Method for identifying obstacles within the rotational range of a powered vehicle door.

Abstract

A method for identifying obstacles within the turning range of a powered vehicle door (4) includes the following: a) a step of identifying (S1) a plurality of object features (701-703) that each indicate the location of a hypothetical obstacle (50) around (10) a powered vehicle (1) by distance measurement using a plurality of ultrasonic sensors (13, 14), wherein the location (501) of an obstacle (50) measured by two or more of the ultrasonic sensors (13, 14) is identified by trilateration, and the location (502, 503) of an obstacle (50) measured by only one of the ultrasonic sensors (14) is determined according to the field of view of the ultrasonic sensor (14); and b) a step of blanking (S2) non-trilateration object features (703) that have moved from a first area within a first distance (y1) from the door (4) to a second area between a second distance (y2) and a third distance (y3) from the door (4).

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic technology for motor vehicles, and more particularly to a method for identifying obstacles in the turning area of a door of a motor vehicle by means of a plurality of ultrasonic sensors attached to the motor vehicle.

Summary of the Invention

[0002] In order to monitor the surroundings of a motor vehicle by ultrasonic waves, a plurality of ultrasonic sensors are attached to the motor vehicle. These ultrasonic sensors emit ultrasonic signals into the surroundings of the motor vehicle and receive the ultrasonic signals from the surroundings. Using the signal propagation time from when the ultrasonic signal is emitted until it is received, the distance from the reflection point to a suspected obstacle in the surroundings of the motor vehicle is determined. The determined distance can be represented as a circular shape (when the transmitting ultrasonic sensor and the receiving ultrasonic sensor are the same) or an elliptical shape (when the transmitting ultrasonic sensor and the receiving ultrasonic sensor are different ultrasonic sensors) as a spatial curve of possible reflection points in the surroundings. By identifying the intersection points of the spatial curves, the positions where obstacles are suspected in the surroundings of the motor vehicle can be identified. This process is called "trilateration".

[0003] [[ID=1~4]] ~ The driver or passenger of a motor vehicle can unlock the motor vehicle by activating a remote control incorporated in the vehicle key. As part of keyless entry, when a driver or passenger carrying a key equipped with an RFID transponder approaches the vehicle, the motor vehicle can also unlock itself automatically. To enhance convenience, when the motor vehicle is unlocked, the motor vehicle door can be automatically opened for the driver or passenger. To inform the vehicle which door among the plurality of doors to open, for example, the passenger can touch a door release button attached to the door handle of each door, and then the relevant door will be automatically opened. For convenience, in addition to each door release button, an ultrasonic sensor can also be incorporated into the door handle of each door.

[0004] However, in the application examples described above, a person approaching the door to activate the door release button comes very close to the vehicle, and therefore can only be seen by one ultrasonic sensor or by multiple ultrasonic sensors positioned substantially in the same location along the longitudinal direction of the vehicle. For example, a person standing near the vehicle can only be seen by the ultrasonic sensor on the relevant door handle. At the same time, however, that person is located outside the field of view of ultrasonic sensors at other locations along the longitudinal direction of the vehicle, such as the ultrasonic sensor on the other door handle. Therefore, while it is still possible to determine the distance from that person, their position can no longer be trilaterated.

[0005] In practice, this can lead to a problem where the doors of a powered vehicle do not open, or do not open reliably, after a person touches the door release button and backs up expecting the doors to open automatically.

[0006] Against this backdrop, the invention aims to improve a method for identifying obstacles in the rotating area of ​​a powered vehicle's door using ultrasound.

[0007] According to a first embodiment, a method is proposed for identifying obstacles in the rotating area of ​​a powered vehicle's door using a plurality of ultrasonic sensors attached to the powered vehicle. The method includes: a) identifying a plurality of object features indicating the location of a suspected obstacle around a powered vehicle by distance measurement using a plurality of ultrasonic sensors of the powered vehicle, wherein the location of the obstacle measured by two or more of the plurality of ultrasonic sensors is identified by trilateration using the measured distance and the location of each ultrasonic sensor, and the associated object features are characterized as trilaterated, and the location of the obstacle measured by only one ultrasonic sensor is determined according to the measured distance and the field of view of the associated ultrasonic sensor, and the associated object features are characterized as non-trilateration; and b) concealing a non-trilateration object feature that has moved from a first area within a first distance from the door to a second area between a second distance and a third distance from the door, wherein the first distance is shorter than the second distance and the second distance is shorter than the third distance.

[0008] The proposed solution is based on the understanding that, in the described application example, the door does not open because the position of a person who moves backward and sideways after touching the door release button cannot be trilaterated, and it is incorrectly assumed that the person is still located within the door's pivoting area rather than being located laterally within that measured distance. Furthermore, the proposed solution is based on the idea that, under certain strictly defined conditions related to a person's movement pattern, particularly movement from within a first distance from the door to the area between the second and third distances from the door, it is possible to detect that the obstacle is a person attempting to open the door, and accordingly, it is no longer necessary to consider the object features representing this person as an obstacle and hide them, thereby achieving door opening. In contrast, object features that do not meet the defined conditions are not hidden, and therefore other obstacles can continue to be detected correctly.

[0009] Therefore, the proposed solution is advantageous in that it allows the door to open in response to the activation of the door release button by concealing the object features representing a person, while simultaneously avoiding collisions between the door and any other obstacles.

[0010] The distance measurement in step a) may include: emitting multiple ultrasonic signals around the powered vehicle; receiving multiple ultrasonic signals reflected from around the powered vehicle; and determining the respective distances to the suspected obstacle based on the signal propagation time between the transmission and reception of each ultrasonic signal. The trilateration in step a) may include: determining multiple circular or elliptical spatial curves of possible reflection points around the powered vehicle using the measured distances and the positions of each ultrasonic sensor involved; and identifying the intersection of the determined spatial curves as the location of the obstacle. If trilateration is not possible because the obstacle was measured by only one ultrasonic sensor, determining the location according to the field of view of the ultrasonic sensor in step a) may include: determining a single circular spatial curve of possible reflection points around the powered vehicle using the measured distance as the radius and the position of the ultrasonic sensor as the center point; and identifying the intersection of the determined spatial curve with the sensor axis of the ultrasonic sensor. In this case, the sensor axis is, for example, the line with the maximum radiation intensity in the field of view of the ultrasonic sensor.

