angle and / or may provide data for determining the opening angle. By taking the opening angle into consideration, it is possible to define an opening degree information range according to the characteristics of the vehicle door, such as a maximum opening angle of the vehicle door. This makes it particularly easy to determine the opening degree information.

[0013] In another embodiment, each opening angle information range depends on the maximum opening angle of each vehicle door. In particular, each opening angle information range is between half the maximum opening angle of each vehicle door and the maximum opening angle. That is, the first opening angle information range depends on the maximum opening angle of the first vehicle door, and / or the second opening angle information range depends on the maximum opening angle of the second vehicle door. Preferably, both vehicle doors have the same maximum opening angle. The maximum opening angle may be 60 degrees, 70 degrees, 80 degrees, or particularly 90 degrees. The maximum opening angle may be any angle between the aforementioned angles.

[0014] For example, if the maximum opening angle is 70 degrees, the opening angle information range may be 35 degrees or more and 70 degrees or less. If the first opening angle information and the second opening angle information indicate that both vehicle doors are open at least 35 degrees, the above-mentioned transmission function is stopped. However, for example, if at least one of the opening angle information indicates that each vehicle door is open by an angle less than half the maximum opening angle, the transmission function remains active (functioning). For example, if the first opening angle information indicates an opening angle of 20 degrees while the second opening angle information indicates an opening angle of 70 degrees, the transmission function remains active. The transmission function is stopped only when both opening angle information are within their respective opening angle information ranges.

[0015] It is also possible to vary the lower limit of the opening information range. The lower limit can be less than or more than half of the maximum opening angle, for example, one-quarter or three-quarters of the maximum opening angle. Selecting opening information that depends on the maximum opening angle provides a particularly simple way of selecting the respective opening information range.

[0016] According to another embodiment, the sensor device includes multiple sensor units. The multiple sensor units are spatially separated from one another on the first vehicle door. For example, the sensor device may include two, three, or more individual sensor units. Each sensor unit has its own unique opening degree information range. Therefore, for each sensor unit, it is determined whether the first opening degree information falls within the sensor unit's unique first opening degree information range and whether the second opening degree information falls within the sensor unit's unique second opening degree information range. In this case, the sensor unit is prohibited from emitting pulses and / or signals. That is, there may be no common first opening degree information range and second opening degree information range, but each sensor unit of the sensor device may have its own unique first opening degree information range and second opening degree information range. Therefore, the total number of sensor unit-specific first opening degree information range and second opening degree information range depends on the number of sensor units included in the sensor device. Because the sensor units are spatially separated from one another on the first vehicle door, the opening degree information ranges of different sensor units may be different. Therefore, the transmitting function of only one or some of the sensor units of the sensor device may be stopped, while the remaining sensor units still emit pulses and / or signals into the environment of the first vehicle door. This means that only one or some of the sensor units can be silenced. Therefore, it is possible to consider only one or more sensor units that may detect the second vehicle door as an obstacle, rather than the entire sensor device. This allows the sensor devices to be controlled differentially.

[0017] Determining whether the first opening degree information is within a first opening degree information range and whether the second opening degree information is within a second opening degree information range may include determining, for each sensor unit of the sensor device, whether the first opening degree information is within a first opening degree information range specific to each sensor unit and whether the second opening degree information is within a second opening degree information range specific to each sensor unit.

[0018] Furthermore, one embodiment includes a configuration in which the sensor unit-specific first opening degree information range and the sensor unit-specific second opening degree information range depend on the sensor unit position of the sensor unit of the first vehicle door and / or the distance to at least one other sensor unit of the first vehicle door. This means that the sensor unit-specific opening degree information range may depend on where each sensor unit is located on the first vehicle door. The sensor unit position is the position of the sensor unit on the first vehicle door. A sensor unit located close to a second vehicle door may detect a second vehicle door in a situation in which another sensor unit located farther from the second vehicle door has not yet detected the second vehicle door. This is because the sensor unit position affects the sensor unit's coverage area. The distance between two other sensor units may also affect the coverage areas of the two sensor units. Therefore, it is reasonable to select a position- and / or distance-dependent sensor unit-specific opening degree information range taking into account where each sensor unit is located on the vehicle door.

