EP3221197A1

EP3221197A1 - Door assistance system for a vehicle

Info

Publication number: EP3221197A1
Application number: EP15826136.2A
Authority: EP
Inventors: Christoph Hassenpflug
Original assignee: Conti Temic Microelectronic GmbH
Current assignee: Conti Temic Microelectronic GmbH
Priority date: 2014-11-20
Filing date: 2015-11-10
Publication date: 2017-09-27
Also published as: US20170314318A1; KR20170085033A; DE112015003779A5; DE102014223742A1; CN107000639A; JP2018505325A; WO2016078657A1

Abstract

The invention relates to a door assistance system (1) for a vehicle (F) for preventing damage to vehicle doors (T1-T4) and/or vehicle opening panels (T5) caused by external objects when vehicle doors (T1-T4) and/or vehicle opening panels (T5) are opened. Said system comprises: a calculation unit (7), which evaluates an environmental data model, detected by sensors, of the surroundings of the vehicle (F), in order to determine a space around the vehicle (F) that is free of external objects (H1, H2, O), and which calculates maximum permissible open positions for the various vehicle doors (T1-T4) and/or vehicle opening panels (T5) of the vehicle (F) within the free space that has been determined; and a locking unit (8), which locks a vehicle door (T1-T4) and/or vehicle opening panel (T5) of the vehicle (F) when same is opened to the corresponding maximum permissible open position of the respective vehicle door (T1-T4) and/or vehicle opening panel (T5), in order to prevent contact with an external object and/or to provide entry or exit assistance.

Description

Door assistance system for a vehicle

The invention relates to a door assistance system for a vehicle for preventing door damage to vehicle doors and / or vehicle doors by external objects when opening vehicle doors and / or vehicle doors and to facilitate entry and exit.

Conventional vehicles have several vehicle doors and vehicle doors. Passenger cars usually have two or four vehicle doors and a trunk or tailgate. In addition, most vehicles have an engine compartment door. In many cases, vehicles also have a sunroof on top of the vehicle body ^¬ rie. In conventional vehicles, which are parked for example in parking spaces, it may happen that when you open a vehicle door or vehicle door, this bounces against an external object, in particular a parked next to it, so that scratches or paint damage caused by one or both vehicles.

It is therefore an object of the present invention to provide an apparatus and a method which damage the vehicle doors and / or vehicle doors of the vehicle by external objects when opening the vehicle door

and / or vehicle flap prevent.

This object is achieved by a Türassistenzsys ^{¬ system} with the features specified in claim 1.

The invention accordingly provides a door assistance system for a vehicle for preventing door damage to vehicle doors. Doors and / or vehicle doors by external objects when opening vehicle doors and / or vehicle doors with

a calculation unit, which sensory recorded

Environment data model of the vehicle environment of the vehicle for He ^¬ mediation evaluates a space of external objects free space around the vehicle around and calculated maximum permissible opening ^¬ settings of the various vehicle doors and / or vehicle doors of the vehicle within the determined free space area and with

a locking unit which locks a vehicle door and / or vehicle door of the vehicle when it opens at the corre ^¬ chenden calculated maximum allowable opening position of the respective vehicle door and / or vehicle door to avoid contact with an external object and / or to provide an entry or exit help.

The door assistance system according to the invention offers the advantage that this is reliably locked in a maximum permissible opening Stel ^¬ lung upon opening a vehicle door or vehicle lid, so scratches or damaged paint on the vehicle in question or an adjacent vehicle is stationary can be prevented. It is also advantageous that it is not absolutely necessary to monitor the opening portion of a vehicle door or a vehicle flap during opening with ei ^¬ nem sensor system. The space around the vehicle or over the vehicle, the latter is required for example when opening the tailgate, or may be at an earlier time eg when driving past a parking space or driveway or entrance or when approaching a garage or carport determined , In the case of the latter, for example, the height can be determined with a sensor system looking forward or backward, which is required, for example, for the opening area of the tailgate. The door assistance system according to the invention also has the advantage that the locked vehicle door of a person when entering or exiting can serve as additional support.

