WO2020157108A1

WO2020157108A1 - Method and system for limiting the movement of a door of a vehicle

Info

Publication number: WO2020157108A1
Application number: PCT/EP2020/052125
Authority: WO
Inventors: Ciaran Hughes; Jonathan Horgan
Original assignee: Connaught Electronics Ltd.
Priority date: 2019-01-30
Filing date: 2020-01-29
Publication date: 2020-08-06
Also published as: DE102019102283A1

Abstract

The method and system relate to limiting the movement of a door of a vehicle. A signal to open the door of the vehicle is received. In response to the signal, an actuator is engaged to open the door of the vehicle. Once, the actuator is engaged, the position of the door relative to a three-dimensional map along the path of motion of the door of the vehicle is monitored continuously. Further, a collision of the door with a detected obstruction along the path of motion of the door based on said three-dimensional map is predicted. Further, the actuator is pre-emptively disengaged to prevent the collision. In alternate embodiment a door brake is engaged to prevent said collision.

Description

Title

Method and system for limiting the movement of a door of a vehicle.

Field

The disclosure relates to limiting the movement of a door of a vehicle.

Background

Particularly in garages and other indoor parking environments, a vehicle’s boot/trunk door with a motorized boot/trunk door opener mechanism may be damaged if the boot door collides with an obstruction e.g. an object that is suspended from the ceiling. This may also cause damage to the boot/trunk door and/or to motorized boot/trunk door opening mechanism.

The disclosure of United States of America patent publication number US20130314503A1 , discloses a method and system for prevention door opening based on the detection of a moving object. More specifically said document discloses that a vision system that detects an approaching bicyclist at and to the rear and side of the parked or non-moving subject vehicle. The system may alert the driver and/or passenger of the vehicle to not open the door at that side of the vehicle or may temporarily lock or limit opening of the vehicle door at that side of the vehicle until the detected object passes the door and there is no longer the potential threat of impact.

However, the above-mentioned document fails to provide a solution as the above disclosure completely limits or prevents the opening of the door. This can be particularly frustrating for a user of a vehicle if a motorized door is prevented from opening at all in the presence of an obstacle. Therefore, there is need for a method and system which allows at least the partial opening of a door of a vehicle even if an obstacle is detected. That is the door is partially opened to the extent such that the door does not collide with the obstacle.

It is an object to provide a system and method to control an automatic or door opening to overcome at least one of the above mentioned problems. Summary

Embodiments of the present invention are directed to a method and system for limiting the movement of a door of a vehicle, as set out in the appended claims. In one embodiment the method for limiting the movement of a door of a vehicle begins with receiving a signal to open the door of the vehicle. In response to the signal, an actuator is engaged to open the door of the vehicle. Once, the actuator is engaged, continuously monitoring the position of the door relative to a three- dimensional map along the path of motion of the door of the vehicle. Further, the method comprises predicting a collision of the door with a detected obstruction along the path of motion of the door based on said three-dimensional map and disengaging the actuator to prevent said collision or engage a door brake to prevent said collision. The above monitoring of the position of the door and the prediction of collision comprises determining a maximum extent up to which the door could be opened without colliding with an object on the three-dimensional map using simultaneous localization and mapping techniques/algorithms.

The above-mentioned generation of the three-dimensional map is based on images captured by at least a fish eye camera. Also, the three-dimensional map is generated by looking up pre-stored three-dimensional maps based on the position and orientation of the vehicle.

The system for limiting the movement of a door of a vehicle, comprises an actuator and a processor operatively coupled to the actuator. The processor is configured to receive a signal to open the door of the vehicle and in response to the signal engage the actuator to open the door of the vehicle. The processor is further configured to monitor the position of the door relative to a three- dimensional map along the path of motion of the door of the vehicle. The processor based on said monitoring is configured to predict a collision of the door with a detected obstruction along the path of motion of the door based on said three-dimensional map. Further, the processor pre-emptively disengages the actuator to prevent said collision or engage a door brake to prevent said collision. The system further comprises one or more fish eye cameras where fish eye cameras are operatively coupled to the processor and the processor is further configured to generate the three-dimensional map based on one or more images captured by the fish eye cameras.