[0011] Each object feature can be understood as a data structure containing multiple entries, at least one of which contains the identified location of a suspected obstacle.

[0012] The identified location is, in particular, the two-dimensional location of the suspected obstacle in the projection from above onto the road surface level.

[0013] Unless otherwise stated or suggested by the context, the term “number” always means the number of elements greater than or equal to one, and therefore the number N ≥ 1.

[0014] According to one embodiment, steps a) and b) are performed periodically, and in step b), the object feature is hidden only if at least a predetermined time t1 has elapsed before the appearance of the object feature in the first region, and the object feature has not been identified in at least the first and second regions over a predetermined number of executions of step a).

[0015] Preferably, the condition is that, in the overall search window described later, no object features were identified over a predetermined number of executions of step a).

[0016] Therefore, before the detection process is carried out to determine whether a person has moved toward the door and subsequently moved from the first area to the second area, it is first ensured that there is a static situation in which there are no static obstacles around the powered vehicle or at least in the area under consideration around the powered vehicle, and no other dynamic obstacles such as moving branches or wild animals.

[0017] In this way, object features indicating the movement of a person who actually intends to open a door can be distinguished more effectively from other object features, and object features indicating a person moving laterally can be more accurately concealed.

[0018] According to a further embodiment, step b) is performed on non-trilateration object features in a second region only if non-trilateration object features are identified in a first region beforehand and have a velocity with an absolute value exceeding a predetermined threshold.

[0019] Object features that have a speed exceeding a predetermined threshold are also called dynamic object features.

[0020] By hiding only the object features in the second region that can be assigned to dynamic object features previously detected in the first region through temporal correlation, the probability that the hidden object features are those indicating a person who actually touched the door release button and then moved to the side is increased.

[0021] Therefore, the proposed method can advantageously enhance safety against collisions with other obstacles.

[0022] It should be noted that the velocity of an object feature is determined by comparing the identified object features at the first time point according to process a), the identified object features at the second time point according to process a), and which object features remained in place (velocity zero), and which object features moved over what distance (velocity is equal to the distance moved divided by the interval between time points).

[0023] In a further embodiment, in step b), the object feature is hidden only if less than a predetermined time t2 has elapsed since the object feature left a first region within a first distance.

[0024] Therefore, a favorable temporal correlation is generated between the departure from the first region in front of the door release button and the entry of the object feature into the second region, i.e., the suspected movement of the person moving backward to the side, and only if such a temporal correlation exists is the object feature hidden.

[0025] Therefore, advantageously, it becomes possible to more precisely determine when it is safe to hide object features and when it should not.

[0026] According to a further embodiment, in step b), only object features located within a predetermined search window are processed, and the search window extends in the longitudinal direction of the vehicle from a longitudinal position of the vehicle in front of the position of the door handle of the door of the motor vehicle to a longitudinal position of the rear end of the swivel area of the door, and in the transverse direction of the vehicle, from in front of a first distance from the motor vehicle to a third distance from the motor vehicle.

[0027] By using the search window defined in this way, on the one hand, usually, no other object features are further measured within the search window, so advantageously, it becomes easier to track the movement of the object feature to the first area and its movement from there to the second area, and thus it becomes particularly simple to assign the relevant object features over a plurality of measurement cycles.

[0028] On the other hand, there is also the advantage that object features at other positions outside the search window are more effectively prevented from being misidentified as object features representing a person trying to open the door. Therefore, the accuracy of the proposed method can be further improved.

[0029] According to a further embodiment, the method further includes c) automatically opening the door of the motor vehicle based on the identified and unhidden object features located within the swivel area of the door in response to the actuation of a door release button attached to the door.

[0030] Therefore, the method can also be regarded as a method for automatically opening the door of the motor vehicle in response to the actuation of the door release button.

[0031] According to the above-described feature that when a typical movement pattern of a person attempting to open a door is detected, the object features representing the person are hidden, even if the user activates the door release button and moves sideways, but due to trilateration failure, their positions are still erroneously detected as being in front of the door and blocking the door, here advantageously the door can be opened.

[0032] According to a further embodiment, step c) includes opening the door only when no object features are present in the door's swing area, or, in step c), using the object features located within the door's swing area to determine the maximum opening angle of the door, and the door is opened only up to the determined maximum opening angle, and this is done only when the determined maximum opening angle is greater than a predetermined minimum opening angle.

[0033] Depending on the vehicle model, the predetermined minimum opening angle can be appropriately set so that a human driver or passenger can board from this angle. In particular, tests can be carried out to select the minimum opening angle at which the subject feels comfortable when boarding the vehicle. In an exemplary vehicle model, the minimum opening angle is, for example, 26°, but there is no limitation on the specific value of the minimum opening angle.

[0034] According to a second aspect, a computer program product is proposed, which, when the program is executed by a computer, includes commands for causing the computer to execute the method according to one of the first aspect or its embodiments.

[0035] A computer program product, such as computer program means, can be provided or supplied, for example, as a storage medium such as a memory card, USB stick, CD-ROM, DVD, etc., or in the form of a file downloadable from a server in a network. This can be done, for example, in a wireless communication network by transmitting a corresponding file including the computer program product or computer program means.

[0036] The computer could be, in particular, a vehicle control unit (ECU, Electronic Control Unit).

