DE102004020426A1 - Collision avoidance method for motor vehicle door, activates door braking device when minimum distance to obstacle is exceeded - Google Patents

Abstract

The method involves monitoring the side region of the door using a sensor based on the echo principle. An obstacle image is generated using the sensor data. The echo signals received are compared with the echo signals to be expected with a maximum end position of the door, and the distance is calculated when the door is open. A door braking device is activated when a predetermined minimum distance to the obstacle is exceeded. An independent claim is included for an apparatus for preventing a vehicle door colliding with an obstacle.

Description

STATE OF TECHNOLOGY

The The present invention relates to a method and an apparatus for preventing a collision of a pivotally mounted about a door hinge axis Door with an obstacle at an opening of the Door.

Even though on any doors and applicable to any obstacles, the present invention as well as its underlying problem with respect to a motor vehicle door and a punctate Obstacle or a sheet-like obstacle explained in more detail.

Generally There is the problem that when opening one of the doors of the Motor vehicle, the maximum door opening angle adapted to the prevailing space conditions should be that neither the vehicle door nor located next to the vehicle objects In particular, other vehicles are damaged by clashes can. Because it is known that when parking vehicles on cramped parking spaces more or less severe paint or sheet metal damage occurs, just because a vehicle user opening his car door something is careless.

The common damage When opening the car door arise in the area of the lower door edge and the door hinge axis turned away vertical door edge. The lower door edge is particularly vulnerable because the motor vehicle user this area when closed Door through View from the side window can only partially see. As well endangered is the area around the door hinge axis turned away vertical door edge, there here the swivel range of the door is greatest. These vertical door edge comes first lateral obstacles, such as vehicles, walls, posts, or similar.

For example are in the art as distance aids for the motor vehicle user ultrasonic sensors to determine the distance to an object on the market. Such ultrasonic sensors are for example in the front and / or attached. The ultrasonic sensors detect whether an object, such as For example, a parked vehicle, a certain distance to the motor vehicle or to the ultrasonic sensor, falls below. at Falling below a predetermined safety distance is an audible and / or optical signal delivered to the motor vehicle user, to signal to this that driving on in the same direction too a contact with the object or that another shortfall the distance to a preceding vehicle or yourself in the direction of travel object to a risk to driving safety to lead becomes.

The from the ultrasonic sensors emitted sound waves are in the space surrounding the vehicle body and discharged from the returning Echowellen the distance of the reflecting obstacle determined. The reflected echo signals received by the ultrasonic sensors be u.a. led to an adjustable amplifier and by means of a comparator compared with a reference or reference signal. The obtained Output signals are, for example, by means of a common Control unit evaluated, wherein distance-dependent acoustic and / or optical Ads are activated.

Ultrasonic sensors have one minimum measuring distance, below which distances are no longer measured can be where the minimum measurement distance is from the ringing of the Membrane system of the sensor device results. This minimum measuring distance or this measuring limit is dependent from the technical construction of the sensor device in the range of about 20 cm. Echo signals shorter Distance merge with the ringing of the membrane system and can thus no longer be recorded.

From the DE 40 25 507 A1 For example, a motor vehicle door stop is known in which a door brake or door holding device is effectively activated in response to the door operation. The motor vehicle door stop remains ineffective as long as the vehicle door is actuated. A door operation is detected by means of sensors, for example in the form of touch switches, which are attached to door actuation devices, such as door handles. After releasing the door actuation devices, the motor vehicle door stop is activated effectively.

From the DE 195 33 804 A1 a system is known in which at the rear edge of the vehicle door, a sensor device is arranged which registers the decreasing with increasing door opening angle distance from the motor vehicle until it reaches a predetermined value, whereby an electrical signal is passed to a door locking device, which triggers immediately and quasi prevents a further increase in the door opening angle without delay.

However, this approach has proved to be disadvantageous in that such obstacle detection for distance measurement is not reliably ensured that the sensor device receives an echo, as a loss of Echoes in an angular change of the sensor device with respect to the obstacle due to an opening of the door occurs. When opening the door, a relatively large change in angle may occur, so that there is a high probability that echoes will be lost or that echoes will recur, which means that no precise statements can be made about the currently prevailing state.

The The problem underlying the present invention is thus, generally, to provide a method and apparatus which a collision prevention, in particular the lower door edge and the door hinge axis turned vertical door edge, taking into account the Loss of individual echoes and the addition of individual echoes when opening the Ensure motor vehicle door.