[0019] According to another embodiment, the method includes a measurement sequence of the sensor device of the first vehicle door and the sensor device of the second vehicle door, each of which includes at least one transmitting step. During the transmitting step, at least one sensor unit of each sensor device emits a pulse and / or a signal. During the period in which the emission of pulses and / or signals is inhibited, at least one transmitting step of the sensor device of the first vehicle door is treated as a waiting period and / or skipped (omitted). Because there is no active emission of pulses and / or signals in each step, no pulses and / or signals are sent to the environment, and neither sensor device can capture echo and / or reflected signals. This means that during these steps, the sensor device waits until the sensor device of the second vehicle door emits a pulse and / or a signal in the next step, so that echo and / or reflected signals can be generated and captured. However, instead of or in addition to waiting, the number of steps can be reduced by eliminating the transmitting step of the sensor device of the first vehicle door from the measurement sequence. In this case, the measurement sequence includes only the transmitting step of the sensor device of the second vehicle door. It is therefore easily possible to include the described method in a typical measurement sequence for the sensor devices of both vehicle doors.

[0020] Furthermore, one embodiment includes a configuration in which the receiving function of the sensor device remains active while the transmission of pulses and / or signals is inhibited. This means that the sensor device is permitted to receive echo and / or reflected signals. Therefore, the sensor device is not completely disabled. This reflected signal may be referred to as a back signal. For example, when a pulse and / or signal is emitted by a sensor device installed in a second vehicle door, the pulse and / or signal may strike an object, generating an echo and / or reflected signal. The echo and / or reflected signal may then strike the sensor device in the first vehicle door. Therefore, the sensor device in the first vehicle door can capture the echo and / or reflected signal without transmitting a pulse and / or signal into the environment. Therefore, the receiving function is not affected by the deactivation of the transmission function. Analysis of the environment is possible taking into account the received echo and / or reflected signal and is therefore not limited by the deactivation of the transmission function.

[0021] According to a further embodiment, the method includes the sensor device continuing to provide sensor device diagnostic information for a vehicle diagnostic system while the emission of pulses and / or signals is inhibited. The sensor device diagnostic information can be generated by a control unit of the first vehicle door and then provided to the vehicle diagnostic system. The diagnostic system can be, for example, an on-board diagnostic system (OBD). From the perspective of the diagnostic system, the sensor device remains fully functional, even though it no longer emits pulses and / or signals. That is, even if a failure and / or malfunction occurs in the sensor device, the failure and / or malfunction can still be detected because the failure and / or malfunction is indicated by the sensor device diagnostic information. As a result, the vehicle diagnostic system does not need to issue an alert to the control unit and / or other vehicle components simply because the emission function has stopped. Therefore, performing the method does not result in false detection of a failure and / or malfunction.

[0022] Furthermore, one embodiment includes activating the emission of pulses and / or signals by the sensor device in the environment of the first vehicle door when the first opening degree information is determined to be outside the first opening degree information range. Alternatively or additionally, activating the emission of pulses and / or signals by the sensor device in the environment of the first vehicle door when the second opening degree information is determined to be outside the second opening degree information range. Alternatively or additionally, activating the emission of pulses and / or signals by the sensor device in the environment of the first vehicle door when it is determined that the first vehicle door has moved toward the closed position. In other words, it is not necessary to inhibit the emission of pulses and / or signals by the sensor device in the environment of the first vehicle door unless both opening degree information are within their respective opening degree information ranges. Therefore, the emission function remains active and / or is activated. It is sufficient that only one opening degree information is outside its opening degree information range. Furthermore, when the first vehicle door is moving from an open or intermediate position toward a closed position, since the closing of the vehicle door includes moving away from the second vehicle door and thus away from the obstacle, it is no longer necessary to inhibit the detection of the second vehicle door as a potential obstacle. Preferably, the first and second opening degree information are continuously determined, and the first and second opening degree information are continuously verified to be within or outside their respective opening degree information ranges. This means that once the first and / or second opening degree information is outside their respective opening degree information ranges or if it is determined that the first vehicle door is performing a closing operation, the transmission function of the sensor device is immediately reactivated. Therefore, in all situations where it is appropriate to capture the environment of the first vehicle door, the transmission of pulses and / or signals is permitted and performed.