[0037] According to a third aspect, a control device for a powered vehicle is proposed for identifying obstacles in the rotating area of ​​the powered vehicle's door using a plurality of ultrasonic sensors mounted on the powered vehicle. The control device includes: a) a first unit designed to identify a plurality of object features, each indicating the location of a suspected obstacle around the powered vehicle, by distance measurement using a plurality of ultrasonic sensors on the powered vehicle, wherein the location of the obstacle measured by two or more of the plurality of ultrasonic sensors is identified by trilateration using the measured distance and the location of each ultrasonic sensor, and the associated object feature is characterized as trilaterated, and the location of the obstacle measured by only one ultrasonic sensor is determined according to the measured distance and the field of view of the associated ultrasonic sensor, and the associated object feature is characterized as non-trilateration; b) a second unit designed to conceal non-trilateration object features that have moved from a first area within a first distance from the door to a second area between a second distance and a third distance from the door, wherein the first distance is shorter than the second distance and the second distance is shorter than the third distance.

[0038] Each unit may be implemented in hardware and / or software. In the case of hardware implementation, each unit may take the form of, for example, a computer or microprocessor. In the case of software implementation, each unit may take the form of a computer program product, function, routine, algorithm, part of program code, or executable object. Furthermore, each unit referred to herein may be formed as part of a higher-level control system of a powered vehicle, such as a central electronic control unit and / or an engine control unit (ECU).

[0039] Furthermore, a powered vehicle having a control device according to a third embodiment is proposed.

[0040] The embodiments, advantages, and features described in the proposed method of the first embodiment also apply to the proposed computer program product of the second embodiment, the proposed control device and proposed power vehicle of the third embodiment.

[0041] Further possible implementations of the invention include combinations of features or embodiments described above or below with respect to exemplary embodiments, which are not expressly mentioned. In this case, those skilled in the art may add individual aspects as improvements or additions to each basic form of the invention.

[0042] Further advantageous configurations and aspects of the invention form the subject matter of the dependent claims and the exemplary embodiments of the invention described below. The invention is described below in more detail with reference to the accompanying drawings, based on preferred exemplary embodiments. [Brief explanation of the drawing]

[0043] [Figure 1] Figure 1 shows a powered vehicle equipped with multiple ultrasonic sensors and a control device according to an exemplary embodiment. [Figure 2] Figure 2 shows the trilateration of point-like object features. [Figure 3] Figure 3 shows a situation where trilateration is not possible. [Figure 4] Figure 4 shows the steps of a method for identifying an obstacle in the door rotation area of ​​the powered vehicle of Figure 1, according to a first exemplary embodiment. [Figure 5] Figure 5 shows a method according to a first exemplary embodiment, based on a plan view of the side periphery of a powered vehicle. [Figure 6] Figure 6 shows a method according to a second exemplary embodiment, based on a plan view of the side periphery of a powered vehicle. [Figure 7]Figure 7 shows details of the process for concealing object features according to a third exemplary embodiment. [Modes for carrying out the invention]

[0044] Elements that are identical or functionally identical are indicated by the same reference numeral in the figures unless otherwise specified. In the figures, arrows indicated by "F" indicate the longitudinal direction of the vehicle, and such arrows point forward.

[0045] Figure 1 shows a powered vehicle 1 equipped with a plurality of ultrasonic sensors 11 to 14 and a control device 2 according to an exemplary embodiment.

[0046] In the illustrated exemplary embodiment, the powered vehicle 1 has a front door 3 and a rear door 4. An ultrasonic sensor 13 is attached to the door handle 31 of the front door 3, and an ultrasonic sensor 14 is attached to the door handle 41 of the second door. Optionally, additional ultrasonic sensors may be attached, such as an ultrasonic sensor 12 attached to the side sill 5 of the powered vehicle 1, or an ultrasonic sensor 11 attached to the front bumper 6 of the powered vehicle 1. Furthermore, door release buttons 32 and 42 are attached to the respective door handles 31 and 41.

[0047] When a driver or occupant of a powered vehicle 1 approaches the powered vehicle 1 with the intention of boarding, they touch one of the door release buttons 32 or 42 to give a command to open one of the doors 3 or 4. This command is received by a third unit 23 of the control device 2, which then controls the automatic opening of the associated door 3 or 4.

[0048] In this case, it is desirable to avoid collisions between the automatically opening doors 3 and 4 and the driver or occupants, or other obstacles around the side of the powered vehicle 1. Therefore, the first unit 21 of the control device 2 uses ultrasonic sensors 101 to 106 to monitor the side of the powered vehicle 1 (Figure 2) and identify the object features of suspicious obstacles around the powered vehicle 1. The second unit 22 performs post-processing of the object features identified by the first unit 21, which will be described in more detail later. The third unit 23 controls the automatic opening of the relevant doors 3 and 4 based on the identified object features.

[0049] Below, several measurement principles for monitoring the surroundings of the powered vehicle 1 using ultrasound by the first unit 21 of the control device 2 will be described with reference to Figures 2 and 3. These measurement principles are compatible with all exemplary embodiments further outlined below.

[0050] Figure 2 shows a schematic plan view of the powered vehicle 1 and its lateral perimeter 10, illustrating the trilateration of point-like object features 71. Point-like obstacles 51, such as pillars, tree trunks, or people, are located around the powered vehicle 1 10. At this stage, it should be noted that "point-like" here and throughout this description does not include only points in a strict mathematical sense, but also substantially includes point-like objects and object features that mathematically represent circles with a radius small compared to the dimensions of the powered vehicle 1.

[0051] The first ultrasonic sensor 11 transmits an ultrasonic signal around the powered vehicle 1 10, but does not receive an echo because, at least in the configuration shown in Figure 2, a single obstacle 51 is located outside the field of view of the first ultrasonic sensor 11. The second ultrasonic sensor 12 emits an ultrasonic signal around the powered vehicle 1 10. The ultrasonic signal is reflected at a reflection point in the obstacle 51 and returns to the ultrasonic sensor 12. Based on the propagation time difference between the transmission and reception of the ultrasonic signal, the distance from the reflection point to the ultrasonic sensor 12 is detected. Thus, it is determined that possible reflection points lie on a circular spatial curve 62 (only partially shown in Figure 2) with the center point at the position of the ultrasonic sensor 12. Similarly, ultrasonic sensors 13 and 14 transmit and receive ultrasonic signals, respectively, and further circular spatial curves 63 and 64 of possible reflection points are identified. Furthermore, it is also conceivable that one of the ultrasonic sensors 11, 12, and 13 transmits an ultrasonic signal and another of the ultrasonic sensors 11, 12, and 13 receives the reflected ultrasonic signal. In this case as well, the spatial curve of possible reflection points can be identified, and the spatial curve is represented as an ellipse with the involved ultrasonic sensors 12, 13 and / or 14 at its foci.