ADVANTAGES OF THE INVENTION

The inventive method with the features of the method claim 1 and the device according to the invention with the features of the device-side claim 18 are facing the known solution approaches the advantage on that because of a reliable Evaluation a safe prevention of a collision one by one Door hinge axis pivotally mounted vehicle door with an obstacle in opening the Motor vehicle door guaranteed becomes.

The The idea underlying the present invention is that that for a secure echo evaluation both the use of an object tracking as well as the use of an obstacle clearance calculation with each other be combined in such a way that by the purposeful combination of these two functionalities a high level of protection in the field of motor vehicle door due the double evaluation is created. Furthermore, the sensor devices for the preferential monitoring of lower door edge and the door hinge axis averted vertical door edge the one to be monitored Motor vehicle door integrated such that the distance of the sensor devices to the respectively associated motor vehicle door edge of each of the minimum Measuring distance corresponds to the respective sensor device. Consequently The area below the minimum measuring distance forms one Area in which the echo lies within a so-called dead time, i.e. the echoes closer than the minimum measurement distance at the Sensor device are sufficient in the Nachschwingzeit the membrane system the sensor device. Thus, at least the definitive statement be taken that an obstacle is detected in the vicinity, which responds accordingly reliable can be.

In the dependent claims find advantageous developments and improvements of specified in claim 1 and the method specified in claim 18 Contraption.

According to one preferred development, three sensor devices are used, which preferably form two sensor pairs, the axes of the Both sensor pairs each have an intersection with the door hinge axis each having the pivot point of the respective sensor pair When opening the motor vehicle door Are defined. Preferably, a first sensor device is approximately in height the door handle the motor vehicle door and at a distance to the vertical axis of the door hinge axis away door edge positioned, which is the minimum measuring distance of the first sensor device equivalent. A second sensor device is preferably approximately in height the bumper the motor vehicle door and at a distance to the door hinge axis away vertical door edge and to the lower horizontal door edge positioned, which is the minimum measuring distance of the second sensor device equivalent. Analogously, a third sensor device is advantageous at about the level of buffer strip the motor vehicle door and positioned at a distance to the lower horizontal door edge, which is the minimum measuring distance of the third sensor device equivalent. Particularly preferably, the first sensor device, the second sensor device and the third sensor device the have the same minimum measuring distances. Thus, by the minimum Measuring distance an additional Hedging created such that echoes within the dead time limit the sensor system reliably detected as an obstacle in the vicinity be activated and an immediate stop or slow down the door opening can be. Furthermore, by such an arrangement the particular endangered lower horizontal door edge and the door hinge axis remote vertical door edge monitored.

According to one Another preferred development is the sensor devices as ultrasonic, infrared or microwave sensor devices educated. Preferably, the direct echoes and the cross echoes become the individual sensor devices of a sensor pair for an evaluation considered.

According to one another preferred embodiment are the pre-determined expected at the maximum door end position Echo signals stored in a memory device. Thus, will a quick access for ensures a comparison to the previously determined expected echo signals.

Preferably, upon detection of a punctiform obstacle, the expected Echo signals when approaching the motor vehicle door to the punctiform obstacle in advance, taking into account the circular arc determined in advance, on which moves the punctiform obstacle in the direction of the motor vehicle door when opening the same. Upon detection of a sheet-like obstacle, the expected echo signals are advantageously determined in advance when the motor vehicle door approaches the sheet-like obstacle, taking into account a plurality of circular arcs on which the individual sensor devices of a sensor pair move in the direction of the sheet-like obstacle.

Advantageous The individual echo signals of the individual pairs of sensors with each other checked for plausibility. Consequently is a safe method and apparatus for performing this safe procedure for created a collision prevention.

According to one Another preferred development is the door brake by the more critical of the two states determined from approximation of the at least a sensor device received echo signals to the expected Echo signals in the maximum door end position and from falling below a predetermined minimum distance by the associated with the echo signals received by the at least one sensor device Distance value of the at least one sensor device to an obstacle activated. Thus the measuring quality is increased and the combination of the two measurement functionalities "object tracking" and "distance calculation" advantageously exploited.

The Door braking device is preferably braked maximum when reaching the maximum door end position or stopped, since in this case a particularly high risk potential consists.

According to one another preferred embodiment at least the lateral area of the motor vehicle door is through monitors the sensor pairs, when the motor vehicle is below a predetermined speed moved or stopped. Thus, an activation takes place the device and the method only at relevant times, which is advantageous from an energy-technical point of view. Further the generation of an obstacle image is preferably only at activity of the door mechanism executed. Thus, the device according to the invention and the method according to the invention activated only when there is an opening of the vehicle door. This in turn is advantageous for ergonomic reasons.

