EP2877987B1 - Method and device for collision avoidance - Google Patents

Description

The invention relates to a method and a device for collision avoidance of movable vehicle components during a standstill of the vehicle or immediately after a standstill of the vehicle. In particular, the invention relates to an apparatus and a method for preventing a collision of a door with objects and obstacles in the vicinity of the stalled vehicle.

From the prior art, it is known to detect environment of a vehicle, in particular a motor vehicle, with environment sensors. For this purpose, for example, sensors are used, which are operated by a Impulschomessverfahren. These emit a measuring pulse, which is reflected on objects in the vicinity of the vehicle. The reflected pulse is measured by a measuring sensor of the vehicle and determined on the basis of a transit time with knowledge of the propagation speed of the emitted or reflected pulse of a distance. For example, ultrasonic sensors or classic radar sensors work according to this measuring principle. However, many of these sensor types emit the transmit pulse in a relatively wide solid angle range and / or receive reflected pulses from a large solid angle range. Therefore, a precise localization of the object relative to the vehicle is not possible. Based on a single measurement can only be made the statement that an object on a circular sector element or an element of an ellipse, if the transmitter and the receiver of the sensor are spaced from each other. Via a so-called measurement data fusion, which fuses measurement results of different measurement results acquired in succession and / or with different sensors, a localization of the objects relative to the vehicle can be significantly improved. It is customary to determine, based on a large number of measurements, positions of objects in the surroundings of the vehicle and to record them in a so-called environment map. For this purpose, the environment of the vehicle is divided into areas or cells. Regions or cells of the environment map are assigned probability information, which is a measure of the fact that an object is located at a location in the vicinity of the vehicle, which corresponds to the corresponding area or cell of the environment map of the vehicle.

These methods and techniques are well known in the art and therefore not further explained here. It is customary, for example, by means of ultrasonic sensors, which are assigned to a parking assistance system, an approach to obstacles when parking recognize and signal the approach via the parking assistance system. Frequently, an environment map of the vehicle when parking in a parking space, such as a parking box detected. In this case, during the parking process by means of sensors arranged at the front or the rear of the vehicle, the lateral contours in adjacent parking boxes of parked vehicles can be measured and entered in the environment map. At the time when the vehicle comes to a standstill in the parking space designed as a parking box, there is thus a reliable environment map of the vehicle. As a rule, this also contains information about areas in the vicinity of the vehicle which can not be currently recorded by the measuring sensor (s) used to acquire the environment map. In the area of the front bumper arranged ultrasonic sensors, for example, obstacles that are located in a lateral distance to a driver or passenger door of a motor vehicle, do not detect in the parked, parked state.

For example, to warn a driver or passenger to get out of the vehicle without causing them to collide with an obstacle, such as a nearby parked vehicle, when opening the door, a warning of such an obstacle is desirable. The previously collected information about the environment is necessary and helpful. The same applies to automatically or from the inside openable tailgates and / or trunk lid, etc.

From the US 7,209,221 B a method is known for determining vehicles in a blind spot, which describes different measuring methods for detecting the surroundings.

From the DE 10 2008 040 041 A1 For example, a method for determining a distance between a first vehicle and an object is proposed. The method comprises a step of providing a transmission signal of the first vehicle at a first time at an interface, wherein the transmission signal comprises a signal sequence and an identification of the first vehicle. Furthermore, the method comprises a step of receiving a response signal from an object at a time via the interface. In addition, the method includes a step of determining a distance between the first vehicle and the object from the first and second times and a delay time, the delay time defining a time duration between receiving the transmit signal and transmitting the response signal through the object. In addition, information about the object of the first vehicle can be transmitted in the response signal. Such a system requires active interaction of the vehicles and can not be applied to passive objects and objects such as trees or pillars or the like become. In the DE 10 2008 040 041 A1 In addition, capacitive distance sensors are proposed in order to detect a lateral approach of an object can.

