DE102017000461B4 - Method for opening and closing a vehicle door - Google Patents

Abstract

Method for opening and closing a vehicle door, having the following steps: - acquisition of image data in a vehicle interior and/or in a pivoting area of the vehicle door (2), - evaluation of the image data, with the vehicle door ( 2) opening or closing is characterized in that the predetermined gesture is an arm gesture of the occupant (5) of the vehicle pointing to a release lever (4) or a door handle of the vehicle door (2), the arm gesture through substantially aligned joint positions (7, 8, 9, 10) of at least three of the joints of the shoulder (7), elbow (8), hand (9) or finger (10) of the arm is defined and wherein the vehicle door (2) depending on from the Image data specific body dimensions of an occupant (5) is opened or closed.

Description

The invention relates to a method and a device for opening and closing a vehicle door.

In general, it is known that, in order to open and close a vehicle door, in particular as access to or exit from a vehicle interior, an unlocking lever is actuated manually or a door handle is pulled.

From the DE102014008430 A1 a motor vehicle with a detection unit for detecting gestures is also known, with a signal being transmitted to actuators for actuating a door when a predetermined arm gesture is detected.

From the WO 2016/008 987 A1 a method and a control device for automatically opening a motor vehicle door are known. A camera-based gesture sensor is used here, which, for example, uses a camera to record an occupant's hand gesture and interprets this hand gesture as a request to open the door.

The invention is based on the object of specifying a method for opening and closing a vehicle door that is improved over the prior art.

The object is achieved according to the invention by the method specified in claim 1 and the device specified in claim 6 .

Advantageous configurations of the invention are the subject matter of the dependent claims.

According to the invention, a method for opening and closing a vehicle door of a vehicle provides that a predetermined gesture of an occupant, i.e. an arm gesture pointing to a predetermined door area, in particular to an unlocking lever or a door handle of the vehicle door, is recognized by means of captured image data and upon recognition of such predetermined gesture the vehicle door is automatically opened or closed. In the following, an arm gesture is to be understood as taking a predetermined arm position, moving the arm into a predetermined position and/or holding the arm in this position for a determinable period of time. Because the vehicle door is automatically opened and closed solely by means of the predetermined gesture is, an ease of use in the vehicle is increased. According to the invention, the vehicle door is closed or opened as a function of the body measurements of an occupant determined from the image data. Body measurements can be used to determine whether an occupant is an adult or a child. In an advantageous manner, gesture operation of the vehicle door can be prevented for selected groups of people, i.e. for example for children, and only allowed for adults.

In particular for passengers in the rear area who are in a reclining position, it can be strenuous to open or close the vehicle door manually, so that this effort is eliminated using the method. The method avoids, in particular when closing an open door, that an occupant has to bend his upper body in the direction of the open door in order to grasp the door handle. An arm gesture pointing to a release lever or a door handle of the vehicle door is a natural movement that requires little effort and allows intuitive operation of the door. Furthermore, the use of the method gives the respective occupant a feeling of a prediction that the vehicle thinks along and reacts courteously, like a chauffeur. This increases comfort and increases the level of luxury that can be experienced, particularly in a sedan as the vehicle.

According to the invention, the arm gesture pointing to an unlocking lever or a door handle of the vehicle door is recognized by essentially aligned joint positions of the arm, in particular by at least three of the joints of the shoulder, elbow, hand or finger. Articulation points are recognized by evaluating the image data, as soon as the articulation points are essentially aligned and point in the direction of the unlocking lever or a door handle of the vehicle door, it can be reliably concluded that the occupant wants the door to be operated. The joint position of the index finger is preferably evaluated, since an occupant normally points to the door with his index finger. Joint points lying in alignment should be understood to mean that the joint points lie on a straight line. Joint points that are essentially aligned mean that the joint points do not lie exactly on the straight line, but rather that predetermined deviations from the straight line are permissible. A tolerance range is defined, so to speak, in which the joint positions must lie in order to be essentially in alignment lay. For example, it can be defined that the articulation points are essentially aligned if they are between two parallel straight lines at a predetermined distance.

In a preferred embodiment, the automatic opening or closing of the vehicle door is prevented or stopped when an imminent collision of an object with the pivoting, ie opening or closing vehicle door is detected. When the door is opened the process is aborted as soon as the door touches or approaches an object such as a wall, a bollard or a parked vehicle. Furthermore, the opening of the vehicle door can also be interrupted if an object such as a bicycle approaches. Image data for detecting objects when the door is opened is captured using sensors, for example a camera, ultrasonic sensors or radar sensors for monitoring a vehicle environment. Likewise, a closing process is aborted as soon as an object is in the pivoting range of the door. Outline lines of the occupant or other objects, for example, are determined on the basis of the determined image data. The closing or opening process can preferably be interrupted as soon as the outlines of the vehicle door and the outlines of the objects, the occupants or an obstacle touch or have approached each other to a predeterminable distance, so that an impending collision can also be detected. In this context, the term contour lines is to be understood as meaning lines or groups of lines for describing the contours of occupants, objects, the vehicle door or the action space of the vehicle door. The image data is determined by a sensor, for example a camera, which is advantageously arranged in such a way that, in addition to the vehicle interior, the pivoting area of the door facing the vehicle interior is also recorded. The detection range of the camera arranged in the interior for detecting objects thus also extends to the area outside the door cutout in the pivoting range of the door. Damage to the door or injury to the occupants is advantageously avoided.