For example can additionally the data of a possible parking aid are taken into account. As often Sensors for a parking aid are provided on the motor vehicle, which also Cover a lateral area of the motor vehicle, the data collected by these sensors are also taken into account and evaluated. This increases furthermore the reliability of the system.

According to one another embodiment a door opening angle in advance for the maximum door end position determined and stored in the memory device. For example is a device for measuring the current prevailing door angle provided in the motor vehicle, which the currently measured door opening angle with the predetermined door opening angle for the maximum door end position compares and expected, for example, due to the door opening angle Echo signals determined. Thus, taking into account the door opening angle the door brake device be activated accordingly.

In addition, can preferably the maximum door opening speed by activating the door brake device limited so that, for example, in difficult obstacle constellations for the current Measurement when opening the door enough Measured values are available.

DRAWINGS

embodiments The invention are illustrated in the figures of the drawing and explained in more detail in the following description.

In show the figures.

1 a front view of a motor vehicle door with arranged sensor devices according to an embodiment of the present invention;

2 a plan view of a spaced from a punctual obstacle closed motor vehicle door according to an embodiment of the present invention;

3 a plan view of a spaced from a punctiform obstacle open motor vehicle door according to an embodiment of the present invention;

4 a plan view of a closed motor vehicle door spaced from a punctiform obstacle in a prediction of a collision of the motor vehicle door with the point-shaped obstacle according to an embodiment of the present invention;

5 a plan view of one of punctiform obstacle spaced closed motor vehicle door in a prediction of passing the motor vehicle door on the punctiform obstacle according to an embodiment of the present invention;

6 a plan view of a spaced from a sheet-like obstacle closed motor vehicle door according to an embodiment of the present invention; and

7 a plan view of a spaced from a punctiform obstacle closed motor vehicle door with molded exterior mirror according to an embodiment of the present invention.

DESCRIPTION THE EMBODIMENTS

In the same reference numerals designate the same or functionally identical Components, unless stated otherwise.

1 Illustrates a front view of a motor vehicle door 1 in closed position. The motor vehicle door 1 is above a doorstep 2 arranged, which as a limitation of the vehicle door 1 in relation to the roadway 3 serves. The motor vehicle door 1 according to one embodiment of the present invention comprises a total of three sensor devices, a first sensor device 4 , a second sensor device 5 and a third sensor device 6 , The motor vehicle door 1 is about a vertical door hinge axis 7 pivoted.

The three sensor devices 4 . 5 and 6 are preferably in the vehicle door 1 positioned or integrated that optimum protection with respect to the lower horizontal door edge 8th and the door hinge axis 7 averted vertical door edge 9 which is explained below with reference to 1 is explained in more detail.

The three sensor devices 4 . 5 and 6 are preferably positioned in a triangle such that all sensor devices are adjacent to one another. Thus, all possible direct echoes, ie an ultrasonic wave transmitting sensor device simultaneously acts as a receiver, and cross echoes, ie the sensor devices which are directly adjacent to the ultrasonic waves, are switched as receivers. As in 1 is apparent, according to the present embodiment, the first sensor device 4 positioned approximately at the level of the door handle of the motor vehicle door, wherein the distance of the first sensor device 4 to the door hinge axis 7 turned away vertical door edge 9 the minimum measuring distance of the system or the first sensor device 4 equivalent. The minimum measuring distance of the first sensor device 4 is in 1 through the dense at the sensor device 4 drawn in echo circle 10 characterized, which will be described in more detail below.

The second sensor device 5 is, for example, approximately equal to the bumper of the vehicle door 1 positioned, wherein the distance according to the present embodiment, both the vertical door edge 9 as well as the lower horizontal door edge 8th the minimum measuring distance of the sensor device 5 corresponds to what is in 1 again by the reference numeral 10 provided echo subcircuit, which is closer to the sensor device 5 is drawn.

As in 1 Further, according to the present embodiment, the third sensor device 6 for example, also positioned approximately at the height of the bumper, the distance to the lower horizontal door edge 8th again the minimum measuring distance of the sensor device 6 equivalent. The minimum measuring distance is again indicated by the reference numeral 10 marked echo subcircuit shown which closer to the sensor device 6 lies. Preferably, the three sensor devices 4 . 5 and 6 designed to have the same minimum measuring distance 10 have.

