Method for triggering a driven opening movement of a vehicle door or a vehicle flap, opening coordination device and opening coordination system

Abstract

The invention relates to an opening coordination device (1) for arrangement on a vehicle (2). The aim of the invention is to trigger a driven opening movement of a vehicle door (3) or vehicle flap (4). The opening coordination device (1) comprises: - a detection means (5) for monitoring a collision region (6) of the vehicle door (3) or vehicle flap (4), - a communication means (7), - a control means (8), - a coupling capability (9) to an adjustment drive (10), or an adjustment drive (10) which is coupled to the vehicle door (3) or vehicle flap (4), for the opening movement. The invention also relates to an opening coordination system and to a method for triggering a driven opening movement.

Description

[0001] METHOD FOR TRIGGERING A POWERED OPENING MOTION OF A VEHICLE DOOR OR FLAP, OPENING COORDINATION DEVICE AND OPENING COORDINATION SYSTEM

[0002] The invention relates to a method for triggering a driven opening movement of a vehicle door or a vehicle hatch. The invention also relates to an opening coordination device and an opening coordination system.

[0003] In the design of motor vehicles, especially passenger cars, the aim is to provide the operator with a high degree of comfort. One aspect in this context is the automatic opening of a vehicle door or hatch. Unlike manual opening, automatic opening requires that a collision between the door or hatch and objects be automatically avoided. This can be achieved, for example, by using sensors to detect potential collision objects and preventing the door or hatch from opening if such objects are detected. This is particularly important when, for safety reasons, the sensors or their evaluation are configured conservatively, i.e.,The high safety margins in the assessment of potential collision objects result in a reduction in comfort.

[0004] Against this background, the present invention was based on the objective of increasing the comfort of an automatic opening of a vehicle door or a vehicle flap.

[0005] The problem is solved by a method for triggering a driven opening movement of a vehicle door or a vehicle hatch according to the features of claim 1. The problem is further solved by an opening coordination device for arrangement on a vehicle with the features of claim 12. Finally, the problem is solved by an opening coordination system according to the features of claim 16.

[0006] A method for triggering a driven opening movement of a vehicle door or hatch is presented. The method serves to automatically adjust a vehicle door or hatch, depending on which opening(s) the method is used for. To create the necessary equipment for carrying out the method, the vehicle includes, in particular:

[0007] - a recording device,

[0008] - a means of communication,

[0009] - a tax instrument that is linked to both the means of recording and the means of communication,

[0010] - an adjustment drive coupled to the control means, which, via a coupling, in particular a mechanical one, with the vehicle door or vehicle flap,

[0011] can cause an opening movement.

[0012] The control device can be, for example, a vehicle-side control unit. Alternatively, it can be a microcontroller, specifically designed for or solely responsible for carrying out the intended procedure, which is mounted on the vehicle. To trigger an automatic opening movement of the vehicle door, the following steps are performed:

[0013] The system monitors the collision area of ​​the vehicle door or hatch using a detection device mounted on the vehicle. Depending on the implementation or further development of the invention, this monitoring can be continuous or triggered by a specific event during a temporary period, for example, upon detection of a situation with an increased probability of the door opening. A situation with an increased probability of the door opening could be, for example, a vehicle stationary for a minimum period, such as at least 10 seconds, or a stationary vehicle with the parking brake also engaged. If an object is located in the collision area of ​​the vehicle door or hatch, or if the object enters this collision area, the object is detected by the detection device.The detection device is suitable for detecting the object, i.e., in particular for determining that an object is present in the collision area, meaning in particular: it is arranged with a suitable orientation on the vehicle in order to monitor the collision area of ​​the vehicle door or vehicle flap.

[0014] It is therefore planned that the collision area of ​​the vehicle door or hatch will be monitored for the presence of objects. This monitoring of the collision area can be continuous or, alternatively, triggered by an event, such as the detection of a specific vehicle condition, for example, by the detection of a vehicle stationary. For example, for monitoring the

[0015] A detection device must be provided in the collision area of ​​a driver's door of the motor vehicle, which has a detection area that, through suitable positioning of the detection device on the vehicle, encompasses the collision area of ​​the driver's door, i.e., in particular the space traveled by the driver's door swinging out when opening. For this purpose, for example, the detection device can be arranged in the area of ​​the driver's door, for example in the driver's door itself, in particular in a door handle of the driver's door, or in the B-pillar of the vehicle located on the side of the vehicle door to be monitored.

[0016] If monitoring the collision area detects an object located within the collision area or one that could move into it, there is a high probability that a collision would be likely or at least possible if the vehicle door or hatch were to swing open. If this is the case, then opening coordination is performed before the door is opened. In particular, it may be stipulated that automatic door opening is temporarily disabled for the period before the opening coordination is successfully completed.

[0017] The opening coordination is carried out automatically by a control device located on the vehicle, for example, the central vehicle control unit. Its purpose is to initiate an attempt at bidirectional communication with a specially prepared communication partner in order to agree on an opening sequence with this partner, based on a pre-arranged schedule. This sequence determines which of the two vehicles will begin the automatic door opening process. After successful completion of the opening coordination, the automatic opening movement is triggered, taking the determined opening sequence into account.

[0018] If monitoring shows that no object is in the collision area, automatic door opening is possible without further steps and the opening movement is triggered, provided that the vehicle occupant, as the operator of the vehicle, has indicated an opening request to the vehicle, for example by pressing a corresponding control element such as a door opening button, which sends an opening trigger signal to the actuator.

