Method for determining a position of a sliding side door of a motor vehicle using a sensor unit of an environment sensor system of the motor vehicle

Abstract

The invention relates to a method (M1) for determining a position of a sliding side door (2) of a motor vehicle (1) using a sensor unit (3) of an environment sensor system (4) of the motor vehicle (1). The invention also relates to a method (M2) for controlling an automatic sliding side door (2), to an environment sensor system (4), to a door control system (10), and to a motor vehicle (1).

Description

[0001] Method for determining a position of a side sliding door of a motor vehicle using a sensor unit of an environmental sensor system of the motor vehicle

[0002] The invention relates to a method for determining a position of a side sliding door of a motor vehicle, a method for controlling the side sliding door, an environment sensor system, a door control system and motor vehicle.

[0003] Knowing the position of a motor vehicle's side sliding door is crucial for a wide variety of vehicle-related aspects. For example, this position can be used to control an automatically operating side sliding door. On the other hand, knowing the position can be relevant for road safety, especially when the side sliding door is open.

[0004] The end position of the side sliding door's open position can be determined, for example, using a dedicated end stop sensor, which can be installed in the vehicle body. Such an end stop sensor can be used to determine, in particular, the end position of the side sliding door.

[0005] Furthermore, environmental sensor systems for motor vehicles are known, which can be used to map the external environment of the vehicle. For example, sensors from an environmental sensor system can be used for parking assistance systems, which can assist a parking maneuver or at least perform it semi-autonomously. Lateral sensors of the environmental sensor system can be used, for example, to measure parking spaces.

[0006] DE 10 2011 116 356 A1 describes a warning device for a side sliding door of a vehicle. To prevent damage to the sliding door, the warning device comprises a first sensor system with which the distance between the rear end of the vehicle and a first object located in front of the rear end can be determined. For this purpose, an environment monitoring system or a distance detection system of a parking assistant can be used, for example. A warning is generated if a collision with the first object would occur when the sliding door is moved beyond the rear end of the vehicle.

[0007] In EP 1 743 999 A2, a sliding door of a vehicle has separate ultrasonic sensors on the sides and at the rear to prevent a collision of the sliding door with an object in the trajectory of the sliding door.

[0008] The invention is based on the object of determining a position of a side sliding door of a motor vehicle more effectively.

[0009] The problem is solved by the subject matter of the independent patent claims. Advantageous developments of the invention are described by the dependent patent claims, the following description, and the figures.

[0010] A first aspect of the invention provides a method for determining a position of a side sliding door of a motor vehicle, hereinafter also referred to as a determination method, wherein a sensor unit of an environment sensor system of the motor vehicle is used for this determination.

[0011] The essential inventive idea lies in particular in the use of at least one sensor unit of the environment sensor system for determining the position of the side sliding door. In the method, the position of the side sliding door is determined taking into account information from the sensor unit of the environment sensor system. This can be particularly advantageous if the environment sensor system with the sensor unit is already present for the motor vehicle. Consequently, a sensor system specifically provided for the sliding door to determine the position can be dispensed with, thereby saving costs and reducing the complexity of the motor vehicle. Furthermore, the maintenance effort and, if applicable, the need for repairs for the specifically provided sensor system can be completely eliminated.Furthermore, the installation space for the omitted sensor system can advantageously be used for other purposes, for example, to further increase the comfort or safety of the vehicle occupants. The information from the at least one sensor unit can be provided to a computing device, which preferably performs the determination.

[0012] Determining the position can also be referred to as recognizing or establishing the position. By determining the position, the vehicle, in particular electronic systems or components of the vehicle, can obtain knowledge or information about the position by forwarding the information to the electronic systems or components in the form of electronic signals. Based on this information, the electronic systems can initiate corresponding methods or components can carry out corresponding steps. For example, an infotainment system of the motor vehicle can display a notification to vehicle occupants based on knowledge of the determined position. For example, a drive device for the sliding door can be moved based on knowledge of the determined position.

[0013] In particular, the position can be explicitly a specific or defined position. Alternatively, but less preferably, it can be various positions that can be determined using the method.