[0052] As shown in Figure 2, the spatial curves 62, 63, and 64 intersect approximately at one point. Therefore, the first unit 21 (Figure 1) generates a point-like object feature 71 indicating the location of the intersection of the spatial curves 62, 63, and 64. This location can be approximately identified, for example, using the Gauss-Newton method. As shown in Figure 2, the object feature 71 is located in front of the obstacle 51 in the direction of the powered vehicle 1, although this is not important in all practical applications and provides a small additional safety margin. Furthermore, the object feature 71 is characterized as a trilaterated object feature.

[0053] For example, this can be done by setting a flag to "true" that indicates that object feature 71 has been successfully trilaterated. Alternatively, the defocus amount, which can also be included in the object feature, can be set to a low value, such as the mean squared error obtained from the Gauss-Newton method, in which case the value of the defocus amount indicates that the object feature is a trilaterated object feature.

[0054] Figure 3 shows a schematic plan view of the powered vehicle 1 and its lateral surroundings 10, illustrating a situation where trilateration is impossible.

[0055] In Figure 3, a point-like obstacle 52 is located very close to the powered vehicle 1. The point-like obstacle 52 is detected only by the ultrasonic sensor 14, but it is not located within the field of view of the ultrasonic sensors 11, 12, and 13; that is, it is located outside the signal lobes emitted by the ultrasonic sensors 11, 12, and 13. Therefore, in the measurement, only a single distance from the reflection point to the ultrasonic sensor 12 is determined, and only a single circular spatial curve 54 is obtained. Thus, the exact location of the obstacle 52 cannot be identified. Instead, the location of the object feature 72 generated in this case is selected, for example, at the intersection of the spatial curve 54 and the sensor axis of the ultrasonic sensor 14. The object feature 72 thus obtained is characterized as a non-trilateration object feature. Correspondingly, this characterization can be done, for example, by setting a flag to "false" or by setting the defocus amount to a large value. For example, the defocus amount can be set to the full width of the signal lobe emitted by the ultrasonic sensor 102 at the measured distance.

[0056] The method for determining the positions of identified object features 71 and 72 was described, either by trilating multiple measurements from multiple ultrasonic sensors 11 to 14, or by selecting them according to the field of view, such as the sensor axis (central axis of the field of view) of a single ultrasonic sensor 14.

[0057] Furthermore, it is also conceivable to determine the velocity of suspicious obstacles (51, 52) and store it in object features 71, 72. For this purpose, as mentioned above, monitoring is performed at a first time point t1 and a second time point t2, and the positions of the object features 71, 72 identified at these two time points t1 and t2 are compared. In this case, an ontology-based prediction method can also be used, in which a prediction of the position at the second time point t2 is determined based on the position determined by the measurement at the first time point t1, and this prediction is compared with the position actually determined at the second time point t2 in order to achieve an assignment between the object features 71, 72 identified at the first time point t1 and the object features 71, 72 identified at the second time point t2. Subsequently, a velocity vector, as a velocity representation, is attached to the object features 71 and 72 identified at the second time point t2, and this velocity vector describes the movement from the object features 71 and 72 identified at the first time point t1 to the associated object features 71 and 72 identified at the second time point t2. If the velocity representation, i.e., the absolute value of the velocity vector, is greater than a predetermined threshold, the associated object features 71 and 72 can be characterized as dynamic. If it is less than or equal to the predetermined threshold, the associated object features 71 and 72 can be characterized as static. This characterization can be further performed via a flag or via the value of the velocity representation.

[0058] Figure 4 shows the steps of a method for identifying an obstacle in the door rotation area of ​​the powered vehicle 1 of Figure 1 according to a first exemplary embodiment, and Figure 5 shows the method according to the first exemplary embodiment based on a plan view of the side circumference 10 of the powered vehicle 1. The first exemplary embodiment will be described with reference to Figures 1, 4 and 5.

[0059] Figure 5 shows the left side of the powered vehicle 1, which is equipped with door handles 41, 31 and door release buttons 42, 32 attached thereto, as well as ultrasonic sensors 14, 13 attached thereto. The following description will focus on the rear door 4, which has a turning area 40 that is rotatable around a turning point 44 and is required to be free of obstacles so that the door 4 can be opened automatically. Furthermore, it is shown how a person 50 approaches the powered vehicle 1 from a first position 501, reaches a second position 502 where they activate the door release button 42 on the door handle 41, and then moves rearward and laterally to a third position 503, expecting the door 4 to be opened automatically. It should be noted that positions 502 and 503 are located very close to the vehicle, and therefore the person 50 at positions 502 and 503 cannot be trilaterated. This is because the person 60 at positions 502 and 503 is located only within the field of view of the ultrasonic sensor 14 attached to the door handle 41, but outside the field of view of the nearest ultrasonic sensor 13 in the longitudinal direction of the vehicle.

[0060] In step S1, the first unit 21 of the control device 2 monitors the lateral surroundings 10 of the powered vehicle using ultrasonic sensors 11-14, in accordance with the measurement principle described above, particularly based on Figures 2 and 3, and generates a plurality of object features 701-703 indicating the location of suspicious obstacles 50 in the surroundings 10 at the time of measurement. Each generated object feature 701-703 is assigned a predetermined retention period, and during this predetermined retention period, the object features 701-703 are retained and therefore considered in the subsequent steps S2 and S3 before being discarded. To update the number of retained object features 701-703, the measurement is repeated at predetermined intervals, thereby continuously monitoring the surroundings 10 of the powered vehicle 1. In this case, the retention period for each object feature 701-703 may also be selected to be longer than a single measurement cycle in order to reduce "flickering" of the object features 701-703.