In one possible embodiment of the door assist system according to the invention, the environment data model to a geraste ^¬ te map of the vehicle environment.

In a further possible embodiment of the door assistance system according to the invention, the environment data model fer ^¬ ner has a height profile of the vehicle environment.

In a further possible embodiment of the door assistance system according to the invention, the environment data model is calculated on the basis of sensor data generated by vehicle sensors of the vehicle or by external sensors.

In a further possible embodiment of the door assistance system according to the invention, the vehicle sensors have laser scanners, radar sensors and / or vehicle cameras.

In a further possible embodiment of the door assistance system according to the invention is a current

Environment data model of the vehicle environment of the vehicle cached in ei ^¬ nem first data store, to which the Be ^¬ calculation unit of the door assistance system has access.

In a further possible embodiment of the door assistance system according to the invention, the calculation unit has access to a second data memory in which vehicle data of the vehicle, in particular vehicle dimensions of the vehicle chassis, are accessible. rosserie and / or sizes of vehicle doors and / or vehicle doors of the vehicle stored.

In a further possible embodiment of the door assistance system according to the invention the data stored in the second data storage ^¬ vehicle data of the vehicle for different vehicle types and / or vehicle types of the vehicle can be configured.

In a further possible embodiment of the door assistance system according to the invention, the calculation unit of the door assist system calculates the maximum permissible opening Stel ^¬ lungs of the vehicle doors and / or car doors of the vehicle in response to a sensor-detected actual load condition of the vehicle.

In a further possible embodiment of the door assistance system according to the invention, the door assistance system is automatically activated after entering a parking garage or a parking space or after stopping the vehicle.

In a further possible embodiment of the door assistance system according to the invention, the door assistance system is automatically deactivated after starting the vehicle or after leaving a parking garage or parking lot.

In a further possible embodiment of the door assistance system according to the invention, the vehicle doors have a plurality of side doors of the vehicle and the vehicle doors on a tailgate, a trunk lid or a hood of Fahr ^¬ tool on. The invention further provides in another aspect a vehicle, particularly a road vehicle, with a Türas ^¬ sistenzsystem to prevent door damage of vehicle doors and / or car doors of the vehicle by external objects during the opening of the vehicle doors and / or vehicle flaps, wherein the door assistance system has a computing unit that sensory detected

Of the vehicle environment of the vehicle to He averaging ^¬ a free of external objects space region evaluates environment data model around the vehicle and maximum allowable opening ^¬ positions of the various vehicle doors and / or car doors of the vehicle computed within the determined free space region, wherein the door assistance system further comprises a locking unit, the vehicle door and / or driving ^¬ convolutive flap of the vehicle when it opens at the corre ^¬ chenden calculated maximum allowable opening position of the respective vehicle door and / or vehicle door to avoid contact with an external object and / or to provide an entry or exit help for a person arrested.

In one possible embodiment of the vehicle according to the invention, the vehicle is a passenger car.

In a further possible embodiment of the vehicle according to the invention, the vehicle is a truck.

The invention further provides, according to a further aspect, a parking garage having a central controller which wirelessly communicates via radio interfaces with door assistance systems of vehicles according to the first aspect of the invention, wherein the central controller additionally generates sensor data generated by sensors of the parking garage to update the respective ones Environmental data models to the door assistance systems of the vehicles located in the parking garage transmits, the Türas ^¬ sistenzsysteme the vehicles located in the parking garage the sensor data of the parking garage in the update of the respective environment data model of the respective vehicle take into account.

The invention further provides, in another aspect, a method of preventing door damage to vehicle doors and / or vehicle doors by external objects in a vehicle having the features set out in claim 15.