[0014] Preferably, the position can be a position of an at least partially open position of the side sliding door, or alternatively, but less preferably, a closed, in particular locked, position of the sliding door. The position can, in particular, refer to a position on a trajectory from a closed to an open position. The position is defined as an at least partially open position of the side sliding door, or the position is defined as a closed position of the side sliding door.

[0015] A side sliding door can be understood, in particular, as a sliding door of the motor vehicle that is arranged on the side of the motor vehicle. "Side" can be understood, in particular, as "left and / or right" with respect to a corresponding forward direction of the motor vehicle. In a distant, but less preferred, sense, it can also be a sliding door located on the rear of the motor vehicle.

[0016] In the broadest sense, a side sliding door can also be understood as a swing door on a bus or the like.

[0017] The side sliding door is, in particular, movable, particularly openable and closeable. In particular, it can be an automatic side sliding door that can be driven by an associated drive device, preferably comprising an electric motor. The environmental sensor system can be understood, in particular, as a sensor system that is primarily capable of generating sensor data or electrical signals that map, represent, or reproduce an external environment of the motor vehicle. In particular, the ability to detect electromagnetic or other signals from the environment is not sufficient to consider a sensor system an environmental sensor system. For example, cameras, radar systems, lidar systems, or ultrasonic sensor systems can be considered environmental sensor systems.

[0018] Sensor units of the environment sensor system can be used, for example, for a parking aid system of the motor vehicle, which can be designed, for example, as at least a semi-autonomous parking assistance system or as a park distance control system (PDC).

[0019] The sensor unit can be designed to detect information or sensor signals from an external environment. For example, the sensor unit of the environment sensor system can be used in a first function for parking the motor vehicle using the parking assistance system. In other words, the sensor unit of the environment sensor system can be referred to as the sensor unit of the parking assistance system.

[0020] In addition, the sensor unit of the environment sensor system, which can be used primarily by the parking assistance system, is used according to the invention in a second function for determining the position of the side sliding door.

[0021] It may be provided that more than one sensor unit of the environmental sensor system is used to determine the position. Furthermore, it may be provided that additional components of the environmental sensor system are used for the determination process, in particular a computing unit that can be connected to the sensor unit via signaling.

[0022] The sensor unit can be any sensor unit primarily used in environmental sensor systems, for example, sensor units comprising an ultrasonic sensor, a radar sensor, a lidar sensor, a camera, or the like. The sensor unit can, in particular, have a detection range, wherein the position of the side sliding door to be determined can be determined at least when the side sliding door is at least partially within the detection range in the position to be determined.

[0023] According to at least one embodiment, it is provided that the position is an end position of an open position of the side sliding door.

[0024] This advantageously reduces the cost and complexity of a sliding door control system in a motor vehicle. Automatically opening and closing sliding doors in motor vehicles, in particular, require a dedicated sensor to determine when the automatic sliding door has reached its final open position. If an ultrasound-based environmental sensor system is integrated into the motor vehicle, this final position determination can be performed by one of the sensor units of the environmental sensor system.

[0025] The end position can be understood, in particular, as the position at which the side sliding door can no longer be opened, for example, because the side sliding door is resting against a mechanical stop, or should not be opened any further, for example, to avoid damage. The end position can be precisely defined, in particular as the end point of the side sliding door's travel trajectory.

[0026] It can be provided that only the end position can be determined by means of the determination method or by means of the sensor unit.

[0027] According to at least one embodiment, the method comprises the steps:

[0028] - detecting a sensor signal by means of the sensor unit when the side sliding door is in the position to be determined, wherein the position of the side sliding door to be determined is assigned to the sensor signal;

[0029] - Determining, on the basis of the detected sensor signal, by means of a computing unit that the side sliding door is in the position to be determined.

[0030] A sensor signal can be understood, in particular, as a signal that reaches the sensor unit from the environment and is detected by it. For example, the sensor signal can be an electromagnetic wave, in particular light, or a sound wave, in particular an ultrasonic wave, or corresponding spectra.

[0031] In particular, the sensor signal can be characteristic of the fact that the side sliding door is in the position to be determined. It can be provided that the sensor unit continuously detects a sensor signal, whereby a specific characteristic of a sensor signal can be assigned to the position.