[0061] In step S2, the second unit 22 of the control device 2 checks whether the non-trilater object feature 702 has moved from a first area within a first distance y1 from the door 4 to a second area between a second distance y2 and a third distance y3 in front of the door. In Figure 5, this is applicable: while the door release button 42 is activated, the person 50 is at position 502, and the associated object feature 702 is located within a distance y1 from the door 4. After the door release button 42 is activated, the person 50 moves laterally, but their new position 503 may not be properly trilaterized, similar to position 502, and therefore the associated object feature 703 is located on the sensor axis of the ultrasonic sensor 14 in the second area between distances y2 and y3 from the door 4. Based on this movement pattern, the second unit 22 detects a typical movement pattern of the person 50 who has moved laterally after the door release button 42 was activated and who wants the door 4 to be automatically opened. Therefore, the second unit 22 hides the object feature 703 that was mistakenly placed within the rotating area 40 of the door 4 due to the failure of the trilateration, thereby preventing it from being taken into consideration in the subsequent process S3.

[0062] In step S3, in response to the operation of the door release button 42, the third unit 23 of the control device 21 determines whether one or more of the object features 701 to 703 identified in step S1 and not hidden in step S2 are located in the pivot region 40 of the door 4 to be opened. Subsequently, the third unit 31 automatically opens the door 4 based on the object features 701 to 703 identified as being located in the relevant pivot region 40.

[0063] For example, in this case, the third unit 23 opens the door 4 only if or only if object features 701-703 are no longer located in the turning region 40. Alternatively, the third unit 31 can determine the maximum possible opening angle α that allows the door 4 to be opened without contacting any of the object features 703, and the door 4 can only be opened up to the determined maximum possible opening angle α. In this case, it is preferably considered that it is possible to easily board the powered vehicle 1 only from a minimum opening angle α0 of approximately 26°, and for example, the door 4 can be automatically opened only if the determined maximum possible opening angle α is at least greater than or equal to the minimum opening angle α0.

[0064] The maximum possible opening angle α shown in Figure 5 is approximately 16°. Therefore, if the object feature 703 is located among the object features identified in step S1, even though the person 50 is actually moving laterally to a position 503 outside the pivot area 40 of the door 4, the third unit 23 cannot open the door 4. However, since the misplaced object feature 703 is hidden in step S2 as proposed, and the retention period of the previously identified object feature 702 has already expired, there is nothing to prevent the opening of the door 4, and the door 4 can advantageously open automatically and normally.

[0065] Those skilled in the art should note that a first distance y1 and second and third distances y2 can be easily and appropriately selected as part of a normal test using a specific vehicle prototype and a series of test subjects, in which the test subjects are instructed to move laterally by activating the door release button 42 while the identified object features 701-703 are observed, thereby ensuring that the test subject's movement pattern is recorded and can be distinguished from other typical movements around the side of the powered vehicle 1 10.

[0066] Figure 6 shows a method according to a second exemplary embodiment, based on a plan view of the side circumference 10 of the powered vehicle 1.

[0067] A second exemplary embodiment is based on the first exemplary embodiment. According to the second exemplary embodiment, a search window 8 is defined around the side of the powered vehicle 1 10. The search window 8 extends in the longitudinal direction of the vehicle from a point in front of the ultrasonic sensor 14 to a point behind the rear end of the swing area 40 of the door 4 in the longitudinal direction of the vehicle, and extends in the lateral direction of the vehicle from a point within a first distance y1 from the door 4, or at least from the door, to at least a third distance y3, or to the outer end of the swing area 40 in the lateral direction of the vehicle. In other words, the search window 8 includes a first region within distance y1 and a second region between a second distance y2 and a third distance y3, but these regions are limited to a predetermined portion in the longitudinal direction of the vehicle around the door release button 42.

[0068] According to a second exemplary embodiment, in step S2, when determining whether an object feature 702 has moved from a first region within a first distance y1 to a second region between a second distance y2 and a third distance y3, only those object features 702 located within the search window 8 are considered.

[0069] This is advantageous in that it more precisely limits the detection of movement patterns that trigger the concealment of object features 730 to the area around the door release button 42, and similar movements occurring at other locations around the side of the powered vehicle 10 do not cause false concealment of object features that may be relevant to collision avoidance.

[0070] Figure 7 shows sequence details of step S2 for concealing object feature 703 according to a third exemplary embodiment. The third exemplary embodiment is based on the second exemplary embodiment and similarly uses the search window 8. The third exemplary embodiment will be described below with reference to Figures 1, 4, 6 and 7.

[0071] According to a third exemplary embodiment, steps S1, S2, and S3 are performed in parallel with each other and periodically in each case.

[0072] A third exemplary embodiment, in particular, depicts an advantageous configuration of the sequence of step S2 (Figure 4), which allows for more precise narrowing of the movement pattern of person 50 in order to further reduce the risk of false concealment of object features that should not be assigned to person 50 and collisions when opening the associated door 4, and on the other hand, it is advantageous to monitor person 50 particularly easily with low computational load in a simple, sequential, and periodic sequence or loop. The steps described below are sub-steps of the sequence of execution of step S2, which are shown in more detail in Figure 7.

[0073] The sequence in Figure 7 begins at process S201. All timers and counters described below (in particular timers T1 and T2, and verification counter C, described later) are set to zero or reset, and the sequence proceeds to process S202.

[0074] In step S202, the next measurement in step S1 is awaited. That is, the updates of the held object features 701, 702, and 703 are awaited. Then, it is checked whether the first timer T1 has already exceeded a predetermined value t1, that is, whether T1 > t1 or whether a predetermined time t1 has elapsed. If not (N in S202), the sequence branches to step S203; if positive (Y in S202), the sequence branches to step S207.