Accordingly, the invention provides a method for preventing damage to the door of the vehicle doors and / or vehicle flaps by external objects in a vehicle having the fol ^¬ constricting steps of:

Determining a space area around the vehicle which is free from external objects on the basis of a detected environment data model and stored vehicle data of the vehicle,

Calculating maximum permissible opening positions of the various vehicle doors and / or vehicle flaps of the vehicle within the determined free space area and locking a vehicle door and / or vehicle door of the vehicle when it opens at the calculated maximum allowable opening position of the respective vehicle door and / or vehicle door to avoid contact external object and / or to provide an entry or exit help. The invention further provides a driver assistance system for a vehicle having a control unit for carrying out the He ^¬ inventive method.

In the following, possible embodiments of the door assistance system according to the invention and of the method according to the invention for preventing door damage to vehicle doors and / or vehicle flaps by external objects are explained in more detail with reference to the attached figures.

Show it:

Figure 1 is a block diagram illustrating a

Embodiment of a door assistance system according to the invention for a vehicle;

Figure 2 is a schematic diagram for Erläute ^¬ tion of the operation of the invention ^shown SEN door assistance system;

FIG. 3 is a flow chart for explaining a

Embodiment of a method according to the invention for preventing Türbeschädi ^¬ conditions of vehicle doors and / or vehicle doors;

Figures 4, 5, 6 are schematic representations to explain the operation of the door assist system according to the invention and the inventive ^¬ Shen method.

As can be seen in FIG. 1, a door assistance system 1 according to the invention in the illustrated embodiment has play different components. In the illustrated embodiment, the door assistance system 1 has various vehicle sensors 2, 3, 4. The number and type of vehicle sensors for detecting the vehicle environment may vary. In one possible embodiment, the door assistance system 1 has at least one laser scanner 2, at least one radar sensor 3 and one or more vehicle cameras 4. The vehicle sensors 2, 3, 4 provide sensor data, which is provided by an evaluation unit 5 for determining a

Environment data model are evaluated. That covered

Environment data model of the vehicle environment of the vehicle F can be cached in a possible embodiment in a designated first data memory 6. The door assistance system 1 has a calculation unit 7, which can access the cached in the first data memory 6 environment data model of the vehicle environment of the vehicle F ^¬ . The calculation unit 7 evaluates the environment data model of the vehicle environment of the Fahrzeu ^¬ ges sensorially detected for the determination of a free from external objects spatial area around the vehicle F around and computes maximum ^¬ transmitting opening positions of the various vehicle doors and / or car doors of the vehicle F within the determined free space region , The door assistance system 1 further includes one or more locking units 8, each having an associated vehicle door and / or vehicle lid of the vehicle F at the opening at the corresponding by the calculation unit 7 calculated maximum permissible Publ ^¬ drying posture of the respective vehicle door and / or vehicle flap to avoid Touching an external object arrested.

In the exemplary embodiment illustrated in FIG. 1, the calculation unit 7 also has access to a second data memory 9, in which vehicle data of the vehicle F, in particular vehicle dimensions of the vehicle body and / or sizes of vehicle doors and / or vehicle doors of the vehicle F, are stored. The vehicle data of the vehicle F stored in the second data memory 9 can be configured in one possible embodiment for different vehicle types and / or vehicle variants of the vehicle F. In one possible embodiment, the calculation unit 7 of the door assistance system 1 calculates the maximum permissible opening positions of the vehicle doors and / or vehicle flaps of the vehicle F taking into account the vehicle data of the vehicle, in particular the stored Fahrzeugdimensio ^¬ nen the vehicle body and / or the stored sizes of the vehicle doors and / or vehicle tailgate of the vehicle F. in a further possible embodiment of the door assist system 1 of the invention, the Berechnungsein ^¬ integral calculated 7 of the door assistance system 1, the maximum allowable Publ ^¬ voltage settings of the vehicle doors and / or car doors of the vehicle F in response to a sensory erfass- th current loading condition of the vehicle F.