• Erfassen der Sensorinformationen der Umfeldsensorik des Fahrzeugs, Erstellen einer Umfeldkarte aus den Sensorinformationen der Umfeldsensorik, Bestimmen der Fahrzeugeigenbewegung, und Bestimmen der Kollisionswahrscheinlichkeit des Fahrzeugs mit in der Umgebung des Fahrzeugs befindlichen Umfeldobjekten aus der in der Umfeldkarte abgebildeten Umfeldobjekten unter Berücksichtigung der Fahrzeugeigenbewegung. Ferner ist beschrieben, anhand der Umfeldkarte auch bei stehendem Fahrzeug zu prüfen, ob eine Tür beim Öffnen mit einem Umfeldobjekt gemäß der Informationen der Umfeldkarte kollidieren würde. Insbesondere kann auf diese Weise ein maximal zulässiger Türöffnungswinkel für eine kollisionsfreie Öffnung der Tür ermittelt werden. Nicht berücksichtigt werden jedoch Situationen, in denen sich das Umfeld unmittelbar nachdem das Fahrzeug zum Stillstand gekommen ist, durch eine Eigenbewegung der Objekte verändert. Lässt ein Fahrzeugführer oder auch ein Beifahrer nach dem Einparken und zum Stillstandkommen des Fahrzeugs eine gewisse Zeit verstreichen, bevor er mit einer Türöffnung beginnt, so kann in dieser Zwischenzeit in der benachbarten Parkbox, welche zuvor frei war, ein Fahrzeug eingeparkt sein. Ebenso ist es möglich, dass in dieser Zeitspanne ein Fahrzeug ausgeparkt ist und durch ein anderes Fahrzeug, welches dann in einer anderen Position als das zuvor in der Parklücke befindliche Fahrzeug abgestellt wird, welches während des Einparkvorgangs durch eine Abstandssensorik vermessen wurde. Somit ist die Umfeldkarte zu dem Zeitpunkt nicht mehr aktuell, zu dem der eigentliche Ausstiegsvorgang und das Öffnen der Fahrzeugtür erfolgen. Daher können aus der Umfeldkarte abgeleitete Informationen, beispielsweise ein maximaler Türöffnungswinkel für eine kollisionsfreie Türöffnung falsch ermittelt werden, sodass es zu unbeabsichtigten Kollisionen ohne eine vorausgehende Warnung des Fahrers oder Beifahrers kommt.

From the DE 10 2008 036 009 A1 For example, a method for collision protection of a motor vehicle and a parking garage assistant are known. There, a method for protecting a vehicle from a collision in the parking and maneuvering area is described, wherein the vehicle has an environment sensor system for detecting objects in the vicinity of the vehicle, and the method comprises the following steps:

• Detecting the sensor information of the environmental sensor of the vehicle, creating an environment map from the sensor information of the environment sensor, determining the vehicle's own movement, and determining the collision probability of the vehicle with environmental objects located in the environment of the environment from the environmental objects displayed in the environment map taking into account the vehicle's own movement. It is also described to check using the environment map even when the vehicle is stationary, whether a door would collide when opening with an environment object according to the information of the environment map. In particular, a maximum permissible door opening angle for a collision-free opening of the door can be determined in this way. However, situations in which the environment changes immediately after the vehicle has come to a standstill, due to an intrinsic movement of the objects, are not taken into account. If a driver or a passenger leaves a certain time after parking and stopping the vehicle before it starts with a door opening, then in this interval in the adjacent parking box, which was previously free, a vehicle may be parked. It is also possible that in this period, a vehicle is parked and by another vehicle, which is then parked in a different position than the vehicle previously located in the parking space, which was measured during the parking process by a distance sensor. Thus, the environment map at the time is no longer up to date, to the actual exit process and the opening of the vehicle door done. Therefore, information derived from the environment map, such as a maximum door opening angle for a collision-free door opening, may be incorrectly detected, resulting in inadvertent collisions without a driver or passenger warning.

The invention is therefore based on the technical object to provide an improved method and improved apparatus for collision avoidance.

The object is achieved by a device having the features of claim 1 and a method having the features of claim 5. Advantageous embodiments of the invention will become apparent from the dependent claims.