[0023] Furthermore, according to one embodiment, the sensor device determines sensor information representative of the environment of the first vehicle door. The sensor information may be determined by analyzing echo and / or reflected signals. The sensor information, for example, represents the distance to at least one object in the environment of the first vehicle door. The sensor device provides the determined sensor information to a control device of the vehicle. Preferably, the sensor information includes ultrasonic data and / or radar data and / or lidar data. Preferably, the sensor information includes distance data. In principle, camera data can also be considered as sensor information. The sensor information is therefore typical data provided by a sensor device of the vehicle.

[0024] A further embodiment includes the control unit providing a vehicle function to the vehicle taking into account the sensor information. The vehicle function may require the sensor information. The vehicle function is, in particular, an automatic door opening function of the first vehicle door. Alternatively or additionally, the vehicle function is an automatic door closing function and / or a parking assistance function of the vehicle and / or any other driving assistance function that may at least partially depend on measurement data provided by a sensor device attached to the first vehicle door. Preferably, taking into account the sensor information, the vehicle function prevents a collision between the vehicle, in particular the first vehicle door, and an object or obstacle in the environment of the first vehicle door.

[0025] Other embodiments include disabling the sensor device in addition to inhibiting the emission of pulses and / or signals to the environment. Thus, it is possible to completely turn off or even switch off the sensor device of the first vehicle door. However, this may affect the diagnostic system evaluation of the vehicle's diagnostic system, which may interpret the disabled sensor device as a sensor device failure and / or malfunction. However, this is another way to prevent the second vehicle door from being detected as an obstruction to the first vehicle door, which may affect the opening angle of the first vehicle door.

[0026] Another aspect of the present invention relates to a vehicle. The vehicle includes a first vehicle door having a sensor device and a second vehicle door. The first vehicle door is disposed adjacent to the second vehicle door. Each vehicle door is movable between a closed position and an open position. When at least both vehicle doors are in their respective open positions, the second vehicle door is disposed within a coverage area of ​​the sensor device of the first vehicle door. The vehicle is configured to determine first opening degree information representing a position of the first vehicle door relative to the closed position of the first vehicle door and second opening degree information representing a position of the second vehicle door relative to the closed position of the second vehicle door. The vehicle is further configured to determine whether the first opening degree information is within a first opening degree information range and whether the second opening degree information is within a second opening degree information range. If it is determined that both opening degree information are within the opening degree information range, the vehicle is configured to prohibit the sensor device from emitting pulses and / or signals in an environment of the first vehicle door. Therefore, the vehicle is configured to stop the emitting function of the sensor device. The vehicle is configured to perform the described method, in particular at least one or a combination of embodiments of the described method.

[0027] Another aspect of the present invention relates to a control unit configured to control at least a sensor device of a first vehicle door of a vehicle. The control unit executes the described methods, in particular at least one or a combination of several embodiments of the described methods. The control unit includes a processor device. The processor device may include at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). Furthermore, the processor device may include program code. The program code may alternatively be referred to as a computer program product or computer program. The program code may be stored in a data memory of the processor device.

[0028] Another aspect of the invention relates to a computer program product, which is a computer program comprising instructions that, when executed by a computer, such as a vehicle controller, cause the computer to perform the method of the invention.

