EP3219894B1 - Method and device for controlling the movement of a door of a vehicle and vehicle - Google Patents

Description

The invention relates to a method and a device for controlling the movement of a closure device of a vehicle as well as a vehicle.

From the prior art vehicles are known which allow the control of a motorized opening of tailgates by user movements. For example, it can be provided that a user-side foot movement causes a motorized opening of a tailgate.

It is also known that rear parking sensors of motor vehicles are used for sensory detection of possible collisions with a motor vehicle environment. In the case of a positive detection of such obstacles, the control of the tailgate can be deactivated. This is for example in the DE 10 2012 013 065 A1 described further discloses a method for driving a closure element assembly of a motor vehicle. Furthermore, this publication discloses a sensor arrangement with a sensor element designed as a proximity sensor for detecting a predetermined operating event. The document does not contain any further details for the execution of the sensor elements.

Next is known the DE 10 2009 055 778 A1 , which discloses a tailgate control device for opening a tailgate, wherein the tailgate control unit detects, via which control a command for opening the tailgate is received. If the control is a remote control, then a period of time is waited in which a measurement of the trailer assignment can be done reliably.

Next is known the DE 10 2012 209 048 A1 document disclosing a method for detecting obstacles in the opening area of at least one tailgate of a vehicle. It is checked if a trailer is connected to the vehicle. Furthermore, the surroundings of the vehicle are detected and objects are detected, wherein recognized objects are classified as obstacles in the opening region of the at least one tailgate. The opening of the tailgate is blocked in the event of a detected obstacle in the opening area or it is the maximum opening angle of at least one tailgate on the obstacle-free

Opening range limited. The document does not describe a method for the non-contact generation of control signals for the movement of the tailgate.

The DE 10 2011 013 766 A1 discloses a device and a method for detecting objects in the swivel range of a vehicle door of a vehicle, wherein means are provided by means of which a swivel operation of the vehicle door can be interrupted in the case of an object detected in the swivel range.

The WO 2012/084222 A1 discloses a method of automatically actuating a closure member of a vehicle and a corresponding apparatus and vehicle.

The US 2011/295469 A1 discloses a contactless obstacle detection for automatic doors.

The FR 2 906 831 A1 discloses a method and apparatus for motorized opening of a vehicle.

The US 2009/000196 A1 discloses systems and methods for preventing contact of vehicle doors with obstacles.

This raises the technical problem of providing a method and a device for controlling the movement of a closure device of a vehicle and a vehicle, which increase operational safety in the operation of the closure device and minimize space requirements.

The solution of the technical problem results from the objects with the features of claims 1, 6 and 7. Further advantageous embodiments of the invention will become apparent from the dependent claims.

Proposed is a method for controlling the movement of a closure device of a vehicle. The vehicle may in particular be a motor vehicle. The closure device may comprise, in particular as a movable part, a vehicle door, for example a tailgate of the vehicle. The closure device may further comprise at least one drive device for generating drive energy for moving the movable part from a closed to an open state or vice versa. Of course, the closure device and at least one coupling device for mechanical connection of the drive device with the movable part of the closure device comprise. In other words, by means of the method, at least one movable part of the closure device can be moved between an open and a closed state. In this case, no manual actuation of the movable part by an operator is necessary. The movement of the movable part can thus be actuator-supported or motorized.

A detection region of at least one optical sensor comprises at least one movement region of the movable part of the closure device. In this case, the movement region may denote a spatial region in or through which the movable part is movable. Of course, the detection range may be greater than the range of motion. For example, the detection area may also include an area around the movement area.

The optical sensor is preferably a distance sensor. By means of the optical sensor is a, preferably two-dimensional, image of the detection area generated.

For example, intensity values of pixels of the image may represent a distance from the optical sensor.

Furthermore, image-based objects are detected in the detection area. Thus, one or more objects in the detection area can be detected. Image-based can in particular mean that an evaluation of the generated image takes place, for example an evaluation of intensity values of the pixels. Corresponding methods are known to the person skilled in the art and can include methods of image processing. The image-based detection can be carried out, for example, by an evaluation device.