[0032] The processing unit can primarily be part of the environment sensor system, a door control system of the motor vehicle, or generally be a processing unit of the motor vehicle. In particular, the processing unit is connected to the sensor unit via signaling.

[0033] Preferably, the sensor unit converts the sensor signal into an electrical signal, which can be forwarded to the computing unit and processed by it.

[0034] In the present disclosure, a computing unit can be understood, for example, as a data processing device with processing circuits. A computing unit can therefore perform computing operations to process data. The computing operations can also include indexed accesses to a data structure, for example, a look-up table (LUT).

[0035] A computing unit may, in particular, comprise one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more single-chip systems (SoCs). The computing unit may also contain one or more processors, for example, one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors.DSP. The computing unit may also comprise a physical or virtual cluster of computers or other of the aforementioned units. A computing unit may also include one or more hardware and / or software interfaces and / or one or more memory units. A memory unit may be embodied as a volatile data memory, for example as a dynamic random access memory (DRAM) or a static random access memory (SRAM), or as a non-volatile data memory, for example as a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM).a flash memory or flash EEPROM, a ferroelectric random access memory (FRAM), a magnetoresistive random access memory (MRAM), or a phase-change random access memory (PCRAM).

[0036] In particular, the sensor signal or the electrical signal in the LUT can be assigned to the position to be determined, which the computing unit can also access, so that the position can be determined based on the sensor signal. In particular, the recorded sensor signal from the previous measurements can be assigned to the position based on previous measurements in which the side sliding door is in the position to be determined.

[0037] The determined position can then be forwarded by the computing unit to other systems or components of the motor vehicle, for example to the door control system.

[0038] According to at least one exemplary embodiment, it is provided that, based on a characteristic of the detected sensor signal or a variable dependent on the sensor signal, it is determined that the side sliding door is in the position to be determined. In other words, the sensor signal or the variable has a pattern specific to the position to be determined. Thus, the position can be unambiguously assigned to the sensor signal or the variable based on the characteristic. The dependent variable can, in particular, be the electrical signal that is output to the computing unit as a function of the detected sensor signal. In particular, raw data of the electrical signal can be characteristic of the position, for example a width, an energy and / or an amplitude of the signal.

[0039] According to at least one exemplary embodiment, the sensor unit comprises an ultrasonic sensor, and the sensor signal is an ultrasonic echo of an ultrasonic signal. In this way, the position of the side sliding door can be determined particularly easily and cost-effectively.

[0040] Ultrasonic sensors that emit the ultrasonic signal can be designed, in particular, to detect the ultrasonic signal reflected from an object, i.e., the ultrasonic echo. Based on this, the distance of the object to the ultrasonic sensor can be determined, for example. This information can be used primarily by a parking assistance system to avoid collisions or to determine distances or parking spaces.

[0041] Furthermore, based on the ultrasonic echo, it can be determined that the side sliding door is in the position to be determined, in particular when the side sliding door is at least partially in the detection range of the ultrasonic sensor or enters the detection range.

[0042] In particular, the position of the side sliding door can be determined not only on the basis of the measured distance, but also on the basis of the typical characteristics of the sensor signal or electrical signal when the side sliding door is in that position.

[0043] In particular, the ultrasonic sensor can be designed to emit at least two different ultrasonic signals, for example in two different ultrasonic channels, which can have different frequencies or frequency ranges. Accordingly, an associated ultrasonic echo can be received for each of the different ultrasonic signals, each of which can in turn have its own characteristic. Consequently, each ultrasonic echo can have a specific characteristic or pattern for the position to be determined, so that the position can be assigned based on the pattern or characteristic of each ultrasonic echo. In particular, it can be provided that the respective characteristics of the different ultrasonic echoes can be analyzed and related to one another. Consequently, the position, in particular the end position of the side sliding door, can be determined even more reliably.

[0044] According to at least one exemplary embodiment, the ultrasonic sensor is arranged in a lateral region of a motor vehicle body behind the closed side sliding door. This has at least the advantage that the position of the side sliding door to be determined can be effectively determined in this region.