The invention is based on the idea of validating the environment map after the vehicle has come to a standstill for a region in which there are areas of the environment map which are not detectable by those environmental sensors, which are referred to here as first environment sensors, which represent the original detection of the environment Environment map are used. For example, if a vehicle has ultrasonic sensors in the area of a front and a rear bumper, the contours of vehicles parked in adjacent parking boxes can be detected during the parking process by the ultrasonic measurement sensors in the front or rear bumper and displayed correctly in the environment map. However, at the time when the vehicle comes to a standstill, there are some areas which are in a swivel range of vehicle doors, for example, which can not be detected by the ultrasonic sensors disposed on the front or rear bumpers and inspected for existence of obstacles and objects , In general, individual distance sensors, such as ultrasound sensors operating according to the pulse-echo method, can only adequately determine a contour of adjacent objects when interacting. A contour can be precisely detected only due to the self-motion of the vehicle and the associated large number of detection positions for distances in the fixed reference system. For an area comprising at least one of these areas whose object freedom is important for collision-free movement of a vehicle component, it is now monitored with a second sensor or sensors whether there is movement of objects in that area relative to the stagnant vehicle gives. If this is the case, then the environment map is modified accordingly, for example, the areas of the so surveyed area as no longer current and no longer reliable or marked as invalid. This information can be used to adjust control or warning information for collision-free door opening accordingly.

In particular, there is proposed a device for a vehicle for collision avoidance, in particular for collision avoidance of a vehicle door with an object of the environment during opening, which comprises: one or more first environment sensors whose measurement data provide information about a distance of objects in the surroundings of the vehicle, and an evaluation and fusion device, which determines an environment map of the vehicle on the basis of the measurement data of the one or more first environment sensors, on the basis of which a probability indication for an existence of an object in this single area can be derived for individual areas in the environment of the vehicle, as well as a prediction device, which is designed to determine and provide control and / or warning information for a collision-free predicted movement of the vehicle component, wherein the collision freedom of the predicted movement of the existence probability of an object in at least one excellent area, with at least one second environment sensor is coupled to the evaluation and fusion device, which is designed to detect after a standstill of the vehicle movement of an object relative to the vehicle at least in an area of the environment of the vehicle, which comprises the at least one excellent area and the evaluation - And fusion device is adapted to change the environment map in a detected movement of an object relative to the vehicle in the one area so that at least the probability derived from the environment map for the at least one designated area probability indication is changed. An identification of the environment map or of areas of the environment map as invalid represents such a change. Such a device is capable of plausibility with the at least one second environment sensor the environment map for a large area and in case of a detected movement in the monitored area to provide information indicating that the environment card information is no longer reliable. The control and warning information, which can be used either for controlling, actively limiting a door opening or only for outputting a warning signal in conjunction with a recognized opening by a corresponding opening angle, can thus be adapted adequately to the current situation. Far away the at least one excellent area is usually not in the current measuring range of the one or more first environment sensors. In particular, if this additional condition is fulfilled with respect to the at least one designated area, a plausibility check of the probability information for this at least one designated area with the first environment sensors is not possible.

A corresponding method for collision avoidance of components of a vehicle comprises the steps: acquiring environmental data by means of first environment sensors during vehicle operation, creating an environment map by measurement data fusion, based on which for individual areas in the environment of the vehicle in each case a probability indication for an existence of an object in Predicting a collision-free movement of the vehicle or a vehicle component based on the environment map, wherein the collision freedom of the predicted movement on the probability of existence of an object in at least one excellent area is dependent, and providing control and / or warning information for the predicated collision-free movement, wherein by means of at least one second environmental sensor is measured when the vehicle is stationary, whether in an area comprising the at least one excellent area, e is moved in object relative to the vehicle, and if so, the environment map in the one region is changed so that at least the probability derivable from the environment map for the at least one designated region is changed. This affects the derivation of the control and warning information required for the predicted collision-free motion a vehicle component can be determined via the vehicle itself after a standstill or during standstill. This method is particularly advantageous if, on the basis of the environment map, it is possible to derive a probability indication for at least one excellent area that is not in the current measuring range of the one or more surroundings sensors.

Particularly preferably, the first environment sensors are measurement sensors which operate according to an echo pulse measurement method. For example, these may be ultrasound sensors, which are installed, for example, in a front and / or a rear bumper of the vehicle and are used in a parking assistance system, for example for approach recognition to objects.

The at least one second environment sensor is preferably a Doppler radar sensor. In this, a frequency shift between the transmitted radar signal and the received reflected radar signal is evaluated to derive, using the Doppler law, a relative velocity associated with the frequency shift. With such a sensor, a relatively large measuring range can be reliably monitored for relative movements of objects in the environment.