[0019] If, however, monitoring the collision area results in the detection of an object located in the collision area or one that can be moved into the collision area, the execution of an opening coordination is initiated to determine an opening sequence.

[0020] After successful completion of the opening coordination, the automatic opening movement is then triggered, taking into account the determined opening sequence.

[0021] Alternatively, if it turns out that the opening coordination is aborted without result, the automatic opening movement will preferably be blocked, at least temporarily.

[0022] For opening coordination, the following steps are carried out according to a preferred further training:

[0023] A) By means of the communication device mounted on the vehicle, bidirectional communication is initiated with an object-specific communication device mounted on the object, which is configured to communicate with the communication device mounted on the vehicle. The communication can be initiated, for example, by control via the vehicle's control unit. Initiating the communication includes at least attempting to establish a connection with a counterpart device, particularly by trial and error; that is, initiating a connection, which is successful if an object-specific communication device is located at a distance that permits such communication and this object-specific communication device is configured to communicate with the communication device mounted on the vehicle.

[0024] B) If the initiation of bidirectional communication was successful, the opening sequence is negotiated between the vehicle door or hatch on the one hand and an object door or hatch on the other, using the control device located on the vehicle. This negotiation takes place via the communication device between the object communication device and an object control device located on the object. The object control device is coupled to the object communication device and configured to control the negotiation communication with the control device located on the vehicle from the object's side.Controlled by the vehicle's control unit, a negotiation of the opening sequence takes place within the framework of bidirectional communication between the vehicle door or hatch on the one hand and an object door or hatch on the other. This negotiation communication is conducted via the communication medium using bidirectional communication between the object communication medium and an object control unit located on the object, which is coupled to the object communication medium. The object control unit is configured to control the negotiation communication on the object side via the object communication medium with the control unit present on the vehicle through the communication partner, where the communication partner is the previously described communication medium of the vehicle.

[0025] If initiating bidirectional communication is unsuccessful, the opening coordination is aborted without result. This can occur, for example, if the object is not prepared for communication with the vehicle and / or for carrying out the opening coordination.

[0026] In a situation where the vehicle uses its detection device to determine that another vehicle is positioned nearby, and also uses its communication device to determine that this other vehicle, like the vehicle itself, is prepared for corresponding bidirectional communication and for conducting a negotiation communication, the existing negotiation communication capability within the framework of the bidirectional communication ensures that, after the negotiation communication, both vehicles are aware of a predetermined opening sequence for opening the two opposing vehicle doors or flaps that potentially share a common collision space.The suitability for enabling negotiation communication includes, for example, knowledge of a corresponding negotiation protocol implemented on both sides, such as on the control system available on each side. After the opening sequence has been negotiated, the automatic opening movement is triggered, taking the opening sequence into account.

[0027] The opening movement is triggered only after the vehicle operator has signaled an opening request to the vehicle, and in response to this signal. The vehicle operator, for example, a passenger, signals the opening request to the vehicle prior to the door or hatch opening, for instance, by pressing a corresponding control such as a door opening button. The vehicle thus receives an opening request signal as a result of the operator's activation of the control. Alternatively, the opening request can be signaled, for example, by the operator's approach detected by a proximity sensor on the vehicle or by a gesture performed in front of a gesture recognition device.

[0028] For example, it may be provided that the monitoring of the collision area is started temporarily in immediate response to receiving the opening request.

[0029] Alternatively, it may also be provided that the monitoring of the collision area is carried out without receiving a request to open, for example continuously repeated, or triggered by a vehicle coming to a standstill.

[0030] There are basically two ways to implement the consideration of the opening order:

[0031] The first possibility is that the vehicle has been assigned the first opening movement in the opening sequence during the negotiation communication with the object. In this case, the vehicle-side

[0032] The control mechanism immediately activates the actuator coupled to it, so that it fully completes the opening movement of the vehicle door or hatch. Due to the negotiated opening sequence, it may be assumed from the vehicle's perspective that, on the opposite side, for example, the vehicle, before opening a potentially collision-prone opposing vehicle door or hatch, it will wait until the vehicle's own door or hatch is open. Alternatively, due to the negotiated

[0033] The vehicle-side opening sequence can be assumed to mean that, on the side of the opposite object, for example, the vehicle, before opening a potentially collision-prone opposite vehicle door or hatch, a waiting period occurs until the vehicle's own door or hatch has been opened and then closed again. This waiting period on the object side can be implemented in various ways by the person skilled in the art implementing the invention and is irrelevant from the vehicle's perspective in the first described possibility, since the vehicle has priority in opening due to the negotiated opening sequence.

[0034] The second possibility is the reverse case, where the vehicle has been assigned the second opening movement in the opening sequence during the negotiation communication with the object. Based on the negotiated opening sequence, the object may assume that, before opening the collision-prone vehicle door or hatch, the vehicle waits until the opposite door or hatch of the object is open, or, if this variant is preferred in the implementation, that it waits until the opposite door or hatch of the object has been opened and then closed again. For this purpose, a predefined standstill time can be stored in the control system, after which the opening movement is triggered.The standstill time can, for example, be defined as part of the shared protocol of the vehicle and the object identified as the opposite vehicle. Alternatively or additionally, the control system can include a requirement that the detection device and / or a sensor specifically designed for this purpose monitor when the opening of the opposite door, and possibly also – after the vehicle occupant has exited – the door closing again, is completed. The sensor could be, for example, a camera, an infrared sensor, or a radar module.