The system further comprises a memory, a location and orientation sensor tracker, said memory, said location and orientation tracker operatively coupled to the processor. The memory for storing three dimensional maps and the processor is further configured to generate the three-dimensional map by looking up said stored three dimensional maps based on a location and orientation of the vehicle received from said location and orientation tracker.

The monitoring of the position of the door by the processor and said prediction of collision by the processor comprises determining by the processor a maximum extent up to which the door could be opened without colliding with an object on the three-dimensional map using simultaneous localization and mapping algorithms/techniques.

The door of the vehicle may comprise a door brake configured to engage when a collision is predicted to prevent damage to the door.

Brief Description of the Drawings

The invention will be more clearly understood from the following description of an embodiment thereof, given by way of example only, with reference to the accompanying drawings, in which: -

FIG. 1 exemplarily illustrates the limiting the movement of a boot/trunk door of a vehicle; FIG. 2 is a flow chart illustrating an embodiment of the inventive method or process for limiting the movement of a door of a vehicle, in accordance with some embodiments of the present invention; and FIG. 3 is a functional block diagram illustrating the primary components of a system/apparatus for limiting the movement of a door of a vehicle, in accordance with some embodiments of the present invention. Detailed Description of the Drawings

FIG. 1 exemplarily illustrates limiting the movement of a boot/trunk door 102 of a vehicle 101. The boot door 102 of the vehicle is in a partially open condition which is apparent from the curve 103 which illustrates the full swing of the boot door 102 of the vehicle. The boot door is limited to the position i.e. prevented from opening further to prevent collision with the obstacle 104 which in this case is a contoured ceiling 104 as shown. A fish eye camera 105 is positioned on the roof of the vehicle. The fish eye camera 105 captures images and at least based on said images a three-dimensional map (3D map) of the ceiling 104 is generated and based on the 3D map and the known path of motion 103 of the boot door 102 a collision of the boot door 102 with the ceiling 104 is prevented.

FIG. 2 is a flow chart illustrating an embodiment of the inventive method or process for limiting the movement of a door of a vehicle, in accordance with some embodiments of the present invention. The method for limiting the movement of a door of a vehicle begins with receiving 201 a signal to open the door of the vehicle. In response to the signal, an actuator 305 is engaged 202 to open the door of the vehicle. Once, the actuator 305 is engaged, the position of the door relative to a three-dimensional map along the path of motion 103 of the door of the vehicle is monitored 203 continuously. Further, a collision of the door with a detected obstruction along the path of motion of the door based on said three- dimensional map is predicted. Further, the actuator is pre-emptively disengaged to prevent the collision. Alternatively, a door brake is engaged to prevent said collision. The above monitoring 203 of the position of the door and the prediction 204 of collision comprises determining a maximum extent up to which the door could be opened without colliding with an object on the three-dimensional map using simultaneous localization and mapping techniques/algorithms. The above-mentioned three-dimensional map is generated based on images captured by at least a fish eye camera. Also, the three-dimensional map may be generated by looking up pre-stored three-dimensional maps based on the position and orientation of the vehicle.

Fig. 3 is a functional block diagram illustrating the primary components of a system/apparatus 300 for limiting the movement of a door of a vehicle, in accordance with some embodiments of the present invention.

The system for limiting the movement of a door of a vehicle, comprises an actuator 304, at least one image capture device 304, a memory 302, a transceiver 303 and a processor 301 operatively coupled to the actuator 304, the at least one image capture device 304, the memory 302, and the transceiver 303. The processor is further coupled to the electronic control unit (ECU) 311 of the vehicle, where the ECU is further coupled to an odometer 312 and a switch/button (not shown).