[0075] In step S203, it is checked whether any object feature 8 is located in the search window 8. If not (N in S203), the sequence branches to step S204; if affirmative (Y in S203), the sequence branches to step S205.

[0076] In step S204, no object features are located in the search window 8. Therefore, the verification counter C is incremented (increased by 1). The verification counter C indicates how many cycles have passed in which the search window 8 was in a predetermined state of not containing any object features. A cycle can be understood as the cycle of steps S202, S203, S204 and / or the cycle of steps S202, S207 (described later), S203, S204. A cycle can also be understood as the measurement cycle of step S1, because in each step S202, the updates of object features 701, 702, and 703 are first awaited. After the verification counter C is incremented, the loop continues to step S202.

[0077] In contrast, if object features 701 and 703 are found within the search window 8 in process S203, the sequence does not branch to process S204, but rather to process S205. In process S205, since the sequence of valid cycles without object features is interrupted, the verification counter C is set to zero again. The sequence then proceeds to process S206.

[0078] In step S206, the object features 702 and 703 identified in the search window 8 are passed to the sequence of step S3, which is executed in parallel with step S2. In other words, the object features 702 and 703 identified in the search window 8 are not hidden, even if they otherwise meet all the criteria for hiding. This is because, since the start of the sequence shown in Figure 7, the search window 8 has not been in a valid, defined state without object features for a sufficiently long time. Therefore, if the object features 702 and 703 identified in the search window 8 are located in the rotation area 40 of the door 4, the door 4 cannot be opened by step S3 at this point. The sequence then returns to step S202.

[0079] If it is confirmed that a predetermined time t1 has elapsed in process S202 (T1 > t1, i.e., Y in S202), the sequence branches to process S207.

[0080] In step S207, it is checked whether the verification counter C has reached a predetermined value c, i.e., whether C > c. If not (N in S207), the sequence branches back to step S203. If affirmative (Y in S207), the sequence branches to step S208.

[0081] Steps S202, S203, S204, S205, S206, and S207 form a hysteresis loop, which ensures that the sequence proceeds to step S208 and the concealment of object features 703 in the manner described below is considered only if, on the one hand, at least a predetermined time t1 has elapsed since the start of the sequence in Figure 2, and on the other hand, no predetermined number of measurement cycles c have been confirmed for any object feature in the search window 8. This hysteresis loop ensures that the search window 8 is in a valid, defined state free from any other obstacles before a person 50 appears attempting to activate the door release button 42.

[0082] In step S208, the second unit 22 of the control device 2 checks whether the non-trilateration object features 702 and 703 are located in the search window 8. If not (N in S208), the sequence returns to step S202. From there, since T1>t1 and C>c are still true, the sequence jumps back to step S208, and this loop is executed until the non-trilateration object features 702 and 703 are located in the search window 8. In this case (Y in S208), the sequence proceeds to step S209.

[0083] In step S209, it is checked whether a dynamic object feature 702 is located in the search window 8. A dynamic object feature 702 is an object feature whose absolute velocity value currently exceeds a predetermined threshold, or which has had a velocity exceeding the predetermined threshold at least once within a predetermined time interval prior to the current moment. In other words, a dynamic object feature 702 is an object feature that is moving or an object feature that is known to have recently moved (so-called hysteresis). If the answer is no (N in S209), i.e., no dynamic object features exist in the search window 8, the sequence branches to step S206, meaning that at this stage, non-dynamic object features 702 located in the search window 8 are not hidden, and the loop continues through steps S206, S202, S207, and S208. However, if a non-trilateration and dynamic object feature 702 is detected in the search window 8 (Y in S209), the sequence proceeds to step S210.

[0084] It should be noted that, at position 502 of person 50 shown in Figure 6, even if person 50 is temporarily remaining in front of the door release button 42 while it is being activated, the associated object feature 702 is dynamic because the person has previously moved from position 501 to position 502 in the first region.

[0085] In step S210, it is checked whether the dynamic and non-trilateration object feature 702 is located within a first distance y1 from the door 4. If affirmative (Y in S210), this is an indicator that a person is touching the door release button 42. In this case, the sequence proceeds to step S213.

[0086] In step S213, the second timer T2 is set to zero. The second timer T2 is used to measure how much time has passed since the person 50 left position 502 within a first distance y1 from door 4 again. The sequence then proceeds to step S206. That is, at this stage the object feature 702 is still not hidden, and the loop continues through steps S206, S202, S207, S208, S209 and S210 until the person 50 moves out of the first area within distance y1.

[0087] Subsequently, in step S210, if it is confirmed that the dynamic and non-trilateration object feature 702 is no longer located within a first distance y1 from door 4 (N in S210), the sequence branches to step S211.

[0088] In step S211, it is checked whether the second timer T2 is greater than a predetermined value t2, or whether T2 > t2. If affirmative (Y in S211), more than the predetermined time t2 has already elapsed since person 50 moved away from the door release button 42. The sequence branches to step S206, meaning the object feature 702 is still not hidden and the loop continues. In a modified version, the sequence can also be terminated at this stage and restarted from step S201.

[0089] However, if it is confirmed in step S211 that the predetermined time t2 has not yet elapsed (N in S211), the sequence proceeds to step S212.

[0090] In step S212, it is checked whether the non-trilateration object feature 703 is currently located in a second region between distances y2 and y3 from the door within the search window 8. At this stage, it is not required that the object feature 703 be a dynamic object feature 703, because the person 50 can remain relatively still at position 503, expecting the door 4 to open automatically.

[0091] If no non-trilateration object feature 703 is found in the second region (N in S212), the sequence branches to process S206, meaning that any non-trilateration object features present elsewhere are considered in process S3 and are not hidden, and the loop continues through processes S206, S202, S207, S208, S209, S210, and S211.

[0092] However, if it is confirmed in step S212 that a non-trilateration object feature 703 is located in the second region (Y in S212), the sequence branches to step S214.