Furthermore, a motion trajectory is determined image-based for detected objects. For this purpose, it is possible, in particular, to evaluate images generated one after the other in temporal succession. In this case, the movement trajectory of the detected object can in particular be an already executed movement trajectory. In this case, the movement trajectory can designate a spatial sequence of object positions in the detection area. The determination of a movement trajectory here also includes determining a stoppage of an object.

Furthermore, depending on the movement trajectory, a control signal for a movement, in particular an opening or closing, of the closure device is generated in an activation region. The activation area here refers to a subarea of the coverage area. Thus, the detection area includes the activation area. In other words, the activation area is spatially smaller than the detection area.

For example, it can be detected whether at least a portion of the movement trajectory is within the activation range. Furthermore, it can be determined whether the movement trajectory of the detected object carried out in the activation area corresponds to a predetermined trajectory or differs less than a predefined amount from this predetermined movement trajectory. In this case, the motion trajectory of the motion trajectory may correspond to a non-contact control gesture. If this is the case, a control signal for moving the movable part of the closure device from a closed state to an open state or vice versa can be generated. This control signal can then be transmitted to the closure device, for example a control device of the closure device.

If the movement trajectory of the detected object in the activation range deviates more than the predetermined extent from the motion-based movement trajectory determined by the image, or if the movement trajectory is outside the activation range, then no control signal is generated. Furthermore, an object type is additionally determined image-based for objects detected in the detection area. Alternatively or cumulatively, an object position can also be determined. If a plurality of objects are detected in the detection area or if several objects have been detected, an object type and / or an object position and / or a movement trajectory can be determined image-based for each of these objects.

Furthermore, the movement of the movable part is prevented or interrupted as a function of the determined object type and / or the specific position and / or the determined movement trajectory.

According to the invention, the automatic movement is prevented or interrupted when a vehicle trailer is determined as the object type and the position of the vehicle trailer and / or at least a portion of the movement trajectory of the vehicle trailer is within the range of movement of the movable part.

The vehicle trailer may be in a coupled or uncoupled state.

Further, it is determined whether the vehicle trailer is in a coupled or uncoupled condition, e.g. B. by suitable means for detecting the coupling state. For this purpose, for example, it can be detected whether an electrical Connection between the vehicle and the trailer is made or broken. Of course, other methods for detecting the coupled or uncoupled state can be performed.

If a coupled condition is determined, the movement is prevented or interrupted when the position of the vehicle trailer is within the range of motion. Furthermore, it is possible that in this case no movement trajectory of the vehicle trailer is determined.

If an uncoupled state is determined, then the movement is prevented or interrupted when a position of the movement trajectory of the vehicle trailer is within the range of movement.

This results in an advantageous manner that, especially in the coupled state or in a state of a possible coupling of the vehicle trailer does not automatically deactivate the actuator-based movement. Rather, it is evaluated whether a collision between the moving part and the trailer is possible. Thus, a reliability of the closure device is guaranteed even with the trailer hitched.

In a further embodiment, the movement is prevented or interrupted if a non-human object, in particular a vehicle trailer, is detected as the object type and the object position and / or a position of the movement trajectory of the object lies in the activation area. If a non-human object or a section of the movement trajectory of such an object is located in the activation area, the detection of a movement trajectory of a user can be prevented or made more difficult and, in particular, erroneous. By preventing or interrupting the risk of unwanted movement of the movable part, e.g. due to an erroneously detected movement trajectory advantageously reduced.

In a further embodiment, the object type is determined image-based. For example, the object type can be determined depending on image features. In this case, a predetermined object type can be assigned at least one predetermined image feature. If this image feature is detected in a generated image, the object type assigned to this image feature can be determined as the object type. Corresponding methods for the image-based determination of objects and types of objects are known to the person skilled in the art. These may also include image processing techniques.

For example, a vehicle trailer can be detected if predetermined object edges are detected in an image.

Alternatively or cumulatively, the object type can be determined as a function of a course of the movement trajectory. In this case, it can be assumed that objects of specific types of objects execute predetermined movement trajectories.

This results in an advantageous manner a reliable determination of different types of objects, wherein a space required for this purpose of components in the vehicle is not increased.

