Control of a motor vehicle

Abstract

A method (200) for controlling a motor vehicle (105) has the steps of detecting (205) a person in the interior of the motor vehicle (105); determining (220, 230) boundaries (165) of a kinematic device (110) and another device (120) in the interior of the motor vehicle (105) under the influence of the person; and controlling (235) a movement of the kinematic device (110) in such a way that the boundary (165) of the kinematic device (110) maintains a specified distance to the boundary (165) of the other device.

Description

[0001] -3517 PIF

[0002] 1

[0003] Control of a motor vehicle

[0004] The present invention relates to the control of a motor vehicle. In particular, the invention relates to the control of a kinematic device in the interior of the motor vehicle.

[0005] A motor vehicle includes a kinematic device whose position or orientation within the vehicle's interior can be automatically controlled. A kinematic device might include, for example, an adjustable seat, an adjustable steering column, an adjustable mirror, or an adjustable panoramic display. To prevent a collision between the kinematic device and another object on board the vehicle, the device's position relative to the other object can be determined. If there is a risk of collision between the kinematic device and another object, the kinematic device can be stopped or further movement toward the object can be prevented.

[0006] In practice, a kinematic device cannot be controlled with arbitrary precision. Therefore, a predetermined safety distance is usually maintained between the device and another object. The required safety distance may depend on other factors, such as the degree of wear of the kinematic device. It has therefore been proposed to incorporate potential wear of the kinematic device into the collision avoidance strategy.

[0007] Existing collision avoidance systems cannot always reliably prevent a collision under real-world driving conditions. One of the problems underlying the present invention is to provide an improved collision avoidance technique for a kinematic device on board a motor vehicle. The invention solves this problem by means of the subject matter of patent 3517 PIF.

[0008] 2

[0009] Dependent claims. Subclaims describe preferred embodiments.

[0010] According to a first aspect of the present invention, a method for controlling a motor vehicle comprises steps of detecting a person inside the motor vehicle; determining limits of the kinematic device and another device inside the motor vehicle under the influence of the person; and controlling a movement of the kinematic device such that the limit of the kinematic device maintains a predetermined distance to the limit of the other device.

[0011] The invention allows the influence of a person inside the vehicle on collision avoidance between the kinematic and other components to be taken into account. This improves the prevention of collisions between the kinematic and other components. Maintaining a predetermined distance can be ensured with greater accuracy. Due to the improved collision avoidance, the predetermined distance can be smaller than with known techniques. This allows for greater freedom of movement for the person or the kinematic component within the vehicle's interior.

[0012] A waiting area for one person can be created between the devices. The distance between the devices can be increased if the person is in contact with the other device. This prevents the waiting area from becoming too small for the person to be comfortable or from the person even being trapped between the devices. Conversely, if no one is in the waiting area or in contact with the other device, the distance can be reduced, thus increasing the range of motion of the kinetic device. Accordingly, a waiting area--3517 PIF

[0013] 3

[0014] The space of a person who is in contact with the kinetic device may be enlarged.

[0015] The distance can be determined based on a person's physical characteristics. For example, the distance can be determined based on a person's height, weight, or age. A greater distance can be chosen for a tall or heavy person than for a shorter or more slender person. Similarly, a greater distance can be chosen for an older person than for a younger person to account for their potential reduced mobility. These physical characteristics can be determined, for example, using a contactless scanning device, particularly a camera.

[0016] Furthermore, the person's position relative to the other equipment can be determined. The distance between the boundaries of the equipment can then be determined such that a predetermined distance is maintained between the kinematic device and the person's position. This embodiment can be effectively combined with the latter, so that a distance between the person and the kinematic device can be maintained. By taking the person's position into account, it can be ensured that the space available for the person between the equipment is sufficiently large.

[0017] In one configuration, the person is in contact with the kinematic device. A limit to the kinematic device's movement under the person's load is determined. It can also be considered that the person's load influences the adjustment process. Optionally, the person's load on the kinematic device can be characterized more precisely, for example, by determining and considering their height, posture, or mass. In another embodiment, the direct influence of the load on the device can also be determined. (See PIF-3517)

[0018] 4

[0019] For example, the actual position or adjustment behavior of the device can be determined. These techniques can also be used in other situations.