[0035] The method according to the invention thus implements the consideration that, in a case where two vehicles are positioned side by side, the simultaneous opening of two oppositely positioned doors—for example, the driver's door of one vehicle and the driver's door of the adjacent vehicle parked in the same direction of travel—could, in an unfavorable scenario, create a collision hazard due to the simultaneous swinging out of the doors. This hazard must be prevented by an automatic opening mechanism. The method according to the invention utilizes a concept whereby a number of vehicles equipped with automatic door or hatch opening possess knowledge of a protocol known to each of the vehicles, and furthermore, each of the vehicles is equipped with the apparatus described above to carry out the method according to the invention.This method has the advantage that, by providing for the negotiation of an opening sequence, the risk of collision between simultaneously swinging doors or flaps can be significantly reduced, although due to the negotiation of the...

[0036] The opening sequence according to the invention does not require complex alternative coordination processes, for example, communication between the respective vehicle occupants via gestures. Intervention by the vehicle occupants to prevent an otherwise triggered automatic door opening is also unnecessary.

[0037] The present invention thus solves in particular a collision problem which arises from the fact that the respective pivoting ranges of two adjacently positioned doors of two vehicles standing next to each other can overlap, so that a collision can be caused, whereby this risk of collision exists to this extent only if both doors are in motion at the same time or if both doors are open at the same time.

[0038] Knowing the negotiated opening sequence, the opening process can be adjusted depending on the desired implementation.

[0039] - either be designed so that the second door only opens after the first door has opened, so that a risk of collision - if any - only exists with a stationary door, which in turn can be effectively prevented by sensory means,

[0040] - or be designed so that the second door opens when it is ensured, or at least plausible, by the passage of time or sensor monitoring, and is accordingly considered permissible to assume, that the first door had opened and was subsequently closed again.

[0041] Due to these properties, the method according to the invention is particularly suitable for applications where a large number of vehicles, especially a centrally defined number of vehicles that are therefore centrally known, need to be coordinated in a comparatively small area. Examples of applications include, for example, a loading area of ​​a freight forwarding company, a parking area for semi-trailer trucks, a parking area of ​​a centrally managed vehicle fleet, or a taxi rank. With high market penetration of the method, for example through implementation by a majority or many large volume manufacturers, the method according to the invention also has universal applicability.

[0042] In a further development of the procedure, the detection of the object located in the collision area or movable into the collision area includes one or more of the following implementation options:

[0043] - Performing radar detection using a detection device designed as a radar array mounted on the vehicle. For this purpose, a radar array, such as a commercially available radar sensor, can be located on, in, or next to the vehicle door whose opening is to be triggered. In particular, a radar sensor can be located in a vehicle door handle or in the B-pillar of the vehicle.

[0044] - Alternatively or additionally, a camera image can be captured using a capture device designed as a camera mounted on the vehicle. For example, a camera can be positioned in or next to the vehicle door, the opening of which is to be triggered. In particular, a camera can be positioned in a vehicle door handle or in the B-pillar of the vehicle. - Capture of an ID transmitter using a capture device designed as a radio module equipped for radio communication with the ID transmitter.

[0045] In a preferred further development of the opening-triggering method, it is provided that the opening coordination is only triggered if an evaluation of the detection of the object located in the collision area or capable of moving into the collision area reveals that the object is a second vehicle; otherwise, the opening coordination is aborted without result. Pattern recognition can be used for evaluating the detection, for example, pattern recognition of radar data acquired by a detection device designed as a radar sensor array, or pattern recognition of a camera image acquired by a detection device designed as a camera. The evaluation that the object is a second vehicle can, for example, be performed by the control device of the (first) vehicle.The evaluation can be carried out, for example, using a detection device designed as a radar sensor or a camera, with the aid of reference data stored on the control device or on a storage device coupled to the control device. Recognizing a vehicle as such using data captured by a radar sensor and / or a camera does not pose any major difficulties for the specialist.

[0046] For example, it can be stipulated that if opening coordination is not carried out because the detection reveals that the object is not a second vehicle, the process is aborted and the door or hatch must either be opened manually or the automatic door opening must be repeated later, for example, after the vehicle has been moved to a different position. Triggering the initiation of bidirectional communication when a counterpart object has already been identified as a vehicle based on detection data limits the execution of bidirectional communication to situations in which there is a high probability that the object is also prepared for bidirectional communication and negotiation. This advantageously leads to a reduction in the required energy consumption.

[0047] According to a preferred further development, the opening coordination is only triggered if the evaluation of the data shows that the distance between the second vehicle and the first vehicle is less than a predefined relevance distance. For example, it can be provided that if the opening coordination is not carried out, the procedure is aborted, and the door or hatch must either be opened manually or the automatic door opening must be repeated later, for example, after the vehicle has been moved to a different position.

[0048] The distance can be evaluated, for example, using a distance sensor; in particular, the distance sensor can be the detection device designed as a radar sensor and suitable as such for providing distance data. The relevance distance can, for example, be determined by the maximum extension from the furthest point of a violation at an open vehicle door or hatch to the closed state. For example, the relevance distance can be twice the maximum extension from the furthest point of a violation at an open vehicle door or hatch to the closed state, plus a safety margin of, for example, between 5% and 20% of this maximum extension. The advantage of this further development is that the opening coordination is only initiated in cases where determining a

[0049] The opening sequence offers an additional safety advantage; because in a case where a collision is already ruled out due to a sufficiently large distance between the vehicle and the object, further measures to avoid a collision of two swinging doors or flaps are not necessary, so that the corresponding energy input can be saved without significant disadvantage.