In contrast to most other assistance systems known in vehicles, it is preferably provided that detection of the surroundings by means of the at least one second surroundings sensor is carried out for a predetermined period of time after the vehicle has come to a standstill and is at a standstill, even if the ignition of the vehicle is stopped Vehicle is switched off. Within this predetermined period of time, which may preferably be a few minutes, for example up to 5 minutes or 15 minutes, the environment of the vehicle is monitored. A vehicle user who does not get off immediately after reaching a standstill, for example, just because also in a neighboring parking space or parking box another vehicle on or off, can rest assured that the control and / or warning information, which to avoid Door collisions with objects in the environment are used correctly, and inconsistencies in the environment map, which can lead to a derivation of incorrect or incorrect control or warning information, are reliably avoided.

In one embodiment it is provided that the measurement of the environment is adjusted by means of a second environmental sensor, if one or all vehicle components whose collision-free predicted movement is dependent on the likelihood of existence of an object in the at least one designated area or a further designated area excellent range not in the current measuring range of However, one or more first environmental sensors lies in the area in which the at least one second environmental sensor detects movement of an object, is opened and closed again. In this case, it is assumed that the person has left the vehicle and a renewed exit process is not expected.

In order to be able to validate the information known from the environment map when the door is opened, it is provided in one embodiment to arrange the at least one second surroundings sensor on the movable vehicle component for which a movement is predicted. For example, if it is a vehicle door, the at least one second environment sensor, for example a Doppler radar sensor, is arranged on the vehicle door. The arrangement is such that it is preferably arranged in a region of the door which has the greatest possible distance from the pivot axis of the door. In the event that according to the environment map no objects are arranged laterally adjacent to the door in the environment, a plausibility check during the door opening can be characterized in that even when opening the door no relative movement of the at least one second sensor which is attached to the door detected becomes. However, if an object is present next to the vehicle, then a second environment sensor, which is designed as a Doppler radar sensor, due to the proper movement of the vehicle component when opening, for example, the swung open door, detect a relative movement between this swung door and the stationary object located in the surrounding.

A Doppler radar initially only provides velocity information. However, it is also desirable to determine a distance information. It is therefore provided in a particularly preferred embodiment that, at least during the movement of the vehicle component for which a predicted collision-free movement has been determined, the reflected radar signal is evaluated only in evaluation time windows which are shorter than the transmission time window during which the radar signal is transmitted. The location and length of the evaluation time window relative to a start of the transmission time window, ie, at the beginning of the radar signal transmission, determines the range of distances in which an object can be located which has caused the reflection of the radar signal. In this case, only the onset of the reflected radar signal is important since a transmission of the radar signal, ie a transmission duration is longer than that time span, which requires a radar signal for the travel of the paths relevant for a collision warning. It is therefore crucial whether the onset of a reflection signal can be determined in an evaluation interval. Since very short distances are of interest, an evaluation time window is set as close as possible to a beginning of the transmission time window. An object freedom or an object existence can also be determined with a Doppler radar.

In order to comply with the legal requirements regarding a frequency width of the radar signal emitted, this is repeatedly transmitted in the form of a CW signal. A sampling frequency of the reflected signal must be adjusted according to the sampling theorem so that a frequency shift due to the Doppler effect can be determined. The radar transmission, although carried out in repeated steps, is regarded as a CW transmission since a transmission duration is substantially greater than a period of the transmitted vibrations.

If a sampling takes place in a detection time window which is close enough to the start of transmission and has a time-limited duration, it is possible to deduce from the onset of the reflection signal a distance of the object at which the reflection took place.

In another embodiment, an amplitude of the reflected radar signal is evaluated to derive a distance therefrom. The smaller the amplitude, the greater the distance to the object where the reflection took place. However, this method is less accurate because the amplitude also includes properties of the object which influence a reflection strength.

Fig. 1

eine schematische Darstellung eines Fahrzeugs im Stillstand in einer Einparkumgebung und

Fig. 2a - 2d

ein Fahrzeug im Stillstand in einer Parkplatzumgebung, wobei die unterschiedlichen Figuren sich in zeitlicher Abfolge ergebende Umfeldsituation darstellen.

The invention will be explained in more detail with reference to a drawing. Hereby show:

Fig. 1

a schematic representation of a vehicle at a standstill in a parking environment and

Fig. 2a - 2d

a vehicle at a standstill in a parking lot environment, wherein the different figures represent in a sequential environment resulting environment.