[0020] In a further scenario, it is additionally determined that another person is in contact with the additional device. The limitations of the additional device under the load of this additional person can then be determined. The additional device is typically not kinematic and therefore cannot be automatically adjusted. Its position can thus be assumed to be constant. However, extending this line of thought, another kinematic device can also be considered, whose position must first be determined. The load of this additional person can also be taken into account.

[0021] Of course, a situation can also be considered in which the other facility is not burdened by a single person. In that case, the limit on the other facility can remain constant.

[0022] According to a third scenario, the person is in contact with the other device, and the limitations of the other device are determined by the person's load. Unlike the second scenario described above, the limitations of the kinematic device cannot be altered by a person's load.

[0023] It is particularly preferred that a device described herein includes a seat. In particular, a device loaded by a person may include a seat. The seat may be located in a first, second, or subsequent row of seats. The seat may be a single seat or a bench seat. A seat may be oriented in any direction, for example, facing the direction of travel of the motor vehicle or facing away from it. A seat may be oriented along or about different axes.

[0024] 5

[0025] The seat may be adjustable. For example, it may include a seat surface that is adjustable in height, tilt, or position. A backrest may be adjustable vertically or in its angle relative to the seat surface. Other elements of the seat, such as armrests, side bolsters, lumbar support, headrests, or thigh supports, may also be adjustable.

[0026] It should be noted that the kinematic system may also include other elements on board the vehicle, such as an adjustable steering column, an adjustable rearview mirror, or an adjustable panoramic screen. The rearview mirror may be an interior or exterior mirror. The panoramic screen may be located between the first and the second row of seats behind it. The panoramic screen can be tilted from a vertical to a horizontal position. Optionally, the panoramic screen may also be adjustable longitudinally or laterally within the vehicle.

[0027] A person can be identified using an occupant model. Based on one or more sensors, the occupant model can determine how many people are in the vehicle and where each person is located. Optionally, a person can also be characterized in more detail, for example, regarding their posture, height, or mass. Sensors for the occupant model include, for example, an interior camera, a microphone, a radar sensor, a LiDAR sensor, or a seat occupancy detection system. The detection system can, in particular, include an occupancy sensor on a seat. Additional sensors can also be used to determine the occupancy of individual seats in the vehicle, especially a sensor described with reference to the occupant model.-3517 PIF

[0028] 6

[0029] The present invention further provides that an adjustment of a kinematic device in the interior of the motor vehicle is controlled depending on the driving condition of the motor vehicle. The driving condition can include, for example, driving in city traffic, driving on a highway, driving during the day, driving at night, a temporary stop, for example at a traffic light or in a traffic jam, a parked state, or the state during a charging process for an electrical energy storage device. Other driving conditions are also possible.

[0030] Due to its installation inside the vehicle, a mechanical relationship exists between the kinematic device and a person inside. The kinematic device is typically intended to support the person, but under no circumstances to hinder them. It has been recognized that the degree of support or hindrance can be better determined depending on the vehicle's driving condition. This allows for a more meaningful assessment of the desired or tolerated position of the kinematic device by the person.

[0031] One or more predetermined adjustments can be assigned to a driving condition. An adjustment can involve movement in a predetermined direction, around a predetermined axis, or to a position of the kinematic device. In one embodiment, only an adjustment assigned to the specific driving condition is enabled for control. In particular, an adjustment not assigned to the prevailing, specific driving condition can be denied. For example, moving a driver's seat against the direction of travel to a position in which a person in the driver's seat can no longer safely operate controls such as a steering wheel or pedals can be prevented. The adjustment can be determined based on the person involved in adjusting the kinematic device.In the example given, a maximum rearward longitudinal position of the driver's seat can be determined depending on the driver's height. For a tall person--3517 PIF.

[0032] 7

[0033] A taller driver can extend the longitudinal position further back than a shorter driver.

[0034] It is still preferred that a person on board the vehicle is only offered adjustments for the kinematic system that are relevant to the prevailing or specific driving condition. This allows the user interface to display only those controls or options appropriate for the current driving condition. The person can then more easily understand the available adjustment options and make a better choice.

[0035] In a further embodiment, it can be determined that the adjustment of the kinematic device is not associated with the current or specific driving condition. This can be done in particular when the driving condition changes, for example, when the vehicle stops or starts moving. In this case, the kinematic device can automatically move into a position that corresponds to the prevailing driving condition. This ensures that the kinematic device can always fulfill its function of supporting a person inside the vehicle.