[0050] In a training course, it may be stipulated that pattern recognition of the data captured by the data acquisition device is carried out, and that the relevance distance corresponds to the maximum swing distance, i.e., the distance that the furthest point of the vehicle door is from the closed vehicle, of the vehicle door plus a safety distance of, for example, up to 10 percent or 20 percent, but in the event that the pattern recognition identifies the opposite object as a vehicle, the relevance distance to take into account the swing range of the opposite door is dimensioned as twice the maximum swing distance plus a safety distance of, for example, up to 10 percent or 20 percent of the maximum swing distance of the vehicle door.

[0051] According to an advantageous further development of the method, the opening coordination is only triggered if the evaluation of the detection reveals a risk of collision between the vehicle door or hatch and the object. For example, if the opening coordination is not carried out, the method is aborted, requiring either manual opening of the door or hatch or a later, subsequent automatic door opening, such as after the vehicle has been moved to a different position. The evaluation can, in particular, include the detection of another vehicle door positioned opposite the monitored vehicle door, where the two doors could potentially collide when swinging, meaning that the collision areas of the two doors have an overlap.Preferably, the system may alternatively or additionally include the detection of whether a person is in the vehicle, whereby a collision risk is assumed only if a person is in the vehicle. In particular, it may alternatively or additionally be provided that if no person is in the vehicle, a collision risk is assumed not to exist.

[0052] According to an advantageous further development, it can be provided that, after evaluation of the detection data, a collision hazard is assumed to exist if, after radar detection with a detection device designed as a radar array mounted on the vehicle, the evaluation results in the presence of a second radar array positioned frontally opposite the radar array. This variant has the advantage that a collision hazard is qualitatively classified using a device that is often already present on the vehicle. In particular, the detection of the collision hazard by means of a radar array can be designed such that the collision hazard is assumed to exist precisely when the radar array receives radar signals from a radar array that it can recognize as originating from another radar array.Signals are received that are identified as radar signals, but which, due to factors such as the bandwidth of the received radar signals, cannot be a radar response to the system's own radar signals (i.e., reflections of its own emitted radar signals). Instead, they are likely due to the presence of another radar sensor within the monitored area, particularly one oriented directly in front of the radar array. This approach is particularly successful when vehicles with radar arrays located in the door or hatch area are positioned opposite each other. It is especially efficient, for example, in a fleet with a large number of vehicles of the same type.

[0053] Alternatively or additionally, the evaluation of the recording can assume a collision hazard if, after capturing a camera image with a recording device designed as a camera mounted on the vehicle, the evaluation of the camera image results in the detection of a second vehicle door or hatch positioned directly opposite the camera and / or the detection of a person located directly opposite the camera.

[0054] According to a further preferred embodiment, the opening coordination is only triggered if an opening request from the vehicle operator is assumed to be present. The operator's opening request is particularly preferably assumed to be present by the fact that...

[0055] - the vehicle is stationary or nearly stationary, and / or

[0056] - the engine is stopped, and / or

[0057] - a request to open a door was indicated on a control panel of the vehicle, for example by pressing a corresponding control button, and / or

[0058] - a corresponding operator gesture has been recognized by means of a gesture recognition device. The corresponding condition is known to a vehicle control system, for example the central vehicle control system, and can be passed on to or queried by the control system responsible for opening coordination for the purpose of opening coordination.

[0059] By limiting the opening coordination to situations in which a door opening is also highly likely to be desired, the level of energy required is reduced, in particular by refraining from initiating bidirectional radio communication in cases with negligible or no risk of collision.

[0060] This approach increases energy efficiency, as monitoring processes are used more frequently in usage situations with a higher probability of collision.

[0061] Alternatively or additionally, according to a preferred further training, it is provided that opening coordination is only carried out if the evaluation of the recording shows that the object is a second vehicle, and if an opening request from an operator of the second vehicle is assumed to be present, by means of

[0062] - the second vehicle is stationary or nearly stationary, and / or

[0063] - a corresponding user gesture was recognized by means of a gesture recognition device.

[0064] The existence of an object as a vehicle can be verified, for example, by image recognition known to the expert, by detection of a ping signal emitted by the second vehicle (for example, a Bluetooth advertising signal or a BLE advertising signal with an identifier that is interpretable by the vehicle and indicates the property as a vehicle), or by other recognition methods, in particular from the field of pattern recognition.

[0065] Bidirectional communication can be structured, for example, as or include:

[0066] - an LF communication, and / or

[0067] - RF communication; RF communication may in particular be configured as Bluetooth communication, for example as Bluetooth Low Energy communication; and / or

[0068] - a UWB communication.

[0069] The negotiation carried out according to the invention

[0070] The opening sequence may, in particular, stipulate that the

[0071] The opening order is determined taking into account:

[0072] - the first-come, first-served principle, for example, giving preference to the vehicle initiating bidirectional communication; and / or

[0073] - a credit rating principle, for example based on data stored on the tax base, whereby, for example, the one of the two vehicles that has remained without a prioritized door opening for a longer period of time since the start of negotiation communication is given preference; and / or

[0074] - a random generator result; or a combination of several or all of the above, or a combination of one or more or all of the above with further criteria.

[0075] It can also be stipulated that the opening order is determined according to exactly one of the following criteria: either the first-come, first-served principle, the credit rating principle, or a random generator result. A clear definition of the procedure that leads to a predetermined opening order advantageously reduces the overall risk of collisions.

[0076] Another aspect of the invention relates to an opening coordination device for arrangement on a vehicle. This serves the purpose of triggering a driven opening movement of a vehicle door or vehicle hatch.