The subsequent paragraphs elaborate the functioning of the inventive method and system with reference for figures FIG. 1 , FIG. 2 and FIG. 3. A user of the vehicle desirous of opening the boot door 102 of the vehicle 101 presses the switch/button. The pressing of the switch/button is detected by the ECU 31 1 and the ECU through the transceiver signals the processor 301 to open the boot door 102 of the vehicle. The processor 301 is configured to receive the signal and in response to the signal engages the actuator 305 to open the door 102 of the vehicle 101. The processor is further configured to monitor the position of the door as the door swings towards the ceiling 104 i.e the position of the door 102 is monitored along the path of motion 103 of the door 104. The monitoring further comprises monitoring motion of the door 102 in reference to a three-dimensional map of the ceiling 104.

The three-dimensional map of the ceiling is generated by the processor 301 based on one or more images retrieved from one or more image capture devices 304. The image capture devices comprise image sensors mounted with a fish eye lens which at least covers the ceiling 104. In an embodiment of the present invention a three-dimensional map of the immediate vicinity of the ceiling 104 is also generated by the processor 301 and the generated maps stored in the memory 302. For example, while the vehicle 101 is being pulled in to the spot as shown in FIG. 1 the image capture device 304 acquires images and the processor 302 generates a three-dimensional map of the immediate surroundings which includes the ceiling. This is particularly beneficial as the processor 301 using a location and orientation tracker may look up the stored three-dimensional map based on a location and orientation of the vehicle. The location and orientation tracker records the odometry data received through the ECU 31 1 to determine a position and orientation of the vehicle 101 with respect to the stored three dimensional map. In an embodiment the location and orientation tracker may be implemented by the processor 301.

A person skilled in the art would appreciate that above would be particularly beneficial as the image capture device 105 at the given position of the vehicle 101 would not be able to capture a wall behind the vehicle or another parked alongside the vehicle. Flowever, such images may be captured while the vehicle 101 is being pulled in to the position as shown in FIG. 1 and also a three- dimensional map generated by the processor 301 based on said images captured while the vehicle is pulled in to the position. Thus, the three-dimensional map of the immediate vicinity of the vehicle which stored in memory may be advantageously used to limit the opening of e.g. a rear passenger door of the vehicle 101 while the image capture device 304 does not cover the path of motion of the rear passenger door. The three-dimensional map of the vicinity of the vehicle is thus continuously updated to compensate for obstacles which may appear after the user actuates the switch to open one of the doors of the vehicle 101. In brief a three-dimensional map of the immediate vicinity of the vehicle 101 is continually updated and stored in memory 302 and the odometry data is used to both generate said three-dimensional map and also determine the position and the orientation of the vehicle 101 within said three-dimensional map. The processor based on said monitoring of the motion of the door 102 within the generated three-dimensional map is configured to predict a collision of the door 102 with a detected obstruction along the path of motion of the door 103 based on said three-dimensional map. The monitoring of the position of the door 102 by the processor and said prediction of collision by the processor comprises determining by the processor a maximum extent up to which the door could be opened without colliding with an object on the three-dimensional map using simultaneous localization and mapping algorithms/techniques. Further, the processor pre-emptively disengages the actuator to prevent said collision. For example, as shown in FIG. 1 the position of the boot door 102 is predicted to collide with the obstruction 104 as shown. Flence, the actuator 305 is pre-emptively disengaged just before the detected obstruction to stop the door 102 from colliding with the obstruction 104. The door of the vehicle can comprise a door brake configured to engage when a collision is predicted to prevent damage to the door. Suitably an electronically activated door brake (not shown) can be configured to engage to prevent damage when the door is opened in the event that a collision is predicted or likelihood of a collision taking place.

Further, a person ordinarily skilled in the art will appreciate that the various illustrative logical/functional blocks, modules, circuits, techniques/algorithms and process steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or a combination of hardware and software. To clearly illustrate this interchangeability of hardware and a combination of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or a combination of hardware and software depends upon the design choice of a person ordinarily skilled in the art. Such skilled artisans may implement the described functionality in varying ways for each particular application, but such obvious design choices should not be interpreted as causing a departure from the scope of the present invention. The process described in the present disclosure may be implemented using various means. For example, the process described in the present disclosure may be implemented in hardware, firmware, software, or any combination thereof. For a hardware implementation, the processing units, or processors(s) may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, electronic devices, other electronic units designed to perform the functions described herein, or a combination thereof.