[0036] Extending this idea, the driving state includes a service state of the vehicle. Adjusting the kinematic device can then include a service position. For example, the service state could involve cleaning the vehicle. In this case, the vehicle may be stationary, at least one vehicle door may be open, and optionally, it can be specified that no one is in any of the seats or in any of the seats in the first row. Optionally, cleaning noises in the interior can be detected, such as those that might occur when vacuuming the vehicle. Even more optionally, it can be specified that the vehicle is in the cleaning area of ​​a gas station or car wash. If the service state has been set to--3517 PIF

[0037] 8

[0038] If the vehicle's condition is determined, the kinematic device can be moved into the service position, or a corresponding adjustment can be offered to a person on board the vehicle. In this example, the service position can assist with cleaning the vehicle, for instance, by moving a first-row seat all the way forward or all the way back, adjusting a seat back to its maximum upper or lower position, etc.

[0039] Another service condition might involve, for example, vehicle maintenance. Maintenance can facilitate optimal access to the vehicle's technical components. These may be located in the interior, particularly in the area in front of the first row of seats. A kinematic device can be moved as far away from this area as possible to make it easier for a service technician to service, remove, or maintain such a device.

[0040] Extending this concept, a person on board the vehicle can be asked to move a kinematic device to a predetermined service position. If the vehicle is not in an assigned service state, the person can be notified which additional conditions must be met to determine the service state. In the example above, this could include opening another vehicle door or window, or activating the parking brake.

[0041] According to a further aspect of the present invention, a device for controlling a motor vehicle comprises a device for detecting a person in the interior of the motor vehicle; and a processing device. The processing device is configured to adjust the limits of the kinematic device and another device in the interior of the motor vehicle under the influence of the person.

[0042] 9

[0043] determine; and control a movement of the kinematic device in such a way that the boundary of the kinematic device maintains a predetermined distance to the boundary of the further device.

[0044] The processing device is preferably configured to partially or completely execute a method described herein. For this purpose, the processing device may be electronic and may, for example, comprise an integrated circuit, a programmable logic device, or a programmable microcomputer. The method may be implemented as a configuration or as a computer program product with program code means for the processing device. The configuration or the computer program product may be stored on a computer-readable data carrier. Features or advantages of the method may be transferred to the device or vice versa.

[0045] According to yet another aspect of the present invention, a motor vehicle comprises a device described herein. The motor vehicle preferably comprises a passenger car. The device can be configured to control one or more kinematic devices in the interior of the motor vehicle.

[0046] The invention will now be described in more detail with reference to the attached drawings, in which:

[0047] Figure 1 a system;

[0048] Figure 2 shows a flowchart of a process; and

[0049] Figure 3 shows exemplary configurations with a kinematic device on board a motor vehicle.

[0050] illustrated.-3517 PIF

[0051] 10

[0052] Figure 1 shows an exemplary system 100 on board a motor vehicle 105. In the illustrated embodiment, the system 100 is suitable for describing different configurations in which a technology described herein can be used. However, it should be noted that the system 100 does not necessarily have to include all the components described with reference to Figure 1.

[0053] In the illustrated embodiment, a first kinematic device 110 in the form of a seat, on which a first person 115 sits, and a second kinematic device 120 in the form of a second seat, on which a second person 125 sits, are located in the interior of the motor vehicle 105. A kinematic device 110, 120 can be adjusted or moved with respect to one or more adjustment axes. For this purpose, a control element 130 can be assigned to the device 110, 120, which can be actuated by a person 115, 125. In general, a kinematic device 110, 120 can be moved incrementally or absolutely. Incremental adjustment with respect to one or more predetermined adjustment axes occurs as long as a corresponding actuation of the control element 130 is detected.An absolute adjustment can also be triggered by actuating the control element 130 and moves the device 110, 120 into a predetermined position or position assigned to the actuating element.