[0045] The ultrasonic sensor is not located on or at the side sliding door, but rather on the vehicle body, which is not part of the side sliding door. The "lateral area" can specifically refer to the left or right, as viewed in the direction of travel of the vehicle. "Behind the closed side sliding door" can specifically be understood to mean that the ultrasonic sensor is located behind the closed or locked side sliding door, as viewed in the direction of travel.

[0046] For example, the ultrasonic sensor can be located in an area of ​​a rear wheel arch of the motor vehicle. Such a sensor of the environment sensor system can, in particular, be used primarily by the parking assistance system, serving to measure parking spaces as the motor vehicle passes the parking space or enters the parking space from the side. The environment sensor system can, in particular, have four such ultrasonic sensors, preferably one in each area of ​​each wheel arch.

[0047] In particular, it can be provided that the side sliding door in the position to be determined is at least partially in the detection range of the ultrasonic sensor, in particular when it is in an open position in which it has moved backwards.

[0048] According to at least one embodiment, it is provided that the

[0049] An ultrasonic sensor is arranged in the lateral area at a longitudinal position of a rear edge of the side sliding door when opened in the end position. This allows the end position to be determined particularly effectively.

[0050] In particular, from a laterally perspective, the ultrasonic sensor is at least partially obscured by the rear edge or rear area of ​​the side sliding door. This means that at least the rear edge is within the detection range and can therefore be detected.

[0051] This advantageously eliminates the need for an end stop sensor for the side sliding door. In particular, the processing unit can send a signal to an actuator for opening the side sliding door, either directly or indirectly via the door control system, causing the actuator to stop opening.

[0052] According to at least one exemplary embodiment, the ultrasonic signal is characteristically reflected from an inner side of the side sliding door when the side sliding door covers the ultrasonic sensor. In particular, the distance can be measured not only based on the time difference between the ultrasonic signal and the ultrasonic echo, but also based on the characteristics of the ultrasonic echo or the electrical signal dependent thereon, it can be determined that the detected object is the open side sliding door in its end position. This is based, in particular, on the fact that every body or every reflective surface has a characteristic reflection characteristic that differs from other surfaces.

[0053] A further aspect of the invention relates to a method for controlling an automatic side sliding door of a motor vehicle, hereinafter also referred to as a control method. This method comprises, in particular, the following steps:

[0054] - Outputting a first control signal to a drive device for opening the side sliding door, in particular by means of a computing unit;

[0055] - Determining according to one embodiment of the determination method that the side sliding door is in the position to be determined;

[0056] - Outputting a second control signal to the drive device to stop the side sliding door from opening when it is determined that the side sliding door is in the position to be determined, in particular by means of the computing unit or a further computing unit. Automatically can be understood in particular to mean that the side sliding door can be opened or closed automatically. The drive device required for this can, for example, have at least one electric motor. The drive device is designed in particular to open the side sliding door depending on the received first control signal and to stop the opening depending on the second control signal.

[0057] The output of the first signal can be initiated, in particular, by the user making an input into an input device of the motor vehicle, for example, by pressing a button. Likewise, the determination of the position can be initiated, in particular, by the user making an input into the input device.

[0058] The output of the second control signal can also be understood to mean that the output of the first signal as a permanent signal is terminated.

[0059] In addition, a further signal can be output to another component of the motor vehicle, for example to provide a user with information about the specific position of the side sliding door.

[0060] According to at least one embodiment of the control method, the step of determining the position of the side sliding door is performed depending on the output of the first control signal. In particular, the determination can also be initiated by the user entering the input device. This is particularly advantageous because the determination is not performed continuously, but only when needed, thus conserving resources.

[0061] Alternatively, the position determination may, for example, depend on the speed of the motor vehicle, whereby the position determination is carried out when a speed threshold, for example 10 km / h, is undercut.

[0062] Further embodiments of the control method according to the invention follow directly from the various embodiments of the determination method according to the invention, and vice versa. In particular, individual features and corresponding explanations as well as advantages relating to the various embodiments of the determination method according to the invention can be transferred analogously to corresponding embodiments of the control method according to the invention.