In Fig. 1 is schematically illustrated a vehicle 1 in an environment 2 in a parking lot. The vehicle 1 is parked on a parking box 301, which is partially bounded at a front end 302 by a wall 3. The wall 3 represents an object in the environment 2 of the vehicle 1. Located next to the vehicle 1 at the time of parking is a neighboring vehicle A 4, which is parked in a neighboring parking box 303. The vehicle 1 comprises a parking assistance system 10, which comprises first environmental sensors 11 which are arranged on a front bumper 12 and a rear bumper 13. At least some of the first environment sensors 11 are designed such that during the parking process they also detect objects, such as the neighboring vehicle A 4, when driving sideways.

The first environmental sensors 11 are preferably measuring sensors which operate according to a pulse-echo measuring method. For example, it may be ultrasonic sensors. These emit a short ultrasonic pulse and evaluate a time between the emission of the ultrasonic pulse and a reception of a reflected ultrasonic pulse. In this way, a distance to an object 3, 4 in the environment 2 of the vehicle 1 can be determined by the corresponding first environment sensor 11. An environment map 30 can be created via a measurement data sensor fusion of many measurements. This is carried out by an evaluation and fusion device 22 of a control unit 20.

This control unit 20 additionally evaluates information about the intrinsic motion of the vehicle in order to be able to fuse the measurement data acquired at different times and at different positions in the surroundings of the vehicle assumed to be stationary.

In FIG. 1 is shown schematically the environment map 30, which has detected the vehicle 1 during the parking process of the environment 2. In addition to the own vehicle 31, the detected wall 32 and the other vehicle A 33 are recognizable as contours. A person skilled in the art knows from the prior art how an environment map can be derived on the basis of measurement data of first environment sensors 11, which work according to an impulse-echo measurement method. This is preferably subdivided into individual cells or regions, for which, based on the measurement data, probability information for the individual regions or cells is derived, which indicate whether an object is located in the region of the environment to which the cell or the region of the environment map is assigned or the corresponding area is free of objects. As a rule, only the outer contours of the objects 3, 4 in the environment 2 of the vehicle 1 are of interest for collision avoidance.

A collision avoidance device 40, which is at least partially implemented by means of the control device 20, additionally comprises a prediction device 24, which can predict movement based on data from the environment map 30 for a vehicle component, for example a front vehicle door 61 or a rear vehicle door 62. The prediction device 24 determines which movements of the vehicle components, here the doors 61, 62, are possible without colliding with one of the objects 3, 4 in the environment 2 of the vehicle 1. In this case, the prediction device 24 determines, for example, those region of the environment or the associated environment map through which the vehicle component moves during a movement. Checked on the basis of the probability data of the environment map, whether a collision with an object is to be expected or not.

In FIG. 1 For example, the vehicle components, the front door 61, and the rear door 62 are each shown in an open position. About circular arcs 63, 64, the corresponding pivot radii are indicated. It can be seen that immediately after parking the vehicle 1 in the parking box 301, both the front vehicle door 61 and the rear vehicle door 62 can be opened without a risk of collision with the neighboring vehicle A 4. Remains the driver or a passenger after the immediate parking still for a certain time in the vehicle, so the environment 2 of the vehicle 1 may change. For example, the neighboring vehicle A 4 can park out of the neighboring parking box 303 and park another neighboring vehicle B 5 in the same neighboring parking box 303, but come to a standstill in another position. Furthermore, the further neighboring vehicle B 5 has different dimensions and thus a different outer contour 7 than the neighboring vehicle A 4 originally located in the neighboring parking box 303. It can be clearly seen that swiveling up the doors 61, 62 would now lead to a collision with the further neighboring vehicle B 5.