In a further embodiment, a vehicle trailer is determined as the object type if an image has trailer-specific image features. This and corresponding advantages have already been explained above. Alternatively or cumulatively, a vehicle trailer may be determined as the object type if a position of the movement trajectory corresponds to a position of a trailer hitch of the vehicle or is arranged in a predetermined spatial area about this position of the trailer hitch. In other words, as a type of object, a vehicle trailer can be detected when a detected object moves toward the trailer hitch.

In a further embodiment, the movement is prevented or interrupted when a non-human object is determined for a first object as the object type and the position of the first object is located outside the range of motion but within a predetermined range around the range of motion. Furthermore, this movement is prevented or interrupted when a human object is determined for a further object as the object type and the position of the further object lies in the movement area and between the vehicle and the first object.

In this way, the probability is minimized that the movable part collides with a human person who can not move out of the range of motion due to other objects or only to a limited extent in an advantageous manner.

Further proposed is a device for controlling the movement of a closure device of a vehicle. The device comprises at least one optical sensor and at least one evaluation device. In this case, the optical sensor and the evaluation device can be connected by signal and / or data technology.

The optical sensor has a detection region, wherein the detection region comprises at least one movement region of a movable part of the closure device. By means of the at least one evaluation device, image-based objects can be detected in the detection area and a movement trajectory of a detected object can be determined. Depending on the movement trajectory in an activation region, a control signal for a movement of the movable part of the closure device can be generated. According to the invention, an object type and / or an object position can additionally be determined image-based for objects detected in the detection area. Furthermore, the movement of the movable part of the closure device can be prevented or interrupted depending on the object type and / or the object position and / or the movement trajectory of one or more detected objects.

The apparatus advantageously enables the execution of a method according to one of the embodiments described in this disclosure. Thus, the device is designed such that such a method can be executed by means of the device. In particular, images of the detection range can be generated by means of the optical sensor, wherein these images can be evaluated by means of the evaluation device.

Further proposed is a vehicle, wherein the vehicle comprises at least one device according to one of the embodiments explained in this disclosure. This results in an advantageous manner a vehicle with increased reliability in a non-contact movement of a closure device of the vehicle. At the same time a space requirement of the vehicle is reduced.

In a further embodiment, the detection area of the optical sensor comprises at least part of a rear area of the vehicle. In this case, the closure device may in particular be the tailgate of the vehicle. Alternatively or cumulatively, the detection range of the optical sensor comprises at least part of a vehicle environment in front of a vehicle door. In particular, the detection range may include a movement range of the tailgate and / or vehicle door.

This results in an increased reliability in non-contact controlling a movement of the tailgate and / or a vehicle door.

Fig. 1

eine schematische Seitenansicht eines Fahrzeugs mit einem Anhänger,

Fig. 2

eine weitere schematische Seitenansicht eines Fahrzeugs mit einem Anhänger,

Fig. 3

eine schematische Draufsicht auf ein Fahrzeug und

Fig. 4

ein schematisches Flussdiagramm eines erfindungsgemäßen Verfahrens.

The invention will be explained in more detail with reference to an embodiment. The figures show:

Fig. 1

a schematic side view of a vehicle with a trailer,

Fig. 2

another schematic side view of a vehicle with a trailer,

Fig. 3

a schematic plan view of a vehicle and

Fig. 4

a schematic flow diagram of a method according to the invention.

Fig. 1 shows a schematic side view of a vehicle 1 with a coupled trailer 2 and a device according to the invention. The device comprises an optical distance sensor 3 and an evaluation device 4, which is connected by signal technology to the optical distance sensor 3. The optical distance sensor 3 generates a two-dimensional image of objects in a detection area 5 of the optical distance sensor 3, wherein the detection area 5 is indicated by dotted lines. The detection area 5 comprises a movement area 6 of a tailgate 7 of the vehicle, the movement area 6 being shown by dashed lines.

In the illustrated embodiment, the optical distance sensor 3 is arranged in the region of the vehicle roof. Of course, the optical distance sensor 3 may also be arranged on / in other areas of the vehicle 1, for example in / on the bumper, in / on the tailgate 7, in / on the license plate light.