[0063] A further aspect of the invention relates to an environmental sensor system for a motor vehicle. The environmental sensor system comprises, in particular, at least one sensor unit and at least one computing unit, which are configured to implement an exemplary embodiment of the determination method according to the invention.

[0064] An environmental sensor system can be understood, in particular, as a sensor system that is primarily capable of generating sensor data or electrical signals that map, represent, or reproduce the external environment of the motor vehicle. In particular, the ability to detect electromagnetic or other signals from the environment is not sufficient to consider a sensor system an environmental sensor system. For example, cameras, radar systems, lidar systems, or ultrasonic sensor systems can be considered environmental sensor systems.

[0065] Preferably, the sensor unit can be used primarily for or by a parking assistance system of the motor vehicle.

[0066] According to at least one embodiment of the environment sensor system, the sensor unit is primarily configured to measure parking spaces. For this purpose, the sensor unit is arranged, in particular, on the side of the motor vehicle, preferably in an area of ​​the rear wheel arch, so that the end position of the side sliding door can also be detected. The measurement of parking spaces can be performed, in particular, while the motor vehicle is driving past the parking space. Additionally, the sensor unit can be used when the motor vehicle enters the parking space.

[0067] Further embodiments of the environmental sensor system according to the invention follow directly from the various embodiments of the determination method according to the invention, and vice versa. In particular, individual features and corresponding explanations as well as advantages relating to the various embodiments of the determination method according to the invention can be transferred analogously to corresponding embodiments of the environmental sensor system according to the invention. In particular, the environmental sensor system according to the invention is designed or programmed to carry out a determination method according to the invention. In particular, the environmental sensor system according to the invention carries out the determination method according to the invention.

[0068] A further aspect of the invention relates to a door control system for controlling an automatic side sliding door of a motor vehicle. The door control system has, in particular, a computing unit and an interface for connecting to a sensor unit of an environment sensor system, and at least one computing unit. It can also be provided that the door control system has an interface for connecting to the computing unit of the environment sensor system. The computing unit and the sensor unit are configured to implement an exemplary embodiment of the control method according to the invention.

[0069] According to at least one embodiment of the door control system, the door control system comprises a drive device for automatically opening the side sliding door. The door control system may also comprise further components, in particular a locking device, an operating device, and / or the like.

[0070] Further embodiments of the door control system according to the invention follow directly from the various embodiments of the control method according to the invention, and vice versa. In particular, individual features and corresponding explanations as well as advantages relating to the various embodiments of the determination method according to the invention can be transferred analogously to corresponding embodiments of the control method according to the invention. In particular, the door control system according to the invention is designed or programmed to carry out a control method according to the invention. In particular, the door control system according to the invention carries out the control method according to the invention.

[0071] A further aspect of the invention relates to a motor vehicle. The motor vehicle, in particular, has at least one side sliding door, an environmental sensor system according to the invention, and a door control system according to the invention. The motor vehicle can, in particular, be designed as a van, minivan, bus, minibus, or the like.

[0072] Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures can be encompassed by the invention not only in the respectively specified combination, but also in other combinations. In particular, the invention can also encompass embodiments and combinations of features that do not have all the features of an originally formulated claim. Furthermore, the invention can encompass embodiments and combinations of features that go beyond the combinations of features set out in the backreferences to the claims or deviate from them.

[0073] Showing:

[0074] Fig. 1 is a schematic representation of an embodiment of a motor vehicle according to the invention with a closed side sliding door;

[0075] Fig. 2 is a schematic representation of an embodiment of a motor vehicle according to the invention with an open side sliding door;

[0076] Fig. 3 is a schematic flow diagram of an embodiment of a determination method according to the invention;

[0077] Fig. 4 is a schematic flow diagram of an embodiment of a control method according to the invention.

[0078] Fig. 1 shows a schematic representation of an embodiment of a motor vehicle 1 according to the invention with a side sliding door 2 on each side, whereby only the left side of the motor vehicle is depicted in Fig. 1. The motor vehicle 1 can be designed as a minibus, as shown in the example. The side sliding door 2 is in a closed position PO here. The motor vehicle 1 has an environment sensor system 4, which includes at least one sensor unit 3 and, in particular, a computing unit 5, which can be interconnected via signaling.