The collision avoidance device, which is partially implemented in the controller 20, should help to avoid these situations. For this purpose, at least one second surroundings sensor, in the illustrated embodiment, two further second environment sensors 51, 52 are provided, which are arranged on the vehicle doors 61, 62 as close as possible to those locations which define the maximum pivot radius. The second environment sensors 51, 52 are designed as Doppler radar sensors. These are able to monitor in each case a larger area 110 laterally adjacent to the vehicle 1 with respect to objects moving relative to the vehicle. This area 110 comprises at least one excellent area 162 which, on the one hand, is essential for a collision-free movement possibility of the corresponding vehicle component, eg a vehicle. B. the front door 61 or rear door 62, and on the other hand is not in the measuring range of the first environment sensors 11 at a standstill of the vehicle 1. Schematically, two such designated regions 161, 162 in FIG FIG. 1 indicated. In the closed state of the doors 61, 62, the second environment sensors 51, 52 simultaneously monitor, alternately, the area 110, which includes at least excellent area 161, 162 necessary for the collision-free movement of the vehicle component, the second environment sensor 51, 52 assigned. As a rule, a second environment sensor 51, 52 can take over the area 110 for a number of movable vehicle components with regard to possible movements which make an environment map implausible. In this case, it is possible for a plurality of movable vehicle components to be assigned to a second environment sensor 51, 52 for the plausibility of monitoring environment map, and for a plurality of excellent areas 161, 162 to be detected and monitored by means of a single second environment detection sensor.

If, after parking and stopping the vehicle 1 by means of the second environment sensors 51, 52 or only one of these second environment sensors 51, 52 detects a relative movement of an object, for example here of the parked neighboring vehicle A 4, the information in the environment map 30, the objects laterally next to the vehicle 1, 31, marked as invalid.

While the prediction device 24 immediately after parking in the parking box 301 for opening the front vehicle door 61 and the rear vehicle door 62 each predicts that they can be opened up to a maximum possible opening angle and this information as control and / or warning information about a Provided interface 26, after the detection of the vehicle movement and the invalidation of part of the environment information of the environment map 30 by the prediction means 24 changed control and / or warning information is provided via the interface 26.

The control and / or warning information can be forwarded, for example, to a further control unit 70 which monitors angle measuring sensors 81, 82. The further control unit 70 thus determines a current opening angle of the front vehicle door 61 via the angle measuring sensor 81 and the rear vehicle door 62 via the angle measuring sensor 82. If the vehicle doors 61, 62 are opened immediately after parking, they are still completely valid at one time on the surroundings map 30 is, in the illustrated situation, no warning signal is output. If, on the other hand, the prediction unit had determined that only a limited door opening angle range is available for one of the two vehicle doors 61, 62, a warning signal would be output at an output device 100, for example as a loudspeaker, at least at a specific opening angle which is smaller than this determined opening angle is formed, spent. It is also possible, via an actuator 91 or 92, which are associated with the vehicle doors 61 and 62, a door opening up to the determined maximum allowable angle for a collision-free opening at the request of a vehicle occupant causes. Likewise, the actuators may be configured to prevent opening of the doors 61, 62 beyond the determined maximum opening angle for collision-free opening of the corresponding vehicle doors 61, 62.

At a later time, after the information in the environment map 30 are invalidated at least in some areas, for example, when opening the vehicle door immediately a warning signal via the output device can be issued to inform the driver or the passenger that the collision avoidance device 40th is unable to determine the maximum allowable angle for a collision-free opening. In order to assist the driver or front passenger in such situations, the second environment sensors 51, 52 can also be operated so that they are used during the opening movement of the vehicle components, here the vehicle doors 61, 62, to approach an object in the vehicle Environment 2 to capture. If the second environment sensors 51, 52 are designed as Doppler radar sensors, then, for example, only a very short time window can be evaluated after a start of the transmission of the radar signal to received reflected radar signals. This makes it possible to evaluate only a certain distance range in front of the second environment sensor 51, 52 with regard to existing objects or an approach to objects. It is likewise possible to set and evaluate a plurality of different time windows one after the other or in an iterative manner in order to determine in each case for different distance intervals whether an approach to an object located in the respective distance interval is detected. If an object is determined, for example, in the shortest monitored distance interval, control and / or warning information is provided via the prediction unit, which causes the further control unit 70 to output a warning signal via the output device 100 or a movement of the front vehicle door or the rear vehicle door to limit the corresponding associated actuator 91 and 92, respectively.

Another way to detect an approach to an object while moving the front vehicle door or the rear vehicle door via the measurement signals of the corresponding associated second environment sensors 51 and 52, is to evaluate an amplitude of the detected reflected radar signal or the corresponding Doppler radar signal. The greater the amplitude, the closer the object is in the environment 2 of the vehicle 1 to the corresponding moving second environment sensor 51 or 52.