[0077] The opening coordination agency points out:

[0078] - a detection device for detecting an object in the collision area of ​​the vehicle door or vehicle flap by means of the detection device arranged on the vehicle ,

[0079] - a means of communication for initiating and carrying out bidirectional communication with another means of communication set up for communication with the means of communication arranged on the vehicle ,

[0080] - A control device coupled to both the detection device and the communication device. The control device serves, in particular, to evaluate data acquired by the detection device during the monitoring of the collision area. Furthermore, the control device serves to execute an opening sequence of one vehicle door or hatch on the one hand and another door or hatch on the other, within the framework of a negotiation communication carried out via the communication device. This negotiation communication takes place with another communication device that is configured to communicate with the communication device mounted on the vehicle and that is coupled to another control device of an opposing object, in particular another vehicle positioned adjacent to the vehicle.A prerequisite for successful negotiation communication is that the object's other control element, for example, that of a neighboring vehicle, is configured for negotiation communication with the control element present on the vehicle. Ultimately, the control element serves to initiate the opening movement, taking the opening sequence into account, once the opening sequence has been determined.

[0081] To carry out the opening movement taking into account the opening sequence, the opening coordination device has a motorized adjustment drive or a coupling to a motorized adjustment drive which is coupled to the vehicle door or vehicle flap.

[0082] The implementation of the individual features can be carried out, in particular, based on the explanations relating to the procedure for triggering a driven opening movement. The mechanisms of action and advantages explained for this procedure and its further developments apply equally to the opening coordination device.

[0083] In particular, it may be provided that the recording device has:

[0084] - a radar array, and / or

[0085] - a camera, and / or

[0086] - a radio module, configured for bidirectional radio communication with an ID transmitter trained for radio communication.

[0087] The communication device preferably includes: an LF radio module, and / or

[0088] - an RF radio module, and / or - a Bluetooth interface, in particular a Bluetooth Low Energy interface, and / or

[0089] - a UWB module .

[0090] The radar system can be implemented as a commercially available radar sensor, for example in the mmWave range or as a UWB radar sensor. Radar technology has been known since the early 20th century. It is based on the principle of transmitting electromagnetic waves, receiving the echo of the transmitted electromagnetic waves, and evaluating the received signal according to various criteria as needed. Depending on the specific implementation, various pieces of information about the objects responsible for the reflected echo can be obtained. For example, radar technology can be used for localization. Furthermore, information about the relative motion between the transmitter and the object, the absolute speed of either, or, depending on the implementation, the object's contours can be obtained.

[0091] The use of radar is becoming increasingly important in automotive technology. One reason for this is the desire to increase vehicle autonomy, which has driven the further development of sensors used in vehicles.

[0092] Radar sensors are now offered as ready-to-install add-on systems for equipping vehicles, for example, providing a high degree of range and lateral resolution in object detection.

[0093] For various reasons, not least regulatory ones, these can be operated, for example, in the frequency range between 24 GHz and 81 GHz, with radar sensors operating in the range between 77 GHz and 81 GHz being a commonly used variant. These frequency ranges are sometimes also referred to as "nunwave" in English, due to the wavelength of the emitted electromagnetic waves.

[0094] The use of radar sensors has the advantage that, due to the basic operating principle of using an echo of electromagnetic waves to obtain information, information can be obtained that goes beyond the results that can be obtained with ultrasonic sensors; compared to the use of lidar systems, radar sensors have the advantage that the procurement of radar sensors is associated with lower costs.

[0095] As mentioned, the use of UWB radar sensors can also be provided as an alternative or additional option, where UWB is the acronym for Ultra Wide Band.

[0096] Particularly preferred is the control means set up to control the opening coordination device for carrying out a process of the manner described above, i.e. a process according to the invention or a process according to further development.

[0097] One aspect of the invention comprises a motor vehicle on which an opening coordination device is arranged.

[0098] Another aspect of the invention is based on a

[0099] The opening coordination system comprises a first opening coordination device of the type described above, i.e., according to the invention or according to a further development, and a second opening coordination device of the type described above, i.e., according to the invention or according to a further development, preferably each being the same.

[0100] Opening coordination facility.

[0101] The means of communication of the first

[0102] The opening coordination device is equipped for bidirectional communication with the communication means of the second opening coordination device, which can be carried out, for example, by means of RF radio communication, in particular according to the Bluetooth protocol.

[0103] The tax revenue of the first

[0104] The opening coordination unit is set up for negotiation communication with the control unit of the second opening coordination unit to negotiate an opening sequence between the vehicle door or vehicle flap coordinated by the first opening coordination unit on the one hand and the vehicle door or vehicle flap coordinated by the second opening coordination unit on the other.

[0105] Preferably, the negotiation of the opening sequence, for example based on protocol data stored on both sides, includes knowledge of the opening process known to the other side, thus ensuring that the opening movement can be triggered in accordance with the opening sequence. For example, it can be provided that the system stores a setting on each of the two control devices indicating that after a predetermined time period, it can be assumed that the opening and subsequent closing of the opposite door is completely finished. A predetermined time period of between 30 and 120 seconds is particularly preferred.Alternatively or additionally, it may be provided that the detection device monitors whether the opposite door has been closed again after opening, and that the detection of the closing after opening is a prerequisite for triggering the opening movement of the door or flap that is ranked lower in the opening sequence.

[0106] Providing such an opening coordination system ensures the particularly efficient implementation of the inventive method and its further developments; for example, it is advantageous to implement the opening coordination system in larger vehicle fleets, such as a large number or a collection of vehicles from one or more manufacturers. Implementation in the vehicles of a closed fleet, such as a vehicle fleet or a ride-hailing service (e.g., a taxi), also offers the advantages of the invention.