[0079] The sensor unit 3 shown can, for example, be an ultrasonic sensor, which is arranged here in a lateral region 6 of a body of the motor vehicle 1 behind the closed side sliding door 2. In particular, the ultrasonic sensor can be located in an area of ​​a rear wheel arch of the motor vehicle 1.

[0080] The sensor unit 3 of the environment sensor system 4 arranged here can in particular be provided primarily for a parking assistance system and can be designed to measure parking spaces when the motor vehicle 1 drives past the parking space.

[0081] The environment sensor system 4 can in particular be designed to carry out the method described in Fig. 3.

[0082] Furthermore, the motor vehicle has a door control system 10. The door control system 10 can, in particular, be signal-connected or networked with the environment sensor system 4. It can be provided that the door control system 10 can access the sensor unit 3 and / or the information data of the sensor unit 3 of the environment sensor system 4. In particular, the door control system 10 can also access the computing unit 5 and / or the information data of the computing unit of the environment sensor system 4.

[0083] For example, systems 4, 10 are signal-connected to each other via an interface. However, it can also be provided that the sensor unit 3 simply has an interface, via which the sensor unit 3 is connected to the door control system 10. The door control system can also have an additional processing unit (not shown).

[0084] The door control system 10 can in particular be designed to carry out the method described in Fig. 4.

[0085] The sensor unit 3 of the environment sensor system 3 can, in particular, additionally be used to determine a position of the side sliding door 2, as explained in more detail in Fig. 2. Fig. 2 shows a schematic representation of an embodiment of the motor vehicle 1 with an open side sliding door 2. The side sliding door 2 can preferably be in an end position P1 of an open position.

[0086] It can be seen that in this exemplary embodiment the ultrasonic sensor of the sensor unit 3 is arranged in the lateral region 6 on a longitudinal position 8 of a rear edge 7 of the side sliding door (2) opened in the end position P1.

[0087] The sensor unit 3 can now, in particular, be additionally configured to detect a sensor signal when the side sliding door 2 is in the end position P1. Based on the detected sensor signal, it can now be determined that the side sliding door 2 is in the end position P1 to be determined.

[0088] Fig. 3 shows a schematic flow diagram of an embodiment of a determination method M1 according to the invention for determining a position of the side sliding door 2 of the motor vehicle 1. The determination method M1 can, for example, have the following steps.

[0089] In a first step S1, a sensor signal can be detected by the sensor unit 3 of the environment sensor system 4 when the side sliding door 2 is in the position to be determined, in particular in the end position P1, wherein the position of the side sliding door 2 to be determined is assigned to the sensor signal. The sensor signal can, for example, be the ultrasonic echo of an ultrasonic signal from the ultrasonic sensor of the sensor unit 3.

[0090] Subsequently, in a second step S2, on the basis of the detected sensor signal, it can be determined by means of a computing unit, for example the computing unit 5 of the environment sensor system 4, that the side sliding door (2) is in the position to be determined. For example, it can be determined that the side sliding door 2 is in the position to be determined not only on the basis of the distance of the side sliding door 2, but also on the basis of a characteristic of the detected sensor signal or a variable dependent on the sensor signal. Fig. 4 shows a schematic flow diagram of an exemplary embodiment of a control method M2 according to the invention for controlling an automatic side sliding door 2 of a motor vehicle 1.

[0091] In a third step S3, it can be provided that, by means of a computing unit of the door control system 10, a first control signal is output to a drive device 9 for opening the side sliding door 2, so that the side sliding door 2 opens. Subsequently, a position determination step is carried out according to the determination method M1, in particular depending on the output of the first control signal. In a fourth step S4, a second control signal can then be output to the drive device 9 for terminating the opening of the side sliding door 2 when it is determined that the side sliding door 2 is in the position to be determined, in particular in the end position P1.

[0092] Overall, the examples show how an end position P1 of a side sliding door 2 can be provided with an ultrasonic sensor of a sensor unit 3 of a parking assistance system.