The described collision avoidance device 40 comprises a plurality of components, which in turn may be components of other inputs or devices. The first environment detection sensors 11 and the control device 20 with the evaluation and fusion device 22, as well as the further control device 70 and the output device 100, together form, for example, the parking assistance device 10 in many vehicles. In addition to these components, the embodiment described here comprises the device for collision avoidance 40, the second environment sensors 51, 52 and the prediction device 24.

The individual devices may be formed in different control devices, here denoted by the reference numerals 20 and 70, or a control device. In particular, the evaluation and fusion device 22 and the prediction device 24 can with one or more specialized electronic circuit, a programmable processor unit coupled to a memory, or a combination of both. To store the environment map memory is provided in any case. This may be formed together with a main memory of a processor unit or separately from such.

Based on FIGS. 2a to 2d intended for a similar situation as already related above FIG. 1 is described again as a time sequence graphed. In FIG. 2a is the vehicle 1, which includes first environment sensors 11 and second environment sensors 51, 52, shown in a parked situation next to a neighboring vehicle A 4. During the parking process, an outer contour 6 of the neighboring vehicle A 4 is measured.

In FIG. 2b shows the situation in which the neighboring vehicle A 4 leaves its parking position. The outer contour 6, in which the vehicle was originally located, which is measured by means of the first environment sensors 11, is also in FIG FIG. 2b shown. The second environment sensors 51, 52 or one of the two second environmental sensors 51, 52, which are designed as Doppler radar sensors, already detect during the Ausparkvorgangs the neighboring vehicle A 4, a movement in the environment 2, which implies that the determined contour 6 of the neighboring vehicle A 4 not is more valid.

In Figure 2c the situation is illustrated in which another neighboring vehicle B 5 is parked next to the vehicle 1. Its contour 7 is unknown.

In Figure 2d the situation is illustrated in which the driver wants to open the front vehicle door 61. In a defensive designed variant, the vehicle door 61 can be opened up to an opening angle without intervention of the collision avoidance device, ie without a mechanical limitation or without issuing a warning signal, which should have been possible according to the originally determined vehicle contour. A further opening is possible, or not possible, even without releasing a lock, even if during the pivoting operation no obstacle is detected by the second environment sensor 51, which would hinder further collision-free pivoting. In another embodiment, the collision avoidance device does not respond to the outdated information of the environment map, but allows a vehicle door opening, as long as due to the second environment sensor 51 no approach to an object 5 is detected, which could hinder a collision-free movement.

It will be apparent to those skilled in the art that only exemplary embodiments are described. In particular, the collision avoidance device can not only on a lateral Vehicle doors, but in particular also be applied to tailgates, trunk lid, tilting roofs or the like, it is advantageous if the first environment sensors not only information in a plane, but also, for example, cover a ceiling height or the like.

LIST OF REFERENCE NUMBERS

1

vehicle

2

environment

3

Wall (object)

4

Neighboring vehicle A

5

Neighboring vehicle B

6

Contour of the neighboring vehicle A

7

Contour of the neighboring vehicle B

10

Einpark assistance device

11

first environment sensors

12

front bumper

13

rear bumper

20

control unit

22

Evaluation and fusion device

24

prediction

26

interface

30

environment map

31

own vehicle

32

Wall

33

Vehicle A

40

Collision avoidance device

51, 52

second environment sensors

61

front vehicle door

62

rear vehicle door

63

Circular arcs (swivel radius)

64

Arc (swing radius)

70

another control unit

81

Angular position sensor

82

Angular position sensor

91, 92

actuators

100

output device

110

area

161

excellent area

162

excellent area

301

Parkbox

302

front end

303

Nachbarparkbox

Claims (10)