[0107] One idea thus comprises a fleet of at least two vehicles, wherein an opening coordination device is arranged on each of the at least two vehicles.

[0108] Further details, features and advantages of the method according to the invention and its further developments will become apparent from the following description in conjunction with the drawings, in which exemplary embodiments of the invention are shown.

[0109] It is understood that the features mentioned above and explained below can be used not only in the combination specified, but also in other combinations or on their own.

[0110] They show:

[0111] Fig. 1: an embodiment of an opening coordination device;

[0112] Fig. 2: an embodiment of an opening coordination system in a possible collision situation;

[0113] Fig. 3: a schematic representation of a

[0114] From the implementation form of an opening coordination device of a process sequence when triggering a driven

[0115] Opening movement of a vehicle door or hatch. Fig. 1 shows one embodiment of a

[0116] Opening coordination device 1, which may be arranged on a vehicle 2. With the

[0117] The opening coordination device 1 can trigger a driven opening movement of a vehicle door 3 or vehicle hatch 4. Hereinafter, the invention is always described as referring to a vehicle door 3 by way of example, and the invention is explained using the opening of a vehicle door 3 as an example. Opening a vehicle hatch 4 can then be implemented in an analogous manner.

[0118] The opening coordination device 1 comprises a detection means 5, which covers a collision area 6 of a vehicle door to be monitored. The detection means 5 can be, for example, a radar sensor, such as in the mmWave range or alternatively a UWB radar sensor, or an optical camera. The radar sensor monitors the collision area 6 of the vehicle door 3 in order to detect when an object enters the collision area 6. In the illustration of Fig. 1, this is not the case, so that triggering the door opening is possible without restriction, for example, on demand.

[0119] The presented method for triggering the driven opening movement is based on determining an opening sequence within the framework of opening coordination in cases where a potential collision is detected. The sequence is negotiated through bidirectional communication between two vehicles that pose the collision risk. To enable this bidirectional communication, the opening coordination device 1 has a communication means 7 for initiating and conducting the bidirectional communication. This communication means 7 can, for example, be a Bluetooth interface 7.

[0120] Furthermore, the opening coordination agency points out

[0121] 1. A control element is provided, which is coupled to both the detection device 5 and the communication interface 7, and which can, for example, be implemented within the vehicle's central control system. The control element is configured to evaluate a detection of an object located in the collision area 6, carried out by the detection device 5. Thus, if, for example, an object is detected during the monitoring of the collision area 6, the detection is evaluated, i.e., the detection data obtained with the detection device 5 in the presence of the object is evaluated, in order to determine the further procedural sequence based on the results of the evaluation.

[0122] The control device 8 is further configured to negotiate an opening sequence within the framework of a negotiation communication, in which, firstly, vehicle door 3 and, secondly, another door located in the collision area are automatically opened. The execution of the negotiation communication naturally presupposes that the door located in the collision area is a door of a vehicle that, like vehicle 2, is equipped with a communication device for communication with the communication device arranged on the vehicle, and that it has its own control device to carry out such a negotiation communication on the side of the other vehicle.

[0123] Finally, the opening coordination device 1 has a coupling capability 9 to an actuating drive 10, for example an electric motor, which is coupled to the vehicle door 3 to bring about the automatic opening movement. Alternatively, the opening coordination device 1 has an actuating drive 10, for example an electric motor, which is coupled to the vehicle door to bring about the automatic opening movement. Fig. 2 is a representation of a

[0124] This can be found in the opening coordination system.

[0125] The opening coordination system comprises, on the one hand, the first opening coordination device 1 shown in Fig. 1, and on the other hand, a second opening coordination device 1'. The second opening coordination device 1' is identical in design to the first opening coordination device. To distinguish between the two

[0126] The opening coordination devices in Fig. 2 are the individual components of the second

[0127] Opening coordination device 1 is numbered analogously to those of the first opening coordination device, but additionally marked with the “ ’ ”. For example, the door of the first opening coordination device is designated with the reference sign “3”, and the door of the second opening coordination device is designated with the reference sign “3 ’ ”.

[0128] Due to the similarly formed

[0129] The opening coordination devices 1, 1' are equipped with communication means 7, 7' for bidirectional radio communication with each other. The control means 8, 8' are equipped for negotiation communication with each other to determine the opening sequence between the vehicle door 3 coordinated by the first opening coordination device 1 on the one hand and the door coordinated by the second

[0130] Opening coordination device 1 ' coordinated vehicle door 3 ' on the other hand to deal with .

[0131] In the constellation shown in Fig. 2, a

[0132] Opening coordination must take place because vehicle door 3 and vehicle door 3' have overlapping pivot areas in which a collision can occur if the doors are opened simultaneously. Figure 3 schematically illustrates a sequence of steps representing an embodiment of a method according to the invention for triggering a driven opening movement of a vehicle door or a vehicle flap of a vehicle.

[0133] First, the collision area of ​​the vehicle door is monitored by means of the detection device mounted on the vehicle. This monitoring can, for example, be continuous (step 100). Continuous monitoring takes place, for example, in a configuration as shown in Fig. 1. As soon as an object enters the collision area, it is detected by the detection device; that is, information is obtained from the detection device that allows conclusions to be drawn about the object. The acquired data is evaluated by the control device, whereby the control device is at least aware that an object is present in the collision area. This can be the case, for example, when a vehicle has entered the collision area and the situation shown in Fig. 2 has thus been created (step 200).

[0134] In step 300, the evaluation checks whether the object is a vehicle. This can be done, for example, using pattern recognition, perhaps based on reference data stored in the control unit. If the result of the check is "no," the process is aborted; otherwise, it proceeds to the next step.