Further embodiments of the door assistance system 1 shown in FIG. 1 are possible. In one possible embodiment, the door assistance system 1 is automatically activated after entering a parking garage or when parking in a parking space or after stopping the vehicle F. In this embodiment, the door assistance system 1 according to the invention is deactivated during a normal drive of the vehicle F, as can not be expected during the drive of the vehicle with an opening of vehicle doors and / or vehicle doors. As a result, resources, in particular calculation resources, can be saved. In a further possible embodiment of the door assistance system 1 according to the invention, the Door assistance system 1 automatically deactivated after starting the vehicle F or after leaving a parking garage or parking space. The door assistance system 1 according to the invention is geeig ^¬ net to lock various vehicle doors and / or car doors of the vehicle F to a calculated maximum allowable open position. These vehicle doors include in particular the side doors of a passenger car and vehicle doors, in particular a tailgate, a trunk lid or a hood of the vehicle F.

In a further possible embodiment of the door assist system 1 of the invention, the door assistant ^¬ system 1 communicates via a transceiver of the vehicle F of an external control, for example a central controller of a parking garage. In such a parking garage, central control of the parking garage may receive sensor data from sensors mounted in the parking garage. These sensor data are transmitted via a radio interface of the door assistance system 1 to the evaluation unit 5, which evaluates the received sensor data for updating the respective environment data model of the relevant vehicle F. In this exporting ^¬ approximate shape, the evaluation unit 5 of the door assistant ^¬ system 1 thus can not only access sensor data from vehicle sensors 2, 3, 4, but also take into account sensor data, which are supplied from external sensors of the parking garage. As a result, the current environment data model of the vehicle environment ^{¬ of} the vehicle F can be refined. The ^¬ is asked in Figure 1 door assistance system 1 forms in one possible embodiment a part of a driver assistance system of the vehicle F.

FIG. 2 serves to illustrate the mode of operation of the door assistance system 1 according to the invention As shown, the vehicle F is a passenger car with four side doors T1, T2, T3, T4. The vehicle F is parked between two obstacles Hl, H2, which may, for example, also be parked vehicles. After the vehicle F is driven into the Parklü ^¬ bridge between the two obstacles Hl, H2, door assistance system 1 according to the invention is automatically activated in a possible embodiment. The calculation unit 7 of the door assistance system 1 calculates a free space around the vehicle F based on the sensory current environment data model of the vehicle surroundings of the vehicle F and then calculates ^{¬ to} open positions, in particular opening angle of the various vehicle doors Tl, T2, T3, T4 within the determined free space area. Opens, for example, the vehicle driver of the vehicle F is the driver's door Tl, arrests the locking unit 8 of the door assist system 1 of the Subject Author ^¬ Fende vehicle door Tl at the opening on the corresponding calculated maximum admissible open position of the vehicle door Tl for avoiding contact of an external object or obstacle Hl. This prevents the door Tl fails when it is opened against the obstacle Hl and caused at ^¬ play, a paint damage or scratches on the vehicle F or an adjacent parked vehicle Hl. As can be seen in FIG. 2, in one possible embodiment the environment data model is a rasterized map or a data grid. The resolution of the

Environment data model can vary. In one possible embodiment, the resolution of the vehicle environment is about 1 cm. The latched environment data model shown schematically in FIG. 2 is determined by the evaluation unit 5 on the basis of the sensor data and buffered in the data memory 6 of the door assistance system 1. The calculation 7 evaluates the cached environment data model and calculates maximum permissible opening positions or Öff ^¬ angle of the various vehicle doors Tl to T4. In one possible embodiment, the calculation unit 7 additionally taken into account for this purpose the data stored in the second data memory 9 vehicle data of the vehicle F, in particular vehicle dimensions of the vehicle body, Dimension ^¬ emissions of the vehicle doors and vehicle doors of the relevant vehicle F.