The vehicle 1 comprises a control device 8 for controlling an actuator-supported movement of the tailgate 7. Furthermore, the vehicle 1 as an actuator comprises a drive device 9 which is mechanically coupled to the tailgate 7. The control device 8 controls an operation of the drive device 9 and thus the movement of the tailgate 7 between an open state (not shown) and in Fig. 1 Shown is a further mechanical coupling between the drive device 9 and the tailgate. 7

Also shown is an activation area 10, which is represented by dashed-dotted lines. The activation area 10 forms a partial area of the detection area 5.

By means of the evaluation device 4, image-based objects in the detection area 5 can be detected. In the in Fig. 1 For example, the coupled trailer 2 can be detected. Further, a human or a human body part can be detected. For example, it is possible for a limb of a person not shown to be detected. Furthermore, by means of the evaluation device 4, a movement trajectory in the detection area 5 and in particular also in the activation area 10 of a detected object can be determined. For this purpose, the evaluation device 4, for example, evaluated temporally successively generated images. In particular, it can be determined by means of the evaluation device 4 whether an object, in particular the human user or his extremity, has carried out a predetermined movement trajectory in the activation region 10. This is the case, for example, if the user has performed a predetermined operating gesture in the activation area.

The activation area 10 may be displayed to a user by displaying an image on a surface of the in Fig. 1 projected lane is projected. For this purpose, the vehicle may comprise a lighting device whose illumination area corresponds to the activation area 10.

If such an operating gesture, ie a predetermined movement trajectory, detected in the activation area 10, the evaluation device 4 generates a control signal for a movement of the tailgate 7 and transmits this control signal to the controller 8. For example, the evaluation device 4 generate a signal to open the tailgate 7 and transmit to the controller 8. This can then generate a corresponding control signal to the drive device 7 and transmitted to this.

Time before and temporally parallel to the generation of the control signal can be detected for detected in the detection area objects, so for example for the in Fig. 1 shown trailer 2, additionally an object type and / or an object position can be determined. Overall, therefore, an object type and / or an object position and / or a movement trajectory can be determined for each object detected in the detection area.

Then, depending on the object type and / or the object position and / or the movement trajectory, the movement of the tailgate 7 can be prevented or interrupted.

For example, in the in Fig. 1 illustrated embodiment, that the vehicle trailer 2 is not arranged in the movement region 6 of the tailgate 7. Furthermore, it can be detected that the vehicle trailer 2 is not arranged in the activation area 10. Furthermore, it can be detected that the vehicle trailer 2 does not execute any movement relative to the vehicle 1 and thus the movement trajectory does not intersect neither the movement area 6 nor the activation area 10. In this case, the movement of the tailgate 7 can not be prevented or interrupted, so released.

A vehicle trailer 2 forms a non-human object. A vehicle trailer 2 may represent an object type in the sense of this invention. The object type can be determined, for example, image-based by the evaluation device 4, in particular by determining object-specific image features. These image features can be assigned to a specific object type. If object-type-specific image features are determined by the evaluation device 4, it is thus possible to assign an object type to a detected object.

In Fig. 2 Another vehicle 1 is shown with a trailer 2 coupled. Unlike the in Fig. 1 illustrated embodiment, a part of the vehicle trailer 2 in the movement area 6 and in the activation area 10 is arranged.

By means of the evaluation device 4, it can be detected image-based that a vehicle trailer 2 is arranged in the detection area 5, this vehicle trailer 2 being arranged both in the movement area 6 and in the activation area 10.

If a user executes an operating gesture in the activation area 10 in this case, then a control signal for moving the tailgate 7 can be generated by the evaluation device 4. At the same time or before the generation of the control signal, however, a deactivation signal can be generated since the vehicle trailer 2 is arranged in the movement region 6 and in the activation region 10.

The deactivation signal can likewise be transmitted to the control device 8. Alternatively, the evaluation device 4 can not transmit a control signal to the control device 8 in this case.

It is possible that the evaluation device 4 determines image-based, at which time a collision takes place between the tailgate 7 and the vehicle trailer 2. For this, e.g. a current opening angle and / or a current opening angular velocity are detected or determined. The deactivation signal can then be transmitted to the control device 8 before the time of the collision. In this case, the tailgate 7 may be at least partially opened when the movement is interrupted. In other words, the triggered by a control gesture remote unlocking and opening / closing of the tailgate 7 can be performed at least partially, but without causing a collision.