[0135] In step 400, the evaluation checks whether the distance between the second vehicle and the first vehicle is less than a predefined relevance distance. If the detection device is a radar sensor, this information can be obtained, for example, from radar data. The predefined relevance distance is, for example, a value empirically determined during the implementation of the invention, which excludes a collision with the adjacent door with a level of safety deemed sufficient. For high safety requirements, this distance can be, for example, twice the door length plus a safety margin of, for example, 10% of the door length. Depending on the maximum swing angle and the required safety margin, a smaller value can also be set. If the result of the check is "no," the process is terminated; otherwise, it proceeds to the next step.

[0136] In step 500, the evaluation checks whether there is a risk of collision between the vehicle door and the object. This risk can be assessed, for example, by considering the geometric dimensions of both doors and the position of their swing angles. If the result of the check is "no," the process is aborted; otherwise, it proceeds to the next step. Alternatively or additionally, pattern recognition can be performed based on radar data, checking for overlapping swing areas of the door and an opposing door.Alternatively or additionally, the evaluation of the detection data can indicate a collision risk, for example, if, after radar detection with a detection device designed as a radar array mounted on the vehicle, the evaluation reveals the presence of a second radar array positioned frontally opposite the first. This is based on the assumption that, with a distance between the vehicles approximately one door length, the collision risk not only requires that a vehicle is adjacent, but also that two doors, one from each of the two vehicles, have a partially overlapping swing area, thus creating the collision risk. Overall, an assessment is carried out to determine whether a collision risk is considered present or not.

[0137] If the result of the check is "no", the process is terminated; otherwise, it proceeds to the next step.

[0138] Optionally, checks can be omitted and / or additional checks can be performed. The order of the checks can also be changed.

[0139] Further checks may include, for example, evaluating whether an opening request from the vehicle operator is considered to be present by the fact that

[0140] - the vehicle is stationary or nearly stationary, and / or

[0141] - the engine is stopped, and / or

[0142] - a corresponding user gesture was recognized by means of a gesture recognition device.

[0143] To obtain the information required for the checks, the control device can, for example, access sensor data from the central control unit and / or be coupled with motion sensors.

[0144] Further checks may include, for example, evaluating whether an opening request from an operator of the second vehicle is considered valid, by...

[0145] - the second vehicle is stationary or nearly stationary, and / or

[0146] - a corresponding user gesture was recognized by means of a gesture recognition device.

[0147] If it is determined that the object is another vehicle, and further checks also return a "yes" result, bidirectional communication with the other vehicle is triggered (step 600) to initiate opening coordination. This means that the vehicle attempts to establish contact. If the other vehicle is not configured for this, the process is aborted, and the powered opening movement cannot be performed. The powered opening is optionally suppressed electronically, and manual opening must be performed.

[0148] Once bidirectional communication has proven feasible, an opening sequence is negotiated between the vehicle door on one side and the vehicle door of the second vehicle on the other, using the control device installed on the vehicle itself as a negotiating partner (step 700). This requires negotiation communication, for which both control devices are configured. For example, a pre-agreed negotiation protocol can be stored on both control devices, and the negotiation of the sequence is based on this protocol. The opening sequence can be determined, for example, using one or more of the following principles: first-come, first-served, a credit-rating system, or random number generator control.

[0149] Once the negotiation of the opening sequence is complete, the opening movement is triggered, taking the opening sequence into account (step 800). The triggering of the opening movement can, for example, be achieved by an empirically determined delay in the opening of the vehicle opening later, which is stored in the control system and ensures the intended opening sequence. This can lead to sufficiently successful collision avoidance, especially if the opening movement itself is continuous or occurs in short bursts.

[0150] Collision detection is performed at time intervals.

[0151] Alternatively or additionally, it is also possible for the vehicle opening later to directly monitor the opening and closing of the opposite, first-opening door, so that, for example, the second-ranking vehicle only triggers an opening when it has been detected, for example with a camera and / or a radar sensor, that the first-opened door has closed again.

Claims

Patent claims 1. Method for triggering a driven Opening movement of a vehicle door or hatch of a vehicle, which has a detection means, a communication means, a control means coupled to both the detection means and the communication means, and an actuating drive for the opening movement coupled to the vehicle door or hatch, wherein the automatic opening movement is triggered, for example, in response to the actuation of an actuating means by an operator or in response to sensory detection such as the approach of an operator detected by a proximity sensor, wherein monitoring of a collision area of ​​the vehicle door or hatch is carried out by means of the detection means arranged on the vehicle, wherein, if the monitoring of the collision area results in the detection of an object located in the collision area or of an object that can be moved into the collision area,wherein the execution of an opening coordination is initiated to determine an opening sequence, wherein after successful completion of the opening coordination the automatic opening movement is triggered taking into account the determined opening sequence, wherein alternatively, after unsuccessful termination of the opening coordination, the automatic opening movement is preferably blocked at least temporarily.

2. Method according to claim 1, wherein the following steps are performed for the opening coordination: A) by means of the device arranged on the vehicle Communication means: Initiating bidirectional communication with an object communication means arranged on the object, which is set up for communication with the communication means arranged on the vehicle. B) if the initiation of bidirectional communication was successful: by means of the control device arranged on the vehicle: negotiation of the opening sequence by the vehicle door or vehicle flap on the one hand and an object door or an object flap on the other hand within the framework of a negotiation communication carried out via the communication device with the object communication device and an object control device arranged on the object, which is coupled to the object communication device, and which is set up for object-side control of the negotiation communication with the control device present on the vehicle and alternatively: if the initiation of bidirectional communication was not successful: unsuccessful termination of the opening coordination.