FIG. 3 shows a flow chart of a possible embodiment of the method according to the invention for preventing door damage of vehicle doors and / or vehicle flaps by external objects in a vehicle F.

In a first step S1, a space area free of external objects 0 around the vehicle F is determined on the basis of a detected environment data model and stored vehicle data of the vehicle F. S2 maximum opening Stel ^¬ settings of various vehicle doors and / or vehicle flaps F of the vehicle within the determined free Raumbe ^¬ kingdom are then calculated in a further step. In a further step S3, a vehicle door and / or vehicle door of the vehicle is locked when it is opened at the calculated maximum permissible opening position of the respective vehicle door and / or vehicle door to avoid contact with an external object 0. The method illustrated in FIG. 3 can be executed by a control program on a microprocessor of the driver assistance system.

Figure 4 shows a simple example of OF INVENTION ^¬ to the invention door assist system 1. In the illustrated arrival For example, a vehicle F is located in a garage G and a person opens a tailgate T5 of the vehicle to load or unload items. In one possible embodiment, a stereo camera as a vehicle sensor provide camera images from which the ceiling height of the garage G is calculated, this information in the

Environment data model. In a possible execution ^¬ shape the environment data model also includes a

Underfahrbarkeitsinformation and / or a height information or a height profile. In this embodiment, the stored environment data model has further layers or

Layers in which the height information data or the

Underfahrbarkeitsinformationsdaten are stored. This embodiment has the advantage that, for example in a parking garage no longer needs to be paid by the driver, whether the open trunk lid or the rear flap ^¬ abuts the top of the ceiling, since the trunk lid and the tailgate by the invention Türassistenz ^¬ system 1 is arrested in time for the stop on the ceiling of the parking garage. This is advantageous, for example, in multi-storey car parks of furniture stores or the like, since the user no longer has to hold on to the boot lid or tailgate when loading. The function shown schematically in Figure 4 is particularly advantageous in higher-built vehicles, such as SUVs, whose tailgates can easily come up against ceilings of parking garages.

Figure 5 schematically shows another application of the door assistance system according to the invention 1. In the dargestell ^¬ th, the vehicle F is parked on an uneven terrain. The door assistance system 1 has an environment data model of the vehicle environment of the vehicle, wel ^¬ ches a sensory detected elevation profile of Fahrzeugumge- including exercise. This can prevent that when opening a side door, the door bumps against a bump, for example, a curb or the like.

Figure 6 shows again schematically the operation of he ^¬ inventive door assistance system 1. When opening a door T is prevented by the door assistance system 1 according to the invention that the door T strikes against an external object 0 by locking the door T at the calculated maximum allowable open position , The door T has a support S on the inside, which can be used by a person as an on or off ^¬ rose aid. Providing a single or removal aid may also be effected by the inventive door ^¬ assist system 1, when the vehicle F is located in an open area and no external objects are present in the order ^¬ gebung of the vehicle. In one possible embodiment of the door assistance system 1 according to the invention, the open position of the door T is calculated in such a way that the support S of the door provides the best possible support for an ascending or disembarking person, for example an elderly person. The door assist system 1 beitet in this embodiment, an active entry or exit ^¬ help for a person, especially elderly people.

Claims

A door assist system (1) for a vehicle (F) for preventing door damage of vehicle doors (T1-T4) and / or vehicle doors (T5) by external objects when opening vehicle doors (T1-T4) and / or vehicle doors (T5) :

a calculation unit (7), which contains a sensory environmental data model of the vehicle environment of the vehicle

(F) for determining a space of external objects (Hl, H2, 0) free space around the vehicle (F) around and tet maximum ^¬ open positions of the various vehicle doors (T1-T4) and / or vehicle doors

(T5) of the vehicle (F) calculated within the determined free space area and with

a locking unit (8) having a vehicle door (T1-T4) and / or vehicle door (T5) of the vehicle (F) at its opening at the corresponding calculated maximum allowable opening position of the respective vehicle door (T1-T4) and / or vehicle door (T5 ) to prevent contact of an external object and / or to provide an entry or exit help locked.