By such advantageous positioning of the sensor devices 4 . 5 and 6 is the area to be assessed, in which a collision of the vehicle door 1 can occur with an obstacle located laterally of the motor vehicle, above this minimum detectable measuring distance 10 or this minimum measuring limit 10 , As already explained above, the ultrasonic sensor devices 4 . 5 and 6 one uniform minimum measuring distance each 10 arising from the ringing of the membrane system. This limit depends on the technical design of the sensor devices in the range of about 20 cm. Echoes which have a shorter distance to the respective sensor device merge with the ringing and thus can not be measured or detected. The above positioning of the sensor devices 4 . 5 and 6 offers the advantage that obstacles that can still be located exactly, also produce no collision with the vehicle door. In the case of obstacles in which the ringing time merges with the obstacle distance, an obstacle can be detected by measurement, but this obstacle can not be assigned a precise distance. Such a case is then already in the distance range in which the obstacles the motor vehicle door 1 would damage. Thus, by such positioning of the sensor devices 4 . 5 and 6 two cases can be distinguished: a) the obstacle can be detected exactly by measurement and the obstacle is outside the minimum measuring distance 10 or outside the Nachschwingens, so is the distance of the obstacle to the vehicle door 1 harmless for a collision; and b) the obstacle can be recognized in the ringing, the distance of the obstacle to the vehicle door 1 however, if they are no longer exactly determined then the obstacle will be considered within the minimum measuring distance 10 lying and thus detects a distance of the obstacle in the hazardous area for the vehicle door.

Furthermore, due to the triangular arrangement of the three sensor devices 4 . 5 and 6 according to 1 with a minimum number of sensor devices the highest possible monitoring of the door opening area or the pivoting area with respect to the lower horizontal door edge 8th and the vertical door edge 9 be guaranteed. Based on the possibilities of an ultrasonic sensor, both the lower horizontal door edge 8th as well as the vertical door edge 9 can not be secured with a single sensor. For sole monitoring of the lower door edge 8th and the vertical door edge 9 Thus, two sensors would be needed, so a total of four sensors. By the above positioning of the second sensor device 5 in the intersection of lower door edge 8th and vertical door edge 9 can monitor with only three sensor devices 4 . 5 and 6 be realized, since the second sensor device 5 for monitoring both the lower horizontal door edge 8th as well as the vertical door edge 9 can be used. Thus, secure the sensor devices 4 and 5 the door hinge axis 7 averted vertical door edge 9 and the sensor devices 5 and 6 the lower horizontal door edge 8th from. It is obvious to a person skilled in the art that further areas, in particular the area in front of the motor vehicle door 1 is also monitored.

In 1 is for each sensor device 4 . 5 and 6 a second echo circle 11 located, which is further away from the respective sensor device. The echo circle 11 indicates the limit at the risk of damage to the vehicle door 1 is an obstacle and thus defines a collision hazard limit 11 , Furthermore, in 1 a cross echo of the sensor pair 5 / 6 with the reference number 16 exemplified.

As further in 1 can be seen form the sensor devices 4 and 6 a sensor pair 4 / 6 , where the axis of the sensor pair 4 / 6 ie the extension of the connection between the sensor devices 4 and 6 , the door hinge axis 7 in the fulcrum 12 cuts. Analog form the sensor devices 5 and 6 a sensor pair 5 / 6 , where the axis of the sensor pair 5 / 6 ie the extension of the connection between the sensor devices 5 and 6 , the door hinge axis 7 in the fulcrum 13 cuts. Thus, when opening the vehicle door rotates 1 the sensor pair 4 / 6 around the fulcrum 12 and the sensor pair 5 / 6 around the fulcrum 13 , Thus, the pivot points 12 respectively. 13 in each case the circular arc center on which the respective axis of the sensor pair 4 / 6 respectively. 5 / 6 approaches a possible obstacle, which will be discussed in more detail below.

If, for example, the motor vehicle moves below a predetermined speed or if the motor vehicle comes to a complete stop, the sensor devices monitor 4 . 5 and 6 the lateral area of the motor vehicle door to be monitored 1 , In addition, any sensor devices of a parking aid present in the motor vehicle can be used and evaluated. If the motor vehicle user possibly actuates the door mechanism when the vehicle has come to a standstill, the data recorded by the individual sensor devices becomes an obstacle image in front of the motor vehicle door to be monitored 1 created. All relevant direct echoes and all relevant so-called cross echoes are used for the evaluation. From this generated obstacle image on the basis of the obstacle data detected by the sensor devices, a maximum door end position is calculated, for example by means of a common control unit (not shown) in which there is no collision of the motor vehicle door 1 comes with a detected by the sensor devices obstacle. From this, a door opening angle and the expected echoes, which are expected to be received in the door end position by the respective sensor devices, can be determined for the maximum door end position. These predetermined values for the door opening angle and the expected echoes are preferably stored in a memory device (not shown) of the control unit.