In a preferred embodiment, opening and/or closing of the vehicle door can be stopped by a predetermined cancellation gesture. The predetermined cancel gesture includes a palm facing the door. The cancel gesture allows an occupant to change their input and prematurely cancel a gesture-initiated opening and closing process.

Upon detection of an arm gesture pointing to an unlocking lever or a door handle of the vehicle door, the device according to the invention controls actuators for opening or closing the vehicle door. The means for capturing image data, for example a camera, determine image data in the interior and/or in a pivoting area of the vehicle door. By monitoring the pivoting range of the vehicle door, a predetermined gesture protruding from the vehicle interior can be detected.

The device enables the vehicle door to be actuated with an intuitive gesture, and the convenience for actuating the vehicle door is advantageously increased.

Exemplary embodiments of the invention are explained in more detail below with reference to figures.

• 1 schematisch eine perspektivische Ansicht eines Fahrzeuges mit einer im Fondbereich geöffneten Fahrzeugtür,
• 2 ein Arm eines Insassen und
• 3 ein Arm eines Insassen mit im Wesentlichen in einer Flucht liegenden Gelenken.

They show:

• 1 schematically a perspective view of a vehicle with a vehicle door open in the rear area,
• 2 an inmate's arm and
• 3 an occupant's arm having substantially aligned joints.

The single FIGURE shows a vehicle 1 with a vehicle door 2 open in the rear area. An image capturing unit 3 is arranged in the vehicle interior in such a way that a capturing area thereof is directed into the vehicle interior. In a predefined state of the vehicle 1, in particular in the state of an unlocked central locking device, image data relating to the vehicle interior are continuously captured by means of the image capturing unit 3 .

Arranged on the inside of the vehicle door 2 is an unlocking lever 4 shown with a dashed line, which is actuated by an occupant 5 to open the door. To close the vehicle door 2, the occupant 5 usually holds a door handle (not shown) which is pulled.

From a comfortable sitting or lying position in the rear of the vehicle 1, the unlocking lever 4 or the door handle for the occupant 5 is relatively far away and difficult to reach. The manual opening and closing of the vehicle door 2 therefore always requires movement and thus energy expenditure on the part of the occupant 5, as a result of which the perceived comfort and luxury is reduced, particularly in a sedan as the vehicle 1.

In order to reduce the effort, in particular for older people as occupants 5 of the vehicle 1, with regard to opening and closing the vehicle door 2, provision is made for the vehicle door 2 to be opened and closed automatically.

For this purpose, the image data of an occupant 5 sitting in the area of the vehicle door 2, in particular when the vehicle 1 is stationary, is recorded and fed to a control unit. This evaluates the image data, properties of this occupant 5 being determined. In particular, bodies dimensions, a current head and joint position of the occupant 5 is determined.

By evaluating the image data relating to the occupant 5, it is possible to detect an outstretched arm in the direction of the unlocking lever 4 or the door handle and to interpret this predetermined gesture as a desire to open the vehicle door 2. In addition, the position of the hand of the occupant 5 can also be taken into account. When the door is open, the vehicle door 2 is closed upon detection of an outstretched arm in the direction of the door handle or the unlocking lever. An outstretched arm is recognized as soon as the joint positions of the arm, i.e. in particular the positions of the shoulder, elbow and wrist are essentially aligned.

In 2 . an arm 6 of an occupant 5 with a shoulder joint 7 slightly bent elbow joint 8 and a wrist 9 is shown. Two parallel, spaced lines 11, 12 are also shown, which are used to determine whether the shoulder joint 7, elbow joint 8 and wrist 9 are essentially aligned. Once positioned between the two lines 11, 12, the hinges are substantially aligned. The distance between the lines 11, 12 defines, so to speak, a permissible deviation of the joint positions from joint positions that are completely aligned, corresponding to a natural arm posture. In contrast, joint positions that are completely aligned mean that all joint positions come to lie exactly on a single straight line. The arm position according to 2 thus does not represent a predetermined gesture for opening or closing the vehicle door 4, since only the position of two joints, ie the shoulder joint 7 and the elbow joint 8, come to lie between the lines 11 and 12.