For a firmware and/or software implementation, software codes may be stored in a memory and executed by a processor. Memory may be implemented within the processor unit or external to the processor unit. As used herein the term“memory” refers to any type of volatile memory or nonvolatile memory.

Furthermore, although elements of the invention may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated.

The embodiments in the invention described with reference to the drawings comprise a computer apparatus and/or processes performed in a computer apparatus. Flowever, the invention also extends to computer programs, particularly computer programs stored on or in a carrier adapted to bring the invention into practice. The program may be in the form of source code, object code, or a code intermediate source and object code, such as in partially compiled form or in any other form suitable for use in the implementation of the method according to the invention. The carrier may comprise a storage medium such as ROM, e.g. a memory stick or hard disk. The carrier may be an electrical or optical signal which may be transmitted via an electrical or an optical cable or by radio or other means. In the specification the terms "comprise, comprises, comprised and comprising" or any variation thereof and the terms include, includes, included and including" or any variation thereof are considered to be totally interchangeable and they should all be afforded the widest possible interpretation and vice versa.

The invention is not limited to the embodiments hereinbefore described but may be varied in both construction and detail.

Claims

1. A method for limiting the movement of a door of a vehicle, comprising:

receiving a signal to open the door of the vehicle;

engaging an actuator to open the door of the vehicle; monitoring the position of the door relative to a three-dimensional map along the path of motion of the door of the vehicle;

predicting a collision of the door with a detected obstruction along the path of motion of the door based on said three-dimensional map; pre-emptively disengaging the actuator to prevent said collision or engage a door brake to prevent said collision.

2. The method of claim 1 wherein said monitoring of the position of the door and said prediction of collision comprises determining a maximum extent up to which the door could be opened without colliding with an object on the three-dimensional map using simultaneous localization and mapping techniques.

3. The method of claim 1 further comprising generating the three-dimensional map based on an image captured by at least a fish eye camera.

4. The method of claim 1 further comprising generating a three-dimensional map by looking up pre-stored three-dimensional maps based on the position and orientation of the vehicle.

5. The method of claim 1 wherein the three-dimensional map is generated by a plurality of sensors or using data from sensors of a vehicle other than said vehicle.

6. The method of claim 1 wherein the door brake is configured to engage when a collision is predicted to prevent damage to the door.

7. A system for limiting the movement of a door of a vehicle, comprising: an actuator; and

a processor operatively coupled to the actuator, said processor configured to:

receive a signal to open the door of the vehicle;

engage the actuator to open the door of the vehicle;

monitor the position of the door relative to a three- dimensional map along the path of motion of the door of the vehicle; predict a collision of the door with a detected obstruction along the path of motion of the door based on said three- dimensional map;

pre-emptively disengage the actuator to prevent said collision or engage a door brake to prevent said collision.

8. The system of claim 7 further comprising one or more fish eye cameras, said one or more fish eye cameras operatively coupled to the processor and said processor further configured to generate the three-dimensional map based on one or more images captured by one or more of said fish eye cameras.

9. The system of claim 7 or 8 further comprising a memory, a location and orientation sensor tracker, said memory, said location and orientation tracker operatively coupled to the processor, said memory for storing three dimensional maps and said processor further configured to generate the three-dimensional map by looking up said stored three dimensional maps based on a location and orientation of the vehicle received from said location and orientation tracker.

10. The system of claim 7, wherein monitoring of the position of the door by the processor and said prediction of collision by the processor comprises determining by the processor a maximum extent up to which the door could be opened without colliding with an object on the three-dimensional map using simultaneous localization and mapping techniques.

11.The system of claim 7 wherein the brake is configured to engage when a collision is predicted to prevent damage to the door.

12. A computer program comprising instructions which, when the program is executed by a data processing device/computer, cause the data processing device/computer to carry out the steps of the method of any of claims 1 to 6.

13. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method of any of claims 1 to 6.