2. Door assistance system according to claim 1,

wherein the environment data model comprises a rasterized map of the vehicle environment and / or a height profile of the vehicle environment.

3. Door assistance system according to claim 1 or 2,

wherein the environmental data model will be ^¬ calculated based on sensor data received from vehicle sensors (2, 3, 4) of the vehicle (F) or be generated by external sensors.

4. door assistance system according to claim 3,

wherein the vehicle sensors (2, 3, 4) have laser scanners, radar sensors and / or vehicle cameras.

5. Door assistance system according to one of the preceding claims 1 to 4,

wherein a current environment data model of the Fahrzeugumge ^¬ tion of the vehicle (F) in a first data memory (6) is temporarily stored, to which the calculation unit (7) of the door assistance system (1) has access.

6. door assistance system according to claim 5,

wherein the calculation unit (7) has access to a second data memory ^¬ (9) in which vehicle data of the vehicle (F), in particular vehicle dimensions of the vehicle body and / or sizes of vehicle doors and / or vehicle doors of the vehicle (F) are stored.

7. door assistance system according to claim 6,

wherein in the second data memory (9) vehicle data of the vehicle (F) stored for different driving types ^¬ generating and / or vehicle types of the vehicle (F) are configurable.

8. Door assistance system according to one of the preceding claims 1 to 7,

wherein the calculation unit (7) of the door assistance system (1) calculates the maximum permissible opening positions of the vehicle doors (T1-T4) and / or vehicle flaps (T5) of the vehicle (F) as a function of a sensory current load state of the vehicle (F).

9. Door assistance system according to one of the preceding claims 1 to 8,

wherein the door assistance system (1) after entering a parking garage or a parking lot or after stopping the vehicle (F) is automatically activated.

10. Door assistance system according to one of the preceding claims 1 to 9,

wherein the door assistance system (1) after starting the vehicle (F) or after leaving a parking garage or parking lot is automatically disabled.

11. Door assistance system according to one of the preceding claims 1 to 10,

wherein the vehicle doors (T1-T4) a plurality of side doors of the vehicle (F) and the vehicle doors (T5) have a rear flap ^¬ , a trunk lid or a hood of the vehicle (F).

12. Vehicle, in particular road vehicle, with a Türas ^¬ resistance system (1) according to one of the preceding claims 1 to 11.

13. Vehicle according to claim 12,

wherein the vehicle (F) is a passenger car or a truck.

14. Multi-storey car park with a central control, which communicates wirelessly with door assistance systems (1) of vehicles (F) according to one of the preceding claims 1 to 11 and additional sensor data generated by sensors of the car park for updating the respective environment data models of the door assistance systems (1). the vehicles (F) parked in the parking garage, the door assistance systems (1) of the parked vehicles (F) taking into account the received sensor data of the parking garage when updating the respective environment data model of the vehicle (F).

15. A method for preventing door damage of vehicle doors and / or vehicle doors by external objects in a vehicle (F) with the following steps:

(a) determining (Sl) of a to the vehicle (F) around ^¬-sensitive be free of external objects space region based on a detected environmental data model and ge ^¬-stored vehicle data of the vehicle;

(b) calculating (S2) of maximum opening positions of the various vehicle doors and / or car doors of the vehicle (F) within the ermit ^¬ telten free space region; and

(C) locking (S3) a vehicle door and / or vehicle door of the vehicle when it opens at the calculated maximum allowable opening position of the respective vehicle door and / or vehicle door to prevent contact with an external object and / or to provide an entry or exit help.

16. Driver assistance system of a vehicle having a control unit for carrying out the method according to claim 15.