When opening the vehicle door 1 by the motor vehicle user. receive the direct echoes and cross echoes of the individual sensor devices in a current measurement, evaluated and compared with the previously determined values stored in the memory device.

If there is an approach of the motor vehicle door to the pre-calculated door end position, a door brake device (not shown) is activated, for example, by the control unit. The door brake device can, for example, as hy draulic device are formed, which is connected via signal lines to the control unit. Activation of the door brake device can either be a braking of the vehicle door 1 with a predetermined negative acceleration or an immediate stop of the vehicle door 1 effect in the current position.

In addition will be carried out by the sensor devices distance measurements, which when opened the door the distance of the respective sensor device to the detected Detect obstacle and evaluate.

Thus, an evaluation logic is used according to the invention, which the object tracking at an opening of the vehicle door 1 combined with a distance calculation. Thus, the door brake device is preferably activated when an approach of the echo signals received from the sensor devices to the expected echo signals in the maximum door end position, which are stored in advance in the memory device, or if an undershooting of a predetermined minimum distance by the echo signals received from the sensor devices associated Distance value between the respective sensor device and the obstacle occurs.

The object tracking described above is characterized in that the motor vehicle door 1 when opening it in circular arcs in the direction of the obstacle approaches, as already explained above. The opening path of the vehicle door 1 is therefore known in advance and the location of the obstacle can also be determined by evaluating the detected obstacle data. Thus, during a movement of the vehicle door 1 when opening the same along the circular arcs a safe and accurate prediction of the obstacle location based on the opening travel of the vehicle door are made.

The following are with reference to the 2 to 5 Embodiments of a punctiform obstacle 14 explained in more detail. 2 Illustrates a plan view of a motor vehicle door 1 in closed position, that of a punctiform obstacle 14 is spaced apart, 3 Illustrates a plan view of a motor vehicle door 1 in the open position, that of a punctiform obstacle 14 is spaced apart, 4 Illustrates a plan view of a motor vehicle door 1 in closed position at a distance from a punctiform obstacle 14 with danger of collision and 5 a plan view of a motor vehicle door 1 in closed position at a distance from a punctiform obstacle 14 outside a collision hazard.

In the 2 to 7 For example, the present invention will be exemplified on the sensor pair 5 / 6 consisting of the sensor devices 5 and 6 , explained in more detail, which when opening the vehicle door 1 around the fulcrum 13 be panned. Of course, the following explanations also apply analogously to the sensor pair 4 / 6 consisting of the sensor devices 4 and 6 which when opening the vehicle door 1 around the fulcrum 12 be panned. An evaluation is preferably carried out with common consideration of the two sensor pairs 4 / 6 and 5 / 6 ,

When the motor vehicle user touches the door mechanism, for example, a punctiform obstacle becomes 14 , as in 2 can be seen by evaluating the direct echoes of the two sensor devices 5 and 6 as well as the cross echo 5 / 6 detected. The direct echoes and the cross echoes are illustrated schematically in the figures by the double arrows.

For the punctiform obstacle 14 which represents, for example, a post, a log, or the like, the approaching movement of the vehicle door 1 to the punctiform obstacle 14 on a circular arc 18 , which as arc center the fulcrum 13 of the sensor pair 5 / 6 and has a radius r. Because of this pre-calculated arc 18 can predict the course of direct echoes and cross echoes as the point-shaped obstruction approaches 14 to the vehicle door 1 to be hit. For each location of the punctiform obstacle 14 can be a prediction for the direct echo of the sensor device 5 , for the direct echo of the sensor device 6 and for the cross echo of the sensor pair 5 / 6 to be hit. Furthermore, the echoes can be checked for plausibility with each other, for example, the control unit checks a "matching" of the echoes, ie, whether the received echo signals provide a plausible overall result or not.Thus, the security of the system can be further increased.

By thus determining the type and position of the obstacle, a prediction can be made as to whether the obstacle is with the vehicle door 1 would collide, as in 4 is shown, or whether the vehicle door 1 without a collision would swerve past the obstacle, as in 5 is shown. In the latter case, the obstacle becomes 14 at any time associated with a distance value that is less than the collision danger limit 11 in the 4 and 5 is shown schematically by the pitch circles. In this case, the door brake device would not be activated by the control unit, as at no time when opening the door with a collision of the vehicle door 1 with the obstacle 14 is to be expected.

In contrast, as in 4 Obviously, that would be the obstacle 14 during the approach movement on the arc 18 when approaching at a certain time, reach a distance value that is less than the collision danger limit 11 (in 4 is this predetermined time by the intersection of the arc 18 with the collision danger limit 11 ) Shown.