[0029] The present invention includes combinations of the described embodiments. [Brief explanation of the drawings]

[0030] [Figure 1] FIG. 1 is a schematic diagram of a vehicle having multiple doors. [Figure 2] FIG. 2 is a schematic diagram illustrating a method of operating a sensor device in a first vehicle door of a vehicle. [Figure 3] FIG. 3 is a schematic diagram showing a measurement sequence of the sensor device of the first vehicle door. DETAILED DESCRIPTION OF THE INVENTION

[0031] FIG. 1 shows a vehicle 1 including a first vehicle door 2 and a second vehicle door 3. The first vehicle door 2 is a rear door of the vehicle 1 in this example. The first vehicle door 2 is disposed adjacent to a second vehicle door 3, which is a front door of the vehicle 1 in this example. The first vehicle door 2 and the second vehicle door 3 are provided on opposite sides of the vehicle 1. These two sides are referred to as scenario A and scenario B in this example.

[0032] Each vehicle door 2, 3 has different possible positions 4, 5, 6. Each vehicle door 2, 3 is movable between a closed position 4 and an open position 5. There may be several intermediate positions 6 between the closed position 4 and the open position 5. The vehicle doors 2, 3 in the open position 5 and the intermediate positions 6 are depicted in dashed lines.

[0033] The first vehicle door 2 includes a sensor device 7. The sensor device 7 may include multiple sensor units 8. Here, the second vehicle door 3 also includes a sensor device 7. When at least both vehicle doors 2, 3 are in their respective open positions 4, the second vehicle door 3 is located within the coverage area 10 of the sensor device 7 of the first vehicle door 2. Here, the vehicle doors 2, 3 each include two sensor units 8. The sensor units 8 are arranged spatially separated from each other on each vehicle door 2, 3. The sensor units 8 may be ultrasonic sensors, radar sensors and / or lidar sensors.

[0034] In scenario A, both first vehicle doors 2, 3 are in the open position 4 at a maximum opening angle α max In the intermediate position 6, the first vehicle door 2, 3 is opened at a maximum opening angle α max Half the opening angle of α max In scenario B, the two intermediate positions 6 are positioned such that the opening angle α of each vehicle door 2, 3 is equal to or greater than the maximum opening angle α max It is depicted smaller than

[0035] For each vehicle door 2, 3, its opening direction of movement 9 is also depicted. In scenario B, the first vehicle door 2 is currently closed, meaning that the first vehicle door 2 is moving towards a closed position 4. All other depicted vehicle doors 2, 3 are currently moving from a closed position 4 towards an open position 5 or an intermediate position 6.

[0036] The vehicle 1 may include a control unit 11. The control unit 11 may provide vehicle functions 12 for the vehicle 1. The vehicle functions 12 may be, for example, an automatic door opening function and / or an automatic door closing function for a first vehicle door 2 of the vehicle 1. Alternatively or additionally, the vehicle functions 12 may be configured to provide a parking assistance function or other driving assistance function for the vehicle 1. A vehicle function 12 may be provided for the second vehicle door 3 as well.

[0037] The vehicle 1 may include a diagnostic system 13, such as an on-board diagnostic system (OBD), that is, a system with vehicle self-diagnostic and reporting capabilities.

[0038] 2 shows steps of a method for operating a sensor device 7 of a first vehicle door 2 of a vehicle 1. In step S1, the method includes determining first opening degree information 20 representing the position of the first vehicle door 2 relative to its closed position 4. In step S2, the method includes determining second opening degree information 21 representing the position of the second vehicle door 3 relative to its closed position 4. At least one or preferably both of the opening degree information 20, 21 represents an opening angle α of the respective vehicle door 2, 3.

[0039] Step S3 includes checking whether the first opening degree information 20 is within a first opening degree information range 22 and whether the second opening degree information 21 is within a second opening degree information range 23. Preferably, the respective opening degree information ranges 22 and 23 are within a maximum opening angle α max Typically, both vehicle doors 2, 3 have the same maximum opening angle α max , and therefore have the same opening degree information range 22, 23. Each opening degree information range 22, 23 is preferably equal to or less than half the maximum opening angle α of each vehicle door 2, 3. max / 2 and maximum opening angle α max This means that in scenario A shown by the dashed line, the verification step S3 is successful (yields a positive result) for both doors 2 and 3. However, in scenario B, the second vehicle door 4 is in the intermediate position 6 outside the second opening degree information range 23, so the verification step of step S3 is unsuccessful (yields a negative result).