[0054] For adjusting a device 110, 120, a control unit 135 is preferably provided, which is connected to several kinematic devices 110, 120 and coordinates the movements of the devices 110, 120. In particular, the control unit 135 can be configured to prevent a collision between a device 110, 120 and another element on board the motor vehicle 105. An operating element 130 can be connected directly to the control unit 135 or to a device 110, 120 that is in turn connected to the control unit 135. The control unit 135 can obtain a position or orientation of a device 110, 120 from the device 110, 120.-3517 PIF

[0055] 11

[0056] The control unit 135 is preferably connected to another device 145 on board the motor vehicle 105 via an interface 140. The device 145 is configured to detect at least one person 115, 125 on board the motor vehicle 105. In one embodiment, the device 145 includes a seat movement detection system for the motor vehicle 105. With respect to each seat, here with respect to the devices 110, 120, it can be determined whether a person 115, 125 is sitting in the seat. This determination can be used, in particular, for an active safety system. Whether a person 115, 125 is sitting in a seat 110, 120 can be determined, for example, by means of a motion sensor 150 assigned to a seat 110, 120. Furthermore, a signal from a seat belt sensor 155 can be evaluated, which determines whether a seat belt is in use at a seat 110, 120 or not.The device 145 can collect and evaluate even more information about persons 115, 125 on board the motor vehicle 105. In a particularly preferred embodiment, an occupant model is created which manages information about the location, position, or physical characteristics of one or more persons 115, 125. For this purpose, the device 145 can also be connected to one or more sensors 160. Such a sensor 160 can, for example, include a camera, a radar sensor, a LiDAR sensor, or an ultrasonic sensor. Other possible sensors include a microphone or a temperature sensor.

[0057] The control unit 135 can also acquire information via interface 140, on the basis of which a driving state of the motor vehicle 105 can be determined. The driving state can be determined by the control unit 135 or by another device on board the motor vehicle 105, for example, also by the device 145. A variety of information can be evaluated to determine the driving state. Examples of such information include driving speed, the opening or control state of a vehicle door, or driving--3517 PIF

[0058] 12

[0059] a flap, an opening state of a door, a flap, a window, a convertible top or a skylight; an operating state of a drive motor of the motor vehicle 105, a geographical position of the motor vehicle 105, which can be further evaluated in particular with regard to geographical map data; or information about another road user in the area of ​​the motor vehicle 105.

[0060] If a kinematic device 110, 120 is adjusted, there is a risk of collision with another device or a person 115, 125. Figure 1 shows, by way of example and with a dashed line, a limit 165 of the first kinematic device 110 when the device 110 is adjusted further back in the direction of the second person 125.

[0061] Whether a collision of a kinematic device 110 with another device 120 or with a person 115, 125 is imminent depends, among other things, on how many persons 115, 125 are inside the vehicle 105 and what influence they have on the devices 110, 120. It is therefore proposed that the adjustment of a kinematic device 110, 120 be made dependent on a constellation on board the vehicle 105, in particular on the presence of a person 115, 125 or their load on a device 110, 120 inside the vehicle 105.

[0062] For this purpose, the control unit 135 can collect information from devices 110, 120 on board the motor vehicle 105, which may include a position or state and other parameters. A position or state is usually referenced to a coordinate system of the respective device 110, 120 and can be converted by the control unit 135 into a coordinate system referenced to the motor vehicle 105.

[0063] A parameter provided by a facility 110, 120 may include a distance to another facility 110, 120,-3517 PIF

[0064] 13

[0065] a distance to be maintained between a person 115, 125 or an object on board the motor vehicle 105. The distance may be referenced to a predetermined point of the device 110, 120. The distance may be in a predetermined direction or specify a radius with respect to that point. An actual distance of an object to a device 110, 120 may be determined with respect to a boundary of the object or with respect to a predetermined point of the object, in particular if the object includes another controllable device 110, 120.

[0066] If a device 110, 120 is moving towards an object, the movement can be stopped if the required distance is about to be breached. If another device 110, 120 is moving towards the first device 110, 120, its movement can be stopped if the required distance is about to be breached. If minimum distances to be maintained are specified for both devices 110, 120, a relative approach can be stopped if the larger of the two minimum distances is about to be breached. Optionally, a device 110, 120 can also be controlled to avoid an object moving towards it. A device 110, 120 can also be moved away from an object if it maintains a required distance to that object, but the distance is increased so that the new required distance is breached.

[0067] It is proposed that a distance provided by one of the devices 110, 120 can be adjusted by the control unit 135 depending on a situation or constellation on board the motor vehicle 105. For example, if, as shown in Figure 1, there is no person 125 in the rear seat 120, the distance to be maintained between the front seat 110 and an object behind it can be reduced. Conversely, if a particularly vulnerable person 125 is in the rear seat 120, the distance to be maintained can be increased. A distance to be maintained can also be adjusted depending on another set of circumstances.