[0093] In this case, the sequence assumes that, based on the situation described above with reference to Figures 3 and 5, the non-trilateralized object feature 703 is incorrectly located within the search window 8 or within the rotating area 40 of the door 4, and that the person 50 is actually moving outside the rotating area 40 of the door. For this reason, the non-trilateralized object feature 703 is hidden in step S214.

[0094] Subsequently, the loop continues through processes S202 to S211 until a predetermined time t2 has elapsed in process S211. From this point onward, the non-trilateration object features 703 are no longer hidden.

[0095] Step S3 is performed in parallel with or independently of step S2 and the sequence shown in Figure 7, according to a third exemplary embodiment. Step S3 may be performed when person 50 activates the door release button 42. The third unit 23 then checks whether the unhidden object features 701, 702, and 703 are present in the search window 8, more specifically in the door's pivot region 40. If affirmative, the third unit 23 waits until timer T2 expires. If object feature 703 is hidden within this time, and thereafter no other object features 701, 702 are located in the door's pivot region 40, the third unit 23 automatically opens the door 4. In contrast, if at least one unhidden object feature 703 still exists in the pivoting region 40 of the door 4 when timer T2 expires, the third unit 23 either does not open the door 4, or determines the maximum opening angle α to which the door 4 can be opened without contacting any of the unhidden object features 703 in the pivoting region 40, and opens the door 4 only up to that opening angle α, but only if the determined opening angle α exceeds a minimum value of, for example, 26°.

[0096] After door 4 is closed again, and / or after timer T2 expires without door 4 being opened, the third unit 23 resets at least timer T2 and verification counter c of the second unit 22, and / or completely restarts the sequence in Figure 7 from step S201.

[0097] Accordingly, according to the third exemplary embodiment, a technique is described that can more accurately record the movement patterns of person 50 in a simple, continuously executable loop. According to the third exemplary embodiment, an object feature 703 that is misplaced in the turning area 40 of door 4 is hidden only if the following conditions are met: Condition 1: A predetermined time t1 must have elapsed before the object feature 702 first appears in the first region within a distance y1 from the door, and the search window 8 must be in a state where no object feature exists over a predetermined number of executions of loop S202 to S207 or a predetermined number of ultrasonic measurements.

[0098] Condition 2: Object feature 702 was detected as a dynamic and non-trilateration object feature 702 during its passage through its first region and was located within the search window 8.

[0099] Condition 3: Less than a predetermined time t2 has elapsed since object feature 702 left a first region within a first distance.

[0100] Condition 4: The object feature 703 to be hidden is not trilaterated and is located within the second region between a second distance y2 and a third distance y3 in front of the door, and within the search window 8.

[0101] Therefore, advantageously, it becomes possible to detect, with particular accuracy, the typical movement pattern of a person 50 attempting to open door 4, and only when this movement pattern is present will the misplaced object feature 703 in the turning area 40 be hidden. In contrast, other types of movement patterns do not cause the object feature 703 to be hidden. Thus, an optimal balance is created between the requirement of protection from collisions when door 4 is automatically opened and the requirement to open door 4 quickly and accurately in the obstacle-free turning area 40.

[0102] The exemplary embodiments described are particularly advantageous when, for example, the manufacturer's specification specifies that ultrasonic sensors 13, 14 are mounted only on door handles 31, 41, or when no ultrasonic sensors are mounted on the side sill 5, or when ultrasonic sensors are mounted on the side sill 5 at substantially the same location as the ultrasonic sensors 13, 14 on the door handles 31, 41 in the longitudinal direction of the vehicle. In any case, it is expected that more object features that cannot be trilaterated will occur, and these object features can be concealed according to the teachings of the exemplary embodiments described.

[0103] The present invention has been described based on exemplary embodiments, which are modifiable in various ways.

[0104] The hysteresis loop consisting of steps S202-S207 described in the third exemplary embodiment is optional and can be omitted; that is, the sequence can jump directly to step S208 after steps S201, S206, or S214 in each case.

[0105] Automatic opening of the left rear door 4 of the powered vehicle 1 was described. However, the described teaching is equally applicable to the automatic opening of the right rear door and / or the left or right front door 3 of the powered vehicle 1, providing similar advantages, especially when no additional ultrasonic sensors are mounted on the side sill 5 of the powered vehicle 1. Furthermore, the described teaching could also be applied, for example, to the tailgate of the powered vehicle, when an ultrasonic sensor is mounted on only one handle of the tailgate. It could also be applied to powered vehicles having only one door on each side or more than two doors on each side.

[0106] Exemplary embodiments have been described based on point-like object features 71, 72, 701-703. However, the described teachings are also applicable to object features of different shapes, such as linear object features, as long as they consist of individual measurements that are not trilaterable.

[0107] The positions of the ultrasonic sensors 11, 12, 13, and 14 in Figure 1 are purely illustrative. In particular, the positions of ultrasonic sensors 11 and 12 are entirely arbitrary. The ultrasonic sensors 13 and 14 do not necessarily have to be mounted on the door handles 31 and 41; the described advantages of this method are achieved even if the ultrasonic sensors 13 and 14 are mounted at different locations on each door, or not on the door, but for example, on the side sill 5 in the area of ​​each door. To achieve the technical advantages of the proposed method, it is necessary that the ultrasonic sensor 14 is positioned so that it sees a person 50 operating the door release button 42 (the person 50 is located within the signal lobe emitted by the ultrasonic sensor 14), while one or more additional ultrasonic sensors 13, sufficiently spaced from the ultrasonic sensor 14 in the longitudinal direction of the vehicle for trilateration, do not see the person 50 if the person 50 is standing directly in front of the door release button 42.

[0108] Therefore, the proposed method is particularly advantageous when only one ultrasonic sensor 13, 14 is installed in the area of ​​each door 3, 4 on one side of the powered vehicle 1, for example, when the ultrasonic sensors 13, 14 are installed only on the door handles 31, 41, and no further ultrasonic sensors are installed elsewhere to monitor the lateral surroundings 10 of the powered vehicle 1. Even when such strict manufacturer specifications exist, the proposed method can be used to ensure that the door 4 is opened after a person 50 activates the door release button 42.