1. Apparatus for avoiding a collision for a vehicle (1), comprising:

   one or more first environmental sensors (11), the measurement data from which provide an item of information relating to a distance from objects (3, 4) in the environment (2) of the vehicle (1), and an evaluation and merging device (22) which uses the measurement data from the one or more first environmental sensors (11) to determine an environmental map (30) for the vehicle (1), on the basis of which map a probability statement for an existence of an object (3, 4) in individual regions in the environment (2) of the vehicle (1) can be respectively derived for these individual regions, the environmental map being able to be used to derive a probability statement for at least one marked region (161, 162) which, for a collision-free movement of a vehicle component, is not in the current measurement range of the one or more first environmental sensors (11) when the vehicle (1) is at a standstill, and a prediction device (24) which is designed to determine and provide control and/or warning information for a collision-free predicted movement of a vehicle component (61, 62) on the basis of the environmental map (30), the collision-free nature of the predicted movement being dependent on the probability of the existence of an object (4, 5) in the at least one marked region (161, 162), characterized in that at least one second environmental sensor is coupled to the evaluation and merging device (22) and is designed to detect a movement of an object relative to the vehicle when the vehicle (1) is at a standstill at least in an area (110) of the environment of the vehicle which comprises the at least one marked region, and the evaluation and merging device (22) is designed to change the environmental map, if a movement is detected in the one area (110), in such a manner that at least the probability which can be derived from the environmental map for the at least one marked region is changed.
2. Apparatus according to Claim 1, characterized in that the at least one second environmental sensor is a Doppler radar sensor.
3. Apparatus according to either of Claims 1 and 2, characterized in that the at least one second environmental sensor (51, 52) is arranged on the vehicle component (61, 62) for which a collision-free movement is predicted.
4. Apparatus according to Claim 2 or 3, characterized in that the Doppler radar sensor is designed to detect or evaluate the reflected cw radar signal only in a receiving time window in order to determine an additional item of distance information with respect to an object (4, 5), the relative movement of which is detected, and/or to discriminate object movements of remote objects.
5. Method for avoiding a collision between movable components of a vehicle and objects in the environment of the vehicle, comprising the steps of:

   acquiring environmental data with the aid of first environmental sensors (11) during driving operation of the vehicle (1) and creating an environmental map (30) by means of measurement data merging, on the basis of which map a probability statement for an existence of an object (3, 4, 5) in individual regions in the environment (2) of the vehicle (1) can be respectively derived for these individual regions, predicting a collision-free movement of a vehicle component (61, 62) on the basis of the environmental map (30) for the vehicle (1), the collision-free nature of the predicted movement being dependent on the probability of the existence of an object (4, 5) in the at least one marked region (161, 162), and providing control and/or warning information for the predicted collision-free movement, characterized in that at least one second environmental sensor (51, 52) is used to measure, when the vehicle (1) is at a standstill, whether an object (4, 5) is moving relative to the vehicle in an area (110) which comprises the at least one marked region (161, 162) and, if this is the case, the environmental map (30) is changed in the one area (110) in such a manner that at least the probability which can be derived from the environmental map for the at least one marked region (161, 162) is changed.
6. Method according to Claim 5, characterized in that the vehicle component is a vehicle door (61, 62) and the pivoting movement of the vehicle door is predicted and the control and/or warning information comprises a maximum door opening angle up to which the door can be opened without a collision on the basis of the probability information derived from the environmental map (30).
7. Method according to Claim 5 or 6, characterized in that the at least one second environmental sensor (51, 52) is used to carry out measurements for a predefined period after the vehicle (1) has come to a standstill and is at a standstill, even if the ignition of the vehicle (1) is switched off.
8. Method according to one of Claims 5 to 7, characterized in that the measurement by means of the second environmental sensor (51) is adjusted if one or all vehicle components, the collision-free predicted movement of which is dependent on the probability of the existence of an object (4, 5) in the at least one marked region (161) or in a further marked region (162), has/have already been moved once, a collision-free nature of a movement of at least one further component (62) being dependent on a probability of the existence of an object (4, 5) in the further marked region (162).
9. Method according to one of Claims 5 to 8, characterized in that the environmental map or at least those regions of the environmental map which are in the area (110) measured by the second environmental sensor is/are labelled as invalid.
10. Method according to one of Claims 5 to 9, characterized in that the second environmental sensor is used to carry out a radar Doppler measurement, and in that the at least one second environmental sensor (51, 52) is arranged on that vehicle component (61, 62) whose movement is predicted, and a reflected radar signal is evaluated only in evaluation time windows which are shorter than transmission time windows during which the radar signal is emitted, and received reflected radar signals are used in the evaluation time windows to estimate an item of distance information with respect to an object which is moving relative to the vehicle component (61, 62).

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