[0068] 14

[0069] adapted, for example to a physical limitation or condition of a person 115, 125.

[0070] In a further embodiment, several distances to be maintained from devices 110, 120 are adjusted to each other depending on a situation or constellation on board the motor vehicle 105. For example, if a person 125 is located on the rear seat 120, the distance between the seats 110, 120 could be increased, but at the same time a distance to be maintained between the rear seat 120 and an object located behind it could be reduced.

[0071] Figure 2 shows a flowchart of an exemplary method 200 for controlling at least one kinematic device 110, 120 on board a motor vehicle 105.

[0072] The explanation of the process steps also refers to Figure 3 with sub-figures 3a to 3c. To illustrate the presented technique, the same configuration with two antiparallel seats 110, 120 is assumed in sub-figures 3a to 3c. A person 115, 125 can be seated on each seat 110, 120. Seat 110 is kinematic, i.e., it can be adjusted automatically, as indicated by the double arrow. The other seat 120 is fixed or is not adjusted for the purposes of this analysis. Seat 120 can be considered representative of any stationary fixture on board the motor vehicle 105. To determine its boundary 165, a person 115 sitting on seat 110 can be included.

[0073] In step 205, one or more persons 115, 125 can be detected inside the motor vehicle 105. This can be done, in particular, based on seat occupancy or an occupant model. In one embodiment, the determination is carried out by an associated device 145.-3517 PIF

[0074] 15

[0075] In step 210, a driving state of the motor vehicle 105 can be determined. The driving state can, in particular, include a motion state, a drive state, a currently performed driving maneuver, or a state of another system on board the motor vehicle 105. Such another system can, for example, include a navigation system or an entertainment system. Preferably, several driving states are predetermined, and it is determined which of the predetermined driving states the motor vehicle 105 is currently in.

[0076] In step 215, it can be determined that a person 115 acts on a kinematic device 110, the movement of which is to be controlled. If a person 115, 125 is on a seat 110, 120, its backrest can tilt backward or flex. A limit 165 of the respective seat 110, 120 can thereby be changed. A corresponding configuration is shown in Figure 3a.

[0077] In the case of Figure 3a, the rear seat 120 is unoccupied, and only the boundary 165 of the front seat 110 is affected by person 115. This boundary 165 can be determined in a step 220. For this determination, physical characteristics such as the weight, height, or position of person 115 can be taken into account.

[0078] In step 225, it can be determined that another person 125 is in contact with another facility 120, whereby the other facility 120 is subjected to a load by the other person 125, such that a limitation 165 of the other facility 120 is caused by the person 125. If it was previously determined in step 215 that a first person 115 is in contact with the first facility 110, a constellation can arise that is shown in Figure 3b. The limitation 165 of the other facility 120 can be determined in step 230.-3517 PIF

[0079] 16

[0080] However, the determination of the additional person 125 in contact with the additional facility 120 in step 225 can also be carried out starting from step 210, without a first person 115 having been recorded at the first facility 110 in step 215. This can result in a situation as shown in Figure 3c. Here, too, the boundary 165 of the additional facility 120 can be determined in step 230.

[0081] It should be noted that cases 3b and 3c can also occur analogously if the additional person 125 is located between the devices 110 and 120, as illustrated by example in Figure 3d (see also Figure 1). The size of the additional person's living space depends on the positions of both devices 110 and 120. Adjusting one of the devices 110 or 120 can be controlled so that the distance between them still leaves sufficient space for the additional person 125. This can be achieved by taking into account how much space the additional person 125 requires, in particular by determining a position and / or a physical characteristic of the additional person 125. This characteristic can relate, in particular, to the size, mass, or mobility of the additional person 125. The additional person 125 can be identified, and this characteristic can be assigned to the additional person 125.Alternatively, the property can be determined metrologically on the other person 125, for example on the basis of a camera image or a signal from a sensor on the other device 120. This procedure can be extended to another, in particular inanimate, object instead of the other person 125, so that, for example, sufficient space can always be left for a piece of luggage in the space between the devices 110 and 120.