To determine the position of the obstacle 14 At the start time, the functionality of the "lateral zones" can be used, which is known from existing parking aids.

Also can the lateral zones are used for further object tracking.

Preferably, in the generation of the obstacle image in advance additionally recognized whether an obstacle located laterally of the motor vehicle door due to the maximum opening angle of the vehicle door 1 , which is approximately 70 ° to 80 °, is outside the achievable pivoting range, so that upon complete opening of the vehicle door this does not collide with the obstacle. Furthermore, obstacles are preferably detected in advance, their distance from the vehicle door 1 is greater than the vehicle door width. In the case of recognition of such obstacles before or during the opening of the motor vehicle door 1 The control unit can prevent activation of the door brake device, since there is no risk of a collision.

6 illustrates a schematic plan view of a motor vehicle door 1 in a closed position, which is a plane-shaped obstacle 15 is spaced t. The regarding the 2 to 5 General statements made are analogous to the embodiment according to 6 applicable.

In contrast to a punctiform obstacle runs at a surface-shaped obstacle 15 , For example, a wall, an adjacent motor vehicle, or the like, the approach movement on multiple circular arcs, wherein in 6 to simplify two circular arcs 19 and 20 are shown by way of example with the radii r ₁ and r ₂ . The fulcrum 13 represents for both circular arcs 19 and 20 the arc center, wherein the radius r _{1 is} the distance of the pivot point 13 to the sensor device 6 and the radius r ₂ the distance of the fulcrum 13 to the sensor device 5 represents.

For a surface obstacle 15 The direct echoes of the sensor devices correspond to the shortest distance between the sensor device and the flat obstacle 15 , where the direct echoes in 6 are shown schematically by the double arrows. The sensor devices 5 and 6 thus approaching on the circular arcs 19 respectively. 20 the sheet-like obstacle 15 , where in 6 the motor vehicle door 1 is shown in dashed lines in an open position. On the basis of this recognition of the approach movement, a prediction of the expected direct echoes of the sensor devices can be made 5 and 6 to be hit. For cross echoes, such a prediction is also possible, especially in a certain range, even if the reflection point is along the surface of the obstacle 15 at the opening movement of the vehicle door 1 moves harder.

The geometry of the obstacle is preferably determined from the detected direct echoes and cross echoes of the sensor devices used, ie, the obstacle is a point-shaped or area-shaped obstacle. This is preferably still at the time in which the motor vehicle door 1 in the closed position. By such a determination of the obstacle geometry, the circular arcs can be determined on which the motor vehicle door 1 approaching it in the direction of the obstacle. Thus, the way is the car door 1 and the location of the obstacle as well as the geometry of the obstacle known. By a specific design or by a specific use of the predetermined circular arcs, a prediction of the obstacle location can be made based on the path of the vehicle door, as already explained above. Thus, the expected echo signals can be determined at certain opening angles of the vehicle door and compared with the currently received echo signals or controlled. Tolerance bands accept deviations of the echoes within the predetermined tolerances. The absence of individual echoes can also be accepted if, for example, other echoes in the range of the tolerance band are received.

Around Recognizing critical situations becomes the distance to the obstacle additionally from the present measured values of the received echo signals For example, the control unit calculates. It is preferable the more critical of the two obstacle distances from object tracking and Distance calculation the rash, whether the door brake device activated will or not.

Preferably, a maximum braking of the door 1 if the predefined maximum door end position has been reached during object tracking or if the distance calculation calculates a minimum distance value, ie a value in the range of the minimum measuring distance of the system.

7 illustrates a schematic plan view of a motor vehicle door 1 in a closed position and by a punctiform obstacle 14 is spaced apart. According to this embodiment, the at the motor vehicle door 1 molded exterior mirrors 17 so taken into account that the sensor device 6 preferably at a distance from the fulcrum 13 which is the sum of the minimum measuring distance 10 (in 7 through the pitch circle around the sensor device 6 and marked by the thinner double arrow shown) and a transverse extension of the exterior mirror 17 including safety distance (in 7 with the reference number 21 and indicated by the corresponding thicker double arrows). Assuming that the outside mirror 17 including a predetermined safety distance the minimum distance of the vehicle to the punctiform obstacle 14 determined and the axis of rotation of the motor vehicle door 1 determines, creates an area of the rotation axis 13 along the motor vehicle door, in that no damage can be caused by the punctiform obstacle by opening the motor vehicle door. This area is in 7 with the reference number 21 denotes and is made up of the transverse extent of the exterior mirror 17 and a predetermined safety distance together. This results in the advantageous positioning of the sensor device 6 from the sum of the distance described above 21 and also already explained above minimum measurement distance 10 the sensor device 6 ,

Consequently the present invention provides a method and an apparatus with which a safe statement and a safe collision prevention a motor vehicle door ensured with an arranged laterally from the motor vehicle door obstacle becomes. In the process, an object tracking is added in the evaluation logic an opening the motor vehicle door and combined a distance calculation. The sensor devices are provided at preferred positions on the motor vehicle door, that in particular the lower horizontal door edge and that of the door hinge axis remote vertical door edge monitored become.