[0109] However, this is not a mandatory limitation, and the method also offers advantages even when multiple ultrasonic sensors 13, 12 are mounted in the area of ​​door 3 but are only a small distance apart from each other in the longitudinal direction of the vehicle. In such cases as well, the trilateration of object features 702 of a person 50 located near door 3 may fail in some cases; therefore, the proposed method can also be applied to our advantage. [Explanation of Symbols]

[0110] List of reference codes 1. Powered vehicle 2 Control device 21-23 Control Unit 3 Front Doors 4 Rear Doors 5 Side sill 6. Front bumper 8. Search Window 10 Side view of the powered vehicle 11-14 Ultrasonic Sensors 31 Door handle 32 Door release button 41 Door handle 42 Door release button 44. Turning point of the front door 50 Obstacles, people 51, 52 Obstacles 62-64 Spatial curves of possible reflection points 71, 72 Object Features 501 First position 502 Second position 503 Third position 701 Object Features 702, 703 Non-trilateration object features S1~S3 Method steps S201~S213 Loop process to implement method process S2 y1~y3 Distance in the lateral direction of the vehicle

Claims

1. A method for identifying an obstacle (50) in the turning area (40) of the door (4) of a powered vehicle (1) using a plurality of ultrasonic sensors (13, 14) attached to the powered vehicle (1), a) Distance measurement using multiple ultrasonic sensors (13, 14) of the powered vehicle (1) identifies multiple object features (701-703) that each indicate the location of a suspected obstacle (50) around the powered vehicle (1) (10) (S1), the location (501) of the obstacle (50) measured by two or more of the ultrasonic sensors (13, 14) is identified by trilateration using the measured distance and the location of each ultrasonic sensor (13, 14), and the associated object feature (701) is characterized as trilaterated, the location (502, 503) of the obstacle (50) measured by only one of the ultrasonic sensors (14) is determined according to the measured distance and the field of view of the associated ultrasonic sensor (14), and the associated object features (702, 703) are characterized as non-trilaterated, b) The first distance (y) from the door (4) １ From the first area within ), the second distance (y) from the door (4) ２ ) and the third distance (y ３ The non-trilateration object features (703) that have moved to a second region between (S2) and the first distance (y １ ) is the second distance (y ２ Shorter than the second distance (y ２ ) is the third distance (y ３ ) Shorter process and A method that includes this.

2. Steps a) and b) are performed periodically, and in step b), a predetermined time (t) is set before the appearance of the object feature (702) in the first region. １ The object feature (703) is hidden only if the steps a) have elapsed and the object feature has not been identified in at least the first region and the second region over a predetermined number of executions of step a). The method according to claim 1, characterized in that

3. Step b) is performed only if the non-trilateration object features (702) in the first region have been verified in advance for the non-trilateration object features (703) in the second region, and the object features have a speed at which the absolute value exceeds a predetermined threshold. The method according to 1 or 2, characterized by the above.

4. In step b), the object feature (703) is hidden only if less than a predetermined time has elapsed since the object feature (702) left the first area within the first distance (y １ ) The method according to one of claims 1 to 3, characterized by the features described above.

5. In step b), a predetermined search window (8) extending in the longitudinal direction of the vehicle is provided, from the forward position in the longitudinal direction of the vehicle of the position of the door handle (41) of the door (4) of the powered vehicle (1) to the rear end position in the longitudinal direction of the vehicle of the pivoting area (40) of the door (4), wherein in the lateral direction of the vehicle, the search window (8) is provided, and the search window (8) is provided, from the powered vehicle (1) at the first distance (y １ From the front of the powered vehicle, at least the third distance (y ３ Only object features (702, 703) located within a predetermined search window (8) extending to ) are processed. The method according to one of claims 1 to 4.

6. c) In response to the operation of a door release button (42) attached to the door (4), the process of automatically opening the door (4) of the powered vehicle (1) (S3) based on identified and unobstructed object features (702, 703) located within the rotating area (40) of the door (4). The method according to one of claims 1 to 5, further comprising:

7. Step c) includes opening the door (4) only if no object features are located in the pivot region (40) of the door (4), or In step c), the maximum opening angle (α) of the door (4) is determined using the object features (703) located within the pivot region (40) of the door (4), and the door (4) is opened only to the determined maximum opening angle (α), which is done only if the determined maximum opening angle (α) is greater than a predetermined minimum opening angle. The method according to feature 6.

8. A computer program product comprising, when the program is executed by a computer (2), an instruction causing the computer to execute the method described in one of claims 1 to 7.

9. A control device (2) for a powered vehicle (1) for identifying obstacles (50) in the turning area (40) of the door (4) of the powered vehicle (1) using a plurality of ultrasonic sensors (13, 14) attached to the powered vehicle (1), a) A first unit (21) provided to identify a plurality of object features (701-703) indicating the location of a suspected obstacle (50) in the vicinity (10) of the powered vehicle (1) by distance measurement using a plurality of ultrasonic sensors (13, 14) of the powered vehicle (1), wherein the location (501) of the obstacle (50) measured by two or more of the ultrasonic sensors (13, 14) is identified by trilateration using the respective measured distances and the locations of the respective ultrasonic sensors (13, 14), and the associated object features (701) are characterized as trilaterated, and the location (502, 530) of the obstacle (50) measured by only one of the ultrasonic sensors (13, 14) is determined according to the measured distance and the field of view of the associated ultrasonic sensor (14), and the associated object features (702, 703) are characterized as non-trilaterated, b) The first distance (y) from the door (4) １ From the area within ), the second distance (y) from the door ２ ) and the third distance (y ３ A second unit (22) is provided to conceal the non-trilateration object feature (703) that has moved to the region between the first distance (y １ ) is the second distance (y ２ Shorter than the second distance (y ２ ) is the third distance (y ３ A second unit (22) that is shorter than ), A control device (2) for a powered vehicle (1) equipped with the following.

10. A powered vehicle (1) having the control device (2) according to claim 9.

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