In contrast, in 3 an arm position is shown in which the position of three joints, ie the shoulder joint 7, the elbow joint 8 and the wrist joint 9, lie between the two lines 11,12. This arm position is interpreted as an arm gesture and is thus identified as a predetermined gesture for opening or closing the vehicle door 4 as soon as the arm points in the direction of an unlocking lever or a door handle of the vehicle door 4 . Alternatively, the arm gesture can be determined, for example, by the shoulder joint 7, elbow joint 8 and finger joint 10 being essentially aligned, or alternatively by the shoulder joint 7, wrist 9 and finger joint 10 being essentially aligned.

If it is recognized from the predetermined gesture that the occupant 5 intends to open or close the vehicle door 2, a control signal is generated by the control unit, which is fed to a device for automatically opening and closing the vehicle door 2, so that the vehicle door 2 is due is opened automatically.

This predetermined gesture, i.e. the arm gesture of the occupant 5 in the direction of the unlocking lever 4, is therefore an intuitive and obvious gesture, the recognition of which is followed by the vehicle door 2 being automatically opened and closed.

If the vehicle door 2 is open and the occupant 5 is in the vehicle 1, with the occupant 5 making an arm gesture in the direction of the vehicle door 2, in particular the door handle, in order to close it, this arm gesture and its direction are recorded by the image acquisition unit 3.

Due to the arm gesture of the occupant 5 in the direction of the door handle, the control unit generates a control signal with which the device for automatically opening and closing the vehicle door 2 is controlled so that it is closed automatically.

When a predetermined gesture by the occupant 5 is detected, the vehicle door 2 is preferably only opened and closed automatically if there is no object in the pivoting range of the vehicle door 2 . This serves as both collision and anti-pinch protection.

The anti-trap protection can be implemented, for example, by means of an electric motor, with the anti-trap protection and the collision protection z. B. based on the evaluation of captured image data of the image capturing unit 3 arranged in the vehicle interior and/or on captured image data of at least one further image capturing unit of an environmental monitoring system of the vehicle 1 .

An operating element is preferably arranged in the vehicle 1 , which is provided for activating and deactivating the automatic opening and closing of the vehicle door 2 as a function of the detected predetermined values of the occupant 5 . Thus, the occupant 5 has the opportunity to decide whether he opens and closes the vehicle door 2 manually or whether this is done automatically.

In addition, the vehicle door 2 is automatically opened and closed exclusively based on the detected predetermined gesture of the occupant 5 when the vehicle 1 is at a standstill.

As an alternative to the automatic opening of the vehicle door 2 being caused by the arm gesture towards the unlocking lever 4 and the automatic closing being caused by the arm gesture towards the door handle, a door area can be predetermined.

If an arm gesture of the occupant 5 toward the predetermined door area is detected, then the vehicle door 2 is automatically opened or closed.

Reference List

1

vehicle

2

vehicle door

3

image acquisition unit

4

release lever

5

inmate

6

inmate's arm

7

shoulder joint

8th

elbow joint

9

wrist

10

finger joint

Claims (6)

Method for opening and closing a vehicle door, having the following steps: - acquisition of image data in a vehicle interior and/or in a pivoting area of the vehicle door (2), - evaluation of the image data, with the vehicle door ( 2) opening or closing is characterized in that the predetermined gesture is an arm gesture of the occupant (5) of the vehicle pointing to a release lever (4) or a door handle of the vehicle door (2), the arm gesture being characterized by substantially aligned joint positions (7, 8, 9, 10) of at least three of the joints of the shoulder (7), elbow (8), hand (9) or finger (10) of the arm is defined and wherein the vehicle door (2) depending on from the Image data specific body dimensions of an occupant (5) is opened or closed. procedure after claim 1 characterized in that the automatic opening or closing of the vehicle door (2) is prevented or stopped when a collision or an imminent collision of the vehicle door (2) with an object is detected. procedure after claim 2 , characterized in that when the outlines of the object touch the outlines of the vehicle door (2), a collision is detected or when the outlines of the object approach the outlines of the vehicle door (2) up to a predeterminable distance, an imminent collision is detected. Method according to one of the preceding claims, characterized in that opening and/or closing of the vehicle door (2) is stopped by a predetermined break-off gesture. procedure after claim 4 characterized in that the predetermined break-off gesture comprises a palm facing the vehicle door (2). Device for opening and closing a vehicle door set up to carry out a method according to claims 1 until 5 with actuators for actuating the vehicle door (2), with means for capturing image data in a vehicle interior and/or in a pivoting area of the vehicle door (2), means for evaluating the image data and for recognizing a predetermined gesture of an occupant (5), characterized that upon recognition of a predetermined gesture, which includes an arm gesture pointing to an unlocking lever (4) or a door handle of the vehicle door (2), the actuators are actuated, with the vehicle door (2) being opened or closed depending on from the image data certain body dimensions of an occupant (5) and wherein the means for evaluating the image data detect the arm gesture pointing to an unlocking lever or a door handle of the vehicle door (2) using joint positions (7, 8, 9, 10) that are essentially in line with one another of at least three of the shoulder (7), elbow (8), hand (9) or finger (10) joints of the occupant's (5) arm are detected.

Images