3. Method according to claim 1 or according to claim 2, wherein the detection of the object located in the collision area or movable into the collision area comprises: - Performing radar detection using a detection device designed as a radar arrangement mounted on the vehicle, and / or - Capturing a camera image with a capture device designed as a camera mounted on the vehicle, and / or Detecting an ID transmitter with a detection device that is designed as a radio module for radio communication with the ID transmitter.

4. Method according to one of the preceding claims, wherein the opening coordination is only carried out if an evaluation of the detection of the object located in the collision area or movable into the collision area shows that the object is a second vehicle, and otherwise the opening coordination is aborted without result.

5. Method according to claim 4, wherein the monitoring results in the detection of the object located in the collision area or movable into the collision area, if the evaluation of the detection results in a distance of the second vehicle from the first vehicle that is smaller than a predetermined relevance distance.

6. Method according to one of the preceding claims, wherein the monitoring results in the detection of the object located in the collision area or movable into the collision area, if the evaluation of the detection reveals a risk of collision between the vehicle door or vehicle flap and the object.

7. Method according to claim 6, wherein the evaluation of the detection determines the risk of collision between the vehicle door or vehicle flap and the object. assumes a collision risk if an evaluation of a detection by means of a detection device designed as a radar arrangement, which is arranged on the vehicle, results in the detection of a second radar arrangement positioned frontally opposite the radar arrangement, and / or the evaluation of the detection assumes a collision risk if an evaluation of a detection by means of a detection device designed as a camera, which is arranged on the vehicle, results in the detection of a second vehicle door or hatch positioned frontally opposite the camera and / or results in the detection of a person located frontally opposite the camera.

8. Method according to one of the preceding claims, wherein the monitoring then results in the detection of the object located in the collision area or movable into the collision area, if an opening request by the operator of the vehicle is assumed to be present by the fact that - the vehicle is stationary or nearly stationary, and / or - the engine is stopped, and / or - a door opening request was indicated on a control panel of the vehicle, and / or - a corresponding operator gesture was recognized by means of a gesture recognition device, and / or - the approach of the operator to the vehicle was detected by means of a proximity sensor.

9. A method according to any of the preceding claims, wherein the monitoring results in the detection of the object located in the collision area or movable into the collision area, if the object is a second vehicle, and if an opening request from an operator of the second vehicle is assumed to be present, by the fact that - the second vehicle is stationary or nearly stationary, and / or - a corresponding user gesture was recognized using a gesture recognition device.

10. Method according to any of the preceding claims, wherein the bidirectional communication - includes LF communication, and / or - includes RF communication, preferably Bluetooth communication, in particular Bluetooth Low Energy communication, and / or - includes UWB communication.

11. Method according to one of the preceding claims, wherein the opening sequence is determined during negotiation, taking into account - from the first-come, first-served principle, - from a credit rating principle, - from a random number generator result.

12. Opening coordination device (2) for arrangement on a vehicle (2) for triggering a powered Opening movement of a vehicle door (3) or vehicle hatch (4) , comprising: - a detection means (5) for monitoring a collision area (6) of the vehicle door (3) or vehicle flap (4) and for detecting an object (1') located in the collision area (6) of the vehicle door (3) or vehicle flap (4) , - a communication means (7) for initiating and carrying out bidirectional communication with another communication means (7') equipped for communication with the communication means (7) arranged on the vehicle , - a control instrument (8) coupled to both the recording instrument (5) and the communication instrument (7), for evaluating a recording of the object (1') carried out with the recording instrument (5), and for negotiating a Opening sequence of the vehicle door (3) or vehicle flap (4) on the one hand and another door (3') or another flap (4') on the other hand within the framework of a negotiation communication carried out via the communication means (7) with another communication means (7') equipped for communication with the communication means (7) arranged on the vehicle and another control means (8) coupled to it, which is equipped for the other control of the negotiation communication with the control means (8) present on the vehicle (2), as well as for triggering the opening movement taking into account the opening sequence, - a coupling capability (9) to an adjustment drive (10) or an adjustment drive (10) that is coupled to the vehicle door (3) or vehicle flap (4), for which Opening movement.

13. Opening coordination device (1) according to claim 12, wherein the detection means (7) comprises: - a radar array, and / or - a camera, and / or - a radio module, set up for radio communication with an ID transmitter trained for radio communication.

14. Opening coordination device (1) according to claim 12 or according to claim 13, wherein the communication means (7) comprises: an LF radio module, and / or - an RF radio module, and / or - a Bluetooth interface, in particular a Bluetooth Low Energy interface, and / or - a UWB module .

15. Opening coordination device (1) according to one of claims 12 to 14, wherein the control means (8) is configured to control the opening coordination device (1) to carry out a method according to one of claims 1 to 11.

16. Opening coordination system, comprising a first opening coordination device (1) according to any one of claims 12 to 15 and a second opening coordination device (1') according to any one of claims 12 to 15, wherein the communication means (7) of the first Opening coordination device (1) is set up for bidirectional communication with the communication means (7') of the second opening coordination device (1'), and wherein the control means (8) of the first The opening coordination device (1) is set up for negotiation communication with the control medium (8') of the second opening coordination device (1') to negotiate an opening sequence between the vehicle door (3) or vehicle flap (4) coordinated by the first opening coordination device (1) on the one hand and the vehicle door (3') or vehicle flap coordinated by the second opening coordination device (!') (4') on the other hand.

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