[0082] Once mutually facing limits 165 of the devices 110, 120 have been determined – with or without the influence of a person 115, 125 – the kinematic device 110 can be controlled in a step 235 such that a predetermined distance between certain limits 165 of the devices 110, 120 is maintained.-3517 PIF

[0083] 17

[0084] Optionally, the required distance between the limits 165 can be determined depending on the driving condition defined in step 210. Furthermore, optionally, a position or orientation to which the kinematic device 110 can be adjusted can be determined depending on the driving condition. It can also be determined which positions or orientations of kinematic devices 110, 120 on board the motor vehicle 105 are assigned to a currently valid driving condition. A notification of such an adjustment can be presented to a person 115, 125 via a corresponding user interface. The adjustment of a kinematic device 110, 120 can be controlled automatically or based on input from a person 115, 125. -3517 PIF

[0085] 18 reference marks

[0086] 100 System

[0087] 105 motor vehicle

[0088] 110 first kinematic device

[0089] 115 first person

[0090] 120 second kinematic facility

[0091] 125 second person

[0092] 130 Control element

[0093] 135 Control unit

[0094] 140 interface

[0095] 145 facility

[0096] 150 occupancy sensor

[0097] 155 Belt sensor

[0098] 160 Sensor

[0099] 165 limit

[0100] 200 procedures

[0101] 205 Detecting people indoors

[0102] 210 Determine driving condition

[0103] 215 person on cinematic equipment

[0104] 220 Determine the limit of the kinematic facility 225 Person on another facility

[0105] 230 Determine the limits of the further setup 235 Control the kinematic setup

Claims

-3517 PIF 19 Claims 1. Procedure (200) for steering a motor vehicle (105), wherein the procedure (200) comprises the following steps: Capture (205) of a person (115, 125) inside the motor vehicle (105); Determining (220, 230) limits (165) of a kinematic device (110) and another device (120) in the interior of the motor vehicle (105) under the influence of the person (115, 125); and Control (235) a movement of the kinematic device (110) such that the boundary (165) of the kinematic device (110) maintains a predetermined distance to the boundary (165) of the further device (120).

2. Method (200) according to claim 1, wherein a room for a person (125) is formed between the facilities (110, 120); and the distance is increased when the person (125) is in contact with the further facility (120).

3. Method (300) according to claim 2, wherein the distance is determined depending on a physical characteristic of the person (125).

4. Method (300) according to one of the preceding claims, wherein a position of the person (125) with respect to the further device (120) is determined; and the distance between the boundaries (165) of the devices (110, 120) is determined such that a predetermined distance between the kinematic device (110) and a boundary of the person (125) is maintained.

5. Method according to any of the preceding claims, wherein the person (115) is in contact with the kinematic device (110);-3517 PIF 20 wherein a limit (165) of the kinematic device (110) is determined under the load of the person (115).

6. Method (200) according to claim 5, wherein another person (125) is in contact with the further device (120); wherein the limit (165) of the further device (120) is determined under the load of the further person (125).

7. Method (200) according to any of the preceding claims, wherein the person (115) is in contact with the further facility (120); wherein the limit (165) of the further facility (120) is determined under the load imposed by the person (115).

8. Method (200) according to any of the preceding claims, wherein an establishment (110, 120) burdened by a person (115, 125) comprises a seat.

9. Method (200) according to one of the preceding claims, wherein the person (115, 125) is determined on the basis of an inmate model.

10. Method (200) according to one of the preceding claims, wherein a driving state of the motor vehicle (105) is determined (210); wherein an adjustment of the kinematic device (110) is controlled (235) depending on the driving state.

11. Method (200) according to claim 10, wherein predetermined adjustments are assigned to a driving condition; and only one adjustment that is assigned to the specific driving condition can be controlled (235).

12. Method (200) according to one of claims 10 or 11, wherein a person (115, 125) on board the motor vehicle (105) is only able to adjust settings-3517 PIF 21 are offered which are assigned to the specific driving condition.

13. Method (200) according to one of claims 10 to 12, wherein the driving state comprises a service state of the motor vehicle (105); wherein the adjustment of the kinematic device (110) is carried out into a service position.

14. Device (135) for controlling a motor vehicle (105), the device comprising the following elements: a device (145) for recording a person inside the motor vehicle (105); a processing device which is designed to determine limits (165) of the kinematic device and of another device in the interior of the motor vehicle (105) under the influence of the person; and to control a movement of the kinematic device such that the limit (165) of the kinematic device maintains a predetermined distance to the limit (165) of another device.

15. Motor vehicle (105) comprising a device (135) according to claim 14.

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