The Object tracking is based on a control of the approach movement the motor vehicle door to the obstacle on predetermined circular arcs, creating a prediction hit the obstacle location based on the way the car door can be. By subsequent Comparison of the instantaneous echo signals with predetermined stored and expected echo signals can be accurate Statements about collision hazards placed and any door brake devices be activated accordingly.

Even though the present invention with reference to preferred embodiments As described above, it is not limited thereto on diverse Modifiable way.

For example can the opening movement of the Motor vehicle door as further protection to a maximum opening speed through an activation of the door brake device limited become. this could For example, in difficult obstacle constellations necessary be so for the current measurement when opened the motor vehicle door enough Measured values are available and a reliable statement can be made.

Further can from the system the door opening angle the one to be monitored Motor vehicle door, for example, by means of a CAN bus, so that the echoes due to the respective angular position of the door opening angle can be predicted.

Claims (25)

Method for preventing a collision of a door hinge axis ( 7 ) pivotally mounted vehicle door ( 1 ) with an obstacle ( 14 . 15 ) when the vehicle door is opened ( 1 ) comprising the following steps: monitoring at least the lateral area of the motor vehicle door ( 1 ) by detecting obstacle data by means of at least one sensor device acting on the basis of the echo principle ( 4 . 5 . 6 ), which in the motor vehicle door ( 1 ) is integrated; Generating an obstacle image with respect to the monitored lateral area of the motor vehicle door ( 1 ) based on the at least one sensor device ( 4 . 5 . 6 ) recorded obstacle data; determining a maximum door end position without a collision of the motor vehicle door ( 1 ) with the obstacle ( 14 . 15 ) and the expected at this maximum door end position of the at least one sensor device ( 4 . 5 . 6 ) to receive echo signals based on the generated obstacle image; Comparing the from the at least one sensor device ( 4 . 5 . 6 ) received echo signals with the expected echo signals at the maximum door end position and calculating a distance value from the received echo signals when opening the motor vehicle door ( 1 ); and activating a door brake device for braking or stopping the opening movement of the motor vehicle door ( 1 ) approaching the at least one sensor device ( 4 . 5 . 6 ) received echo signals to the expected echo signals in the maximum end position of the door and / or falls below a predetermined minimum distance by the from the at least one sensor device ( 4 . 5 . 6 ) received echo signals ordered distance value to the obstacle ( 14 . 15 ). Method according to claim 1, characterized in that three sensor devices ( 4 . 5 . 6 ), which two pairs of sensors ( 4 / 6 . 5 / 6 ), the axes of the two sensor pairs ( 4 / 6 . 5 / 6 ) each have an intersection with the door hinge axis ( 7 ), which the pivot point ( 12 ; 13 ) of the respective sensor pair ( 4 / 6 ; 5 / 6 ) when opening the motor vehicle door ( 1 ) Are defined. Method according to claim 1 or 2, characterized in that the sensor devices ( 4 . 5 . 6 ) are formed as ultrasonic, infrared or microwave sensor device. Method according to at least one of the preceding claims, characterized in that the direct echoes and the cross echoes of the individual sensor devices ( 4 . 5 . 6 ) of a sensor pair ( 4 / 6 . 5 / 6 ) are taken into account for an evaluation. Method according to at least one of the preceding Claims, characterized in that the predetermined at the maximum Türendstellung to be expected echo signals stored in a memory device become. Method according to at least one of the preceding claims, characterized in that upon detection of a point-like obstacle ( 14 ) the expected echo signals when approaching the motor vehicle door ( 1 ) to the punctiform obstacle ( 14 ) taking into account the circular arc ( 18 ), on which the punctiform obstacle ( 14 ) in the direction of the motor vehicle door ( 1 ) when opening it moves. Method according to at least one of the preceding claims, characterized in that when detecting a sheet-like obstacle ( 15 ) the expected echo signals when approaching the motor vehicle door ( 1 ) to the sheet-like obstacle ( 15 ) taking into account several circular arcs ( 19 . 20 ), on which the individual sensor devices ( 4 . 5 . 6 ) of a sensor pair ( 4 / 6 . 5 / 6 ) in the direction of the sheet-like obstacle ( 15 ) move. Method according to at least one of the preceding claims, characterized in that the individual echo signals of the individual sensor pairs ( 4 / 6 . 