[0040] If it is determined that the first opening degree information range 20 is within the first opening degree information range 22 and the second opening degree information 21 is within the second opening degree information range 23, step S4 is executed. Step S4 includes prohibiting the sensor device 7 from emitting pulses 24 and / or signals in the environment of the first vehicle door 2. Generally, step S4 prevents the sensor device 7 of the first vehicle door 2 from emitting pulses 24 and / or signals. Therefore, the transmitting function 30 of the sensor device 7 of the first vehicle door 2 is stopped. However, reception of echoes 25 and / or reflected signals by the sensor device 7 of the first vehicle door 2 may still be possible. Therefore, the receiving function 31 of the sensor device 7 of the first vehicle door 2 remains active.

[0041] In step S5, the sensor device 7 may continue to provide sensor device diagnostic information 26 to the diagnostic system 13 of the vehicle 1 while the emission of pulses 24 and / or signals is inhibited.

[0042] In step S6, the method may include checking whether the first opening degree information 20 is outside the first opening degree information range 22 and / or whether the second opening degree information 21 is outside the second opening degree information range 23 and / or whether the first vehicle door 2 is moving towards the closed position 4. If any of these three requirements is met, step S7 is executed, in which the emission of pulses 24 and / or signals by the sensor device 7 of the first vehicle door 2 in the environment of the first vehicle door 2 is activated or, in particular, reactivated. This means that both the emission function 30 and the reception function 31 are active. This is, for example, the case in scenario B of FIG. 1, where the second opening degree information 21 is outside the second opening degree information range 23. Furthermore, the first vehicle door 2 is moving towards the closed position 4. Therefore, in scenario B, two of the above three requirements are met. In yet another scenario, it is conceivable that at least the first opening degree information 20 is outside the first opening degree information range 22 (not shown here).

[0043] Step S8 can be performed after step S4 and / or after step S7. Step S8 can involve the sensor device 7 determining sensor information 27 representative of the environment of the first vehicle door 2. The sensor device 7 can provide the sensor information 27 to the control unit 11 of the vehicle 1. The sensor information 27 can be determined by analyzing the received echoes 25 and / or reflected signals. In step S9, the control unit 11 can provide the vehicle function 12 taking into account the provided sensor information 27.

[0044] In steps S3 and S6, it is generally possible to specify opening degree information ranges 22, 23 for specific sensor units 8 of the sensor device 7. Thus, in these steps, it is determined whether the first opening degree information 20 is within the first opening degree information range 22 specific to the sensor unit, and whether the second opening degree information 21 is within the second opening degree information range 23 specific to the sensor unit. It is then possible to specifically prohibit one or more sensor units 8 from emitting pulses 25 and / or signals.

[0045] The sensor unit-specific first opening degree information range 21 and the sensor unit-specific second opening degree information range 23 may depend on the sensor unit position of each sensor unit 8 of the first vehicle door 2 and / or on the distance to at least one other sensor unit 8 of the first vehicle door 2.

[0046] FIG. 3 shows an example of a measurement sequence for the sensor devices 7 of the first vehicle door 2 and the second vehicle door 3. The first column lists the four steps a1, b1, c1, and d1 of the measurement sequence. The second and third columns are assigned to the two sensor units 8 of the second vehicle door 3, while the fourth and fifth columns are assigned to the sensor unit 8 of the first vehicle door 2. The order of the columns corresponds to the order of the sensor units 8 as viewed in the X direction according to FIG. 1. That is, the second column is assigned to the sensor unit 8 closest to the front of the vehicle 1, and the final fifth column is assigned to the sensor unit 8 furthest away in the rear area of ​​the vehicle 1. The sensor units 8 with an active emitting function 30 and an active receiving function 31 are marked as such in each step of the measurement sequence.