[0093] Using the illustrated embodiments, the costs for a door control system 10 in a motor vehicle 1 can be reduced. Automatically opening / closing sliding doors 2 in motor vehicles, for example, require a dedicated sensor to determine when the automatic sliding door 2 has reached its end position P1. If an ultrasonic-based parking assistance system is integrated into this motor vehicle 1, this end position determination could be performed by one of the ultrasonic sensors of the parking assistance system.

[0094] A parking assistance system is particularly capable of measuring distances perpendicular to an X-axis of the motor vehicle 1 (left and right from the driver's perspective). This is achieved using ultrasonic sensors that can be mounted next to the wheel arch. In a motor vehicle 1, there can be four such sensors, one near each wheel arch. The sensors in the rear area can be obscured by an opening sliding door 2. In a motor vehicle 1, there can be a specific echo pattern from the rear side sensors when they are obscured by the sliding door in its end position P1. This pattern can be detected by the parking assistance system. The parking assistance system can pass this information about the position of the side sliding door 2 to the door control system 10, which can stop the door operation.

Claims

Patent claims 1. Method (M1) for determining a position of a side sliding door (2) of a motor vehicle (1) using a sensor unit (3) of an environment sensor system (4) of the motor vehicle (1).

2. Method (M1) according to claim 1, wherein the position is an end position (P1) of an open position of the side sliding door (2).

3. Method (M1) according to claim 1 or 2, comprising the steps: - detecting a sensor signal by means of the sensor unit (3) when the side sliding door (2) is in the position to be determined, wherein the position of the side sliding door (2) to be determined is assigned to the sensor signal; - Determining on the basis of the detected sensor signal by means of a computing unit (5) that the side sliding door (2) is in the position to be determined.

4. Method (M1) according to claim 3, wherein it is determined on the basis of a characteristic of the detected sensor signal or a variable dependent on the sensor signal that the side sliding door (2) is in the position to be determined.

5. Method (M1) according to claim 3 or 4, wherein the sensor unit (3) comprises an ultrasonic sensor and the sensor signal is an ultrasonic echo of an ultrasonic signal.

6. Method (M1) according to claim 5, wherein the ultrasonic sensor is arranged in a lateral region (6) of a body of the motor vehicle (1) behind the closed side sliding door (2).

7. Method (M1) according to claim 2 and 7, wherein the ultrasonic sensor is arranged in the lateral region (6) on a longitudinal position (8) of a rear edge (7) of the side sliding door (2) opened in the end position (P1).

8. Method (M1) according to one of claims 5 to 7, wherein the ultrasonic signal is characteristically reflected from an inner side of the side sliding door (2) when the side sliding door (2) at least partially covers the ultrasonic sensor.

9. Method (M2) for controlling an automatic side sliding door (2) of a motor vehicle (1), comprising the steps: - Outputting a first control signal to a drive device (9) for opening the side sliding door (2); - Determining according to the method (M1) according to one of the preceding claims that the side sliding door (2) is in the position to be determined; - Outputting a second control signal to the drive device (9) to stop the side sliding door (2) from opening when it is determined that the side sliding door (2) is in the position to be determined.

10. Method (M2) according to claim 9, wherein the step of determining the position of the side sliding door (2) is carried out depending on the output of the first control signal.

11. Environment sensor system (4) for a motor vehicle (1), comprising at least one sensor unit (3) and at least one computing unit (5) which are configured to carry out a method (M1) according to one of claims 1 to 8.

12. Environment sensor system (4) according to claim 11, wherein the sensor unit (3) is primarily designed to measure parking spaces.

13. Door control system (10) for controlling an automatic side sliding door (2) of a motor vehicle (1), comprising a computing unit (3) and an interface for connecting to a sensor unit (3) of an environment sensor system (4), which is configured to carry out a method (M2) according to claim 9 or 10 14. Door control system (10) according to claim 13, comprising a drive device (9) for automatically opening the side sliding door (2).

15. Motor vehicle (1), comprising at least one side sliding door (2), an environment sensor system (4) according to claim 11 or 12, and a door control system (10) according to claim 13 or 14.

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