5 / 6 ) are checked for plausibility. Method according to at least one of the preceding claims, characterized in that the door brake device by the more critical of the two determined states from the approach of the at least one sensor device ( 4 . 5 . 6 ) received echo signals to the expected echo signals in the maximum door end position and from falling below a predetermined minimum distance by the by the at least one sensor device ( 4 . 5 . 6 received echo signals associated distance value to an obstacle ( 14 . 15 ) is activated. Method according to at least one of the preceding Claims, characterized in that a maximum activation of the door brake device is performed when reaching the maximum door end position. Method according to at least one of the preceding claims, characterized in that at least the lateral area of the motor vehicle door ( 1 ) through the sensor pairs ( 4 / 6 . 5 / 6 ) is monitored when the motor vehicle moves below a predetermined speed or comes to a standstill. Method according to at least one of the preceding Claims, characterized in that generating an obstacle image on actuation of the door mechanism accomplished becomes. Method according to at least one of the preceding Claims, characterized in that additionally the distance calculation known from the parking aid also taken into account become. Method according to at least one of the preceding Claims, characterized in that for the echo signals tolerance bands for one consideration be defined by tolerance deviations. Method according to at least one of the preceding Claims, characterized in that a door opening angle in advance for the maximum door end position determined and stored in the memory device. Method according to at least one of the preceding Claims, characterized in that means for measuring the instantaneous prevailing door opening angle is provided, which the currently measured door opening angle with the predetermined door opening angle for the maximum door end position compares and optionally activates the door brake device. Method according to at least one of the preceding Claims, characterized in that additionally the maximum door opening speed by activating the door brake device limited becomes. Device for preventing a collision of a door hinge axis ( 7 ) pivotally mounted vehicle door ( 1 ) with an obstacle ( 14 . 15 ) when the vehicle door is opened ( 1 ) comprising: a plurality of sensor devices based on the echo principle ( 4 . 5 . 6 ), which in the area of the lower horizontal door edge ( 8th ) and / or the door hinge axis ( 7 ) averted vertical door edge ( 9 ) of the motor vehicle door to be monitored ( 1 ) are integrated such that the distance between the sensor devices ( 4 . 5 . 6 ) to the respectively assigned motor vehicle door edge ( 8th . 9 ) each of the minimum measuring distance ( 10 ) of the respective sensor device ( 4 . 5 . 6 ) corresponds. Apparatus according to claim 18, characterized in that three sensor devices ( 4 . 5 . 6 ) in the motor vehicle door ( 1 ) are integrated. Apparatus according to claim 18 or 19, characterized in that a first sensor device ( 4 ) approximately at the level of the door handle of the motor vehicle door ( 1 ) and at a distance from the door hinge axis ( 7 ) averted vertical door edge ( 9 ), which of the minimum measuring distance ( 10 ) of the first sensor device ( 4 ) corresponds. Device according to at least one of claims 18 to 20, characterized in that a second sensor device ( 5 ) approximately at the height of the bumper strip of the motor vehicle door ( 1 ) and at a distance from the door hinge axis ( 7 ) averted vertical door edge ( 9 ) and to the lower horizontal door edge ( 8th ), which of the minimum measuring distance ( 10 ) of the second sensor device ( 5 ) corresponds. Device according to at least one of claims 18 to 21, characterized in that a third sensor device ( 6 ) approximately at the height of the bumper strip of the motor vehicle door ( 1 ) and at a distance to the lower horizontal door edge ( 8th ), which of the minimum measuring distance ( 10 ) of the third sensor device ( 6 ) corresponds. Device according to at least one of claims 18 to 22, characterized in that the first sensor device ( 4 ), the second sensor device ( 5 ) and the third sensor device ( 6 ) the same minimum measurement distances ( 10 ) exhibit. Device according to at least one of claims 18 to 23, characterized in that the third sensor device ( 6 ) at a distance from the door hinge axis ( 7 ), which is the sum of the minimum measuring distance ( 10 ) of the third sensor device ( 6 ) and the transverse extent of the at the motor vehicle door ( 1 ) provided outside mirror ( 17 ) including an additional safety distance. Device according to at least one of claims 18 to 24, characterized in that the three sensor devices ( 4 . 5 . 6 ) are designed as ultrasonic, infrared or microwave sensor device.