Fig. 3 shows a schematic plan view of a vehicle 1 with an optical sensor 3 and an evaluation device 4. Also shown is a detection range 5 of the optical sensor 3. Also shown is a vehicle trailer 2 in not yet coupled, so uncoupled, state. Further illustrated are various partial areas 5a, 5b, 5c of the detection area 5.

By means of the evaluation device 4, image-based detection can be made as to whether an object, in this case the vehicle trailer 2, enters the detection area 5. This can be detected, for example, if an object is detected for the first time in one of the subregions 5a, 5b, 5c.

Furthermore, a movement trajectory 11 of the vehicle trailer 2 can be determined, for example by evaluating images generated in succession one after the other, wherein the movement trajectory also includes future positions of the vehicle trailer 2. Furthermore, it can be detected by means of the evaluation device 4 whether there are further objects, for example a human user, in the partial areas 5a, 5b, 5c, in particular in a first partial area 5a and in a second partial area 5b of the detection area 5. Furthermore, it can be detected whether an authorized user is in the vehicle environment, in particular if a human user has been detected in at least one of the subregions 5a, 5b, 5c. An authorized user can be detected, for example, if a vehicle key authorized to operate the vehicle is identified in the vehicle environment. For this purpose, known methods of the so-called Keyless-Go technology known to those skilled in the art can be used. Furthermore, the generation of the control signal for a movement of the movable part of the closure device can only take place if an authorized user in the vehicle environment has been detected.

Here, the in Fig. 1 Activation region 10 shown, for example, be arranged only in the first and second sub-area 5a, 5b.

Furthermore, depending on the movement trajectories of the detected objects determined by the evaluation device 4, it can be determined whether an object and which object is approaching the vehicle.

In the in Fig. 3 illustrated embodiment may be determined in particular that the vehicle trailer 2 moves toward a trailer hitch 12 of the vehicle 1. Image-based and depending on the thus determined movement trajectory 11, the object type "vehicle trailer" can be determined as the object type for the vehicle trailer 2.

Furthermore, it can be detected whether a further object, in particular a human object, is located in the first and second subregions 5a, 5b. It can also be detected whether such an object stands still in the detection area 5, in particular in the partial areas 5a, 5b.

Furthermore, in particular if an authorized user has been detected in the vehicle environment, in particular in one of the subregions 5a, 5b, 5c, which in Fig. 1 illustrated activation area 10 are visualized, for example, by the previously explained projection. The visualization can in particular only take place if, in addition, a still standing human object in the detection area 5 has also been detected.

Furthermore, in one of these cases it can be checked in time after the detection whether an operating gesture for opening the tailgate 7 in the activation area 10 has been carried out.

It can also be determined whether the vehicle trailer 2 or a section of the movement trajectory 11 in the range of motion 6 (see, eg Fig. 1 ) is located. Is that the case, so, as previously explained, opening the tailgate 7 can be prevented or interrupted.

If other movement patterns of a human object and / or the vehicle trailer 2 are detected or no authorized user is detected, then the activation area 10 can not be visualized and no determination of a movement trajectory in the activation area 10 can be performed.

In Fig. 4 is shown a schematic flow diagram of a method according to the invention. In a first step S1, objects in a detection area 5 (see FIG Fig. 1 ) detected. The first step S1 is executed repeatedly, in particular periodically. For each detected object, an object position and an object type are determined in a second step S2. This is image-based. Furthermore, in particular by a repeated determination of object positions, a movement trajectory of objects can be determined.

In a third step S3, the movement trajectories, the object positions and the object types of detected objects are evaluated, wherein, depending on this evaluation, an opening or closing of a tailgate 7 (see FIG Fig. 1 ) of the vehicle is released, prevented or interrupted.