[0047] In step a1, one sensor unit 8 of the second vehicle door 3 emits a pulse 24 and / or a signal and receives an echo 25 and / or a reflected signal. The other sensor unit 8 of the second vehicle door 3 may similarly receive an echo 25 and / or a reflected signal. The next step b1 of the measurement sequence is a so-called transmitting step 32 for the first vehicle door 2. That is, in this step, one of the sensor units 8 of the first vehicle door 2 both transmits and receives. In this step, not only one of the sensor units 8 of the second vehicle door 3 but also the other sensor unit 8 of the first vehicle door 2 receives an echo 25 and / or a reflected signal and therefore has an active receiving function 31. The transmitting sensor unit 8 in step c1 is again one of the sensor units 8 of the second vehicle door 3, while step d1 is another transmitting step 32 for the sensor device 7 of the first vehicle door 2.

[0048] In step S4, the measurement sequence can be modified to one of two possibilities shown in the lower part of FIG. 3. On the left side, the transmission step 32 of the sensor device 7 of the first vehicle door 2 is treated as a waiting period 33. The time required to perform these steps b2 and d2 is therefore retained as part of the measurement sequence. On the right side, the transmission step 32 of the sensor device 7 of the first vehicle door 2 is completely skipped, and the measurement sequence is reduced to steps a2 and c2. These are the two steps in this example during which the sensor unit 8 of the second vehicle door 3 transmits pulses 24 and / or signals to the surroundings. Other measurement sequences, in particular other steps a1, b2, c1, d2, a2, b2, c2, d2, are also possible.

[0049] In addition to step S4, the sensor device 7 may be completely stopped.

[0050] The control unit 11 may be configured to control the sensor device 7 of the first vehicle door 2 alone, or to control the sensor devices 7 of both vehicle doors 2, 3 on one side of the vehicle 1 together, and / or to control the sensor devices 7 of all vehicle doors 2, 3 together. The control unit 11 may be a central control unit of the vehicle 1. The control unit 11 may perform and / or at least initiate the above-mentioned steps of the method and / or measurement sequence.

[0051] In summary, a silencing sensor device 7 that does not detect the vehicle's own parts has been described. The purpose of installing the sensor device 7 on a moving part of the vehicle 1, such as the vehicle doors 2 and 3, is to detect obstacles in order to open the door to a calculated distance from the obstacle to avoid a collision. This solution consists of silencing the sensor device 7 of the rear door when the rear door, meaning the first vehicle door 2, is opened from a certain angle or more and the front door, meaning the second vehicle door 3, is also opened from a certain angle. For example, if the rear door is opened from 35 degrees or more and the front door is opened from 35 degrees or more, all the sensor devices 8 of the rear door, and therefore of the first vehicle door 2, are silenced. It is also possible to silence only a single sensor unit 8 to blend out specific areas. If the rear door is opened less than 35 degrees, or if the front door is opened less than 35 degrees, or if the rear door is moving toward the closed position 4, the sensor unit 8 of the rear door can actively transmit. It needs to be calibrated to actively transmit or be silent, taking into account the required use case, to ensure that the vehicle doors 2, 3 do not collide with obstacles and that static and dynamic obstacles can still be detected by the vehicle doors 2, 3.

[0052] An alternative is to completely switch off the rear door sensor device 7. Another alternative is to ignore obstacles or objects detected by the rear door while it is open that were not detected when the rear door was in the closed position 4.

Claims

1. A method for operating a sensor device (7) of a first vehicle door (2) of a vehicle (1), comprising: a first vehicle door (2) disposed adjacent to a second vehicle door (3), each of the vehicle doors (2, 3) being movable between a closed position (4) and an open position (5), and the second vehicle door (3) being disposed within a coverage area (10) of the sensor device (7) of the first vehicle door (2) when at least both vehicle doors (2, 3) are in their respective open positions (5), the method comprising: - determining (S1) first opening information (20) representative of a position of the first vehicle door (2) relative to the closed position (4) of the first vehicle door (2); - determining (S2) second opening information (21) representative of the position of the second vehicle door (3) relative to a closed position (4) of the second vehicle door (3); Including, If it is determined (S3) that the first opening degree information (20) is within a first opening degree information range (22) and the second opening degree information (21) is within a second opening degree information range (23), the method inhibits (S4) the sensor device (7) from emitting a pulse (24) and / or a signal to the environment of the first vehicle door (2).

2. 2. The method according to claim 1, wherein each of the opening angle information (20, 21) represents an opening angle of each of the vehicle doors (2, 3).

3. The respective opening angle information ranges (22, 23) depend on the maximum opening angle of the respective vehicle doors (2, 3), 3. The method according to claim 1, wherein the respective opening angle information range (22, 23) is in particular between half the maximum opening angle and the maximum opening angle of the respective vehicle door (2, 3).

4. The sensor device (7) includes a plurality of sensor units (8) arranged at a spatial distance from each other on the first vehicle door (2), 4. The method according to claim 1, wherein, for each sensor unit (8), if it is determined that the first opening information (20) is within a first opening information range (22) specific to the sensor unit and the second opening information (21) is within a second opening information range (23) specific to the sensor unit, the emission of pulses (24) and / or signals by the respective sensor unit is prohibited.

5. 5. The method according to claim 4, wherein the first sensor unit-specific opening information range (22) and / or the second sensor unit-specific opening information range (23) depend on the sensor unit position of the sensor unit (8) at the first vehicle door (2) and / or the distance to at least one other sensor unit (8) at the first vehicle door (2).

6. a measurement sequence for the sensor device (7) of the first vehicle door (2) and the sensor device (7) of the second vehicle door (3) comprising at least one transmitting step (32) for each sensor device (7); During said transmitting step (32), at least one sensor unit (8) of each sensor device (7) transmits a pulse (24) and / or a signal, 6. The method according to claim 4 or 5, wherein during the prohibition of emitting pulses and / or signals, at least one emitting step for the sensor device of the first vehicle door is treated as a waiting period and / or is skipped.

7. 7. The method according to any one of claims 1 to 6, wherein the receiving function (31) of the sensor device (7) remains active while the emission of the pulses (24) and / or signals is inhibited.

8. 8. The method of claim 7, wherein while the emission of the pulses and / or signals is inhibited, the sensor device continues to provide sensor device diagnostic information to a diagnostic system of the vehicle.

9. 9. The method according to claim 1, wherein if it is determined (S6) that the first opening degree information (20) is outside a first opening degree information range (22) and / or that the second opening degree information (21) is outside a second opening degree information range (23) and / or that the first vehicle door (2) is moving towards a closed position (4), the emission of the pulses (24) and / or signals by the sensor device (7) in the environment of the first vehicle door (2) is active (S7).

10. 10. The method according to claim 1, wherein the sensor device (7) determines sensor information (27) representative of an environment of the first vehicle door (2) and provides the sensor information (27) to a control unit (11) of the vehicle (1) (S8).

11. 11. The method according to claim 10, wherein the control unit (11) takes into account the sensor information (27) to provide a vehicle function (12) for the vehicle (1), in particular an automatic door opening function for the first vehicle door (2).

12. 12. The method according to any one of claims 1 to 11, further comprising, in addition to inhibiting the emission of the pulses (24) and / or signals by the sensor device (7), deactivating the sensor device (7).

13. A vehicle (1) comprising a first vehicle door (2) and a second vehicle door (3) having a sensor device (7), the vehicle (1) being configured to perform a method according to any one of claims 1 to 12.

14. A control unit (11) configured to control at least a sensor device (7) of a first vehicle door (2) of a vehicle (1), the control unit (11) being configured to perform a method according to any one of claims 1 to 12.

15. A computer program product comprising instructions that, when executed by a computer, cause the computer to carry out the method of any one of claims 1 to 12.

Images