LIST OF REFERENCE NUMBERS

1

vehicle

2

pendant

3

optical sensor

4

evaluation

5

detection range

5a, 5b 5c

subregion

6

range of motion

7

tailgate

8th

control device

9

driving means

10

activation area

11

movement trajectory

12

trailer hitch

S1

first step

S2

second step

S3

Third step

Claims (8)

1. A method for controlling the movement of a closing device of a vehicle (1), wherein a detection region (5) at least of one optical sensor (3) comprises at least one range of movement (6) of a movable part of the closing device, wherein by evaluation of the generated image objects are detected based on images in the detection region (5), wherein for detected objects a movement trajectory (11) is determined based on images, wherein in dependence on the movement trajectory (11) in an activation region (10) a control signal for a movement of the movable part of the closing device is generated, wherein for objects detected in the detection region (5) in addition an object type and/or an object position is determined based on images, wherein the movement of the movable part of the closing device in dependence on the object type and/or the object position and/or the movement trajectory (11) is prevented or interrupted, wherein the movement is prevented or interrupted, if a non-human object is determined as the object type and the position of the object and/or at least a section of the movement trajectory (11) of the object lies in the range of movement (6) of the movable part, characterized in that
   the movement is prevented or interrupted, if a vehicle trailer (2) is determined as the object type and the position of the vehicle trailer (2) and/or at least a section of the movement trajectory (11) of the vehicle trailer (2) lies in the range of movement (5) of the movable part wherein it is determined, whether the vehicle trailer is located in a coupled or decoupled state, wherein in the coupled state the movement is prevented or interrupted, if the position of the vehicle trailer lies in the range of movement, wherein in the decoupled state the movement is prevented or interrupted, if a position of the movement trajectory of the vehicle trailer lies in the range of movement.
2. The method according to Claim 1, characterized in that the movement is prevented or interrupted, if a non-human object is detected as the object type and the object position and/or a position of the movement trajectory (11) of the object lies in the activation region (10).
3. The method according to any one of Claims 1 to 2, characterized in that the object type is determined based on images and/or in dependence on a course of the movement trajectory (11).
4. The method according to Claim 3, characterized in that a vehicle trailer (2) is determined as the object type, if an image has a trailer-specific image feature and/or if a position of the movement trajectory (11) corresponds to a position of a trailer coupling (12) or is arranged in a predetermined spatial region around this position.
5. The method according to any one of the preceding claims, characterized in that the movement is prevented or interrupted, if for a first object a non-human object is determined as the object type and the position of the first object lies outside the range of movement (6) but within a predetermined range around the range of movement (6) and if for a further object a human object is determined as the object type and the position of the further object lies in the range of movement (6) and between the vehicle (1) and the first object.
6. A device for controlling the movement of a closing device of a vehicle, wherein the device comprises at least one optical sensor (3) and at least one evaluation device (4), wherein the optical sensor (3) has a detection region (5), wherein the detection region (5) comprises at least one range of movement (6) of a movable part of the closing device, wherein by means of the at least one evaluation device (4) by evaluation of the generated image objects can be detected based on images in the detection region (5) and a movement trajectory (11) of a detected object can be determined, wherein in dependence on the movement trajectory (11) in an activation region (10) a control signal for a movement of the movable part of the closing device can be generated, wherein for objects detected in the detection region (5) in addition an object type and/or an object position can be determined based on images, wherein the movement of the movable part of the closing device in dependence on the object type and/or the object position and/or the movement trajectory (11) can be prevented or interrupted, wherein the movement can be prevented or interrupted, if a non-human object is determined as the object type and the position of the object and/or at least a section of the movement trajectory (11) of the object lies in the range of movement (6) of the movable part, characterized in that
   the movement can be prevented or interrupted, if a vehicle trailer (2) is determined as the object type and the position of the vehicle trailer (2) and/or at least a section of the movement trajectory (11) of the vehicle trailer (2) lies in the range of movement (5) of the movable part wherein it can be determined, whether the vehicle trailer is located in a coupled or decoupled state, wherein in the coupled state the movement can be prevented or interrupted, if the position of the vehicle trailer lies in the range of movement, wherein in the decoupled state the movement can be prevented or interrupted, if a position of the movement trajectory of the vehicle trailer lies in the range of movement.
7. A vehicle, wherein the vehicle (1) comprises at least one device according to Claim 6.
8. The vehicle according to Claim 7, characterized in that the detection region (5) of the optical sensor (3) comprises at least one part of a rear area of the vehicle (1) and/or at least one part of a vehicle environment in front of a vehicle door.

Images