WO2024126239A1

WO2024126239A1 - Method to operate a sensor device of a first vehicle door of a vehicle

Info

Publication number: WO2024126239A1
Application number: PCT/EP2023/084641
Authority: WO
Inventors: Alice FRAPSAUCE; Swapnil Ashok Mahajan; Vijay Mogali
Original assignee: Valeo Schalter Und Sensoren Gmbh
Priority date: 2022-12-12
Filing date: 2023-12-07
Publication date: 2024-06-20
Also published as: DE102022132968A1

Abstract

The invention related to a method to operate a sensor device (7) of a first vehicle door (2) of a vehicle (1). The first vehicle door (2) is positioned adjacent to a second vehicle door (3). Each of the vehicle doors (2, 3) is movable between a closed position (4) and an open position (5). The method comprises determining (S1, S2) a first opening information (20) of the first vehicle door (2) and a second opening information (21) of the second vehicle door (3). The method also comprises prohibiting (S4) the emission of a pulse (24) and/or signal into an environment of the first vehicle door (2) by the sensor device (7), if the respective opening information (20, 21) is within a respective opening information range (22, 23).

Description

Method to operate a sensor device of a first vehicle door of a vehicle

The invention relates to a method to operate a sensor device of a first vehicle door of a vehicle. The invention furthermore relates to a vehicle, a control unit, and a computer program product to perform such a method.

A vehicle may provide an automatic door opening and/or door closing function for at least one vehicle door of the vehicle. To provide such an automatic function, a sensor device is mounted in the at least one vehicle door. During a movement of the vehicle door between a closed position and an open position, the sensor device captures an environment of the moving door and determines if there is an obstacle for the door movement. If, for example, two neighboring vehicle doors are opened at the same time, the sensor device mounted in a rear door of the vehicle may detect at least a part of a front door as an obstacle for the rear door movement. As a result, the rear door may stop its movement towards the open position at an opening angle that is smaller than a maximum opening angle of the rear door to avoid a collision with the detected front door.

US 2017/0321468 A1 discloses a method for detecting an object in an opening area of a door of a motor vehicle using at least one first distance sensor. The at least one first distance sensor is arranged in or on a first door and has a detection area. The detection area is adapted on the basis of a determined state variable. The state variable describes a position and/or an operational setting of at least one component of the vehicle, which differs from the first door.

However, adapting the detection area of the sensor device to avoid that the sensor device of the first vehicle door detects a second vehicle door as an obstacle is relatively complex.

It is the object of the invention to provide a less complex method to operate a sensor device of a vehicle door of a vehicle.

The independent claims solve the object.

A first aspect of the invention relates to a method to operate a sensor device of a first vehicle door of a vehicle. The first vehicle door is, for example, a rear door of the vehicle. The first vehicle door is positioned adjacent to a second vehicle door. The second vehicle door is, for example, a front door of the vehicle. Both the first vehicle door and the second vehicle door are hence located at a same side of the vehicle when viewed in transverse direction of the vehicle. Each of the vehicle doors is movable between a closed position and an open position. The respective closed position is the position in which the respective vehicle door is completely closed. The respective open position is preferably a position in which the respective vehicle door is open furthest. An opening angle of the respective vehicle door in the open position may correspond to a maximum opening angle of the respective vehicle door. There are intermediate positions possible, which are reachable between the closed position and the open position. Preferably, the first vehicle door and/or the second vehicle door is automatically movable between the closed position and the open position.

At least if both vehicle doors are in the respective open position, the second vehicle door is positioned in a coverage area of the sensor device of the first vehicle door. This means that if both vehicle doors are open, the sensor device of the first vehicle door captures data that describe at least a part of the second vehicle door. The second vehicle door is then an object or obstacle in the environment of the first vehicle door. The environment of the first vehicle door is at least a part of an environment of the vehicle. The coverage area may be referred to as a detection area. It is possible that the vehicle doors are both in intermediate positions, wherein the second vehicle door is already positioned in the coverage area of the sensor device of the first vehicle door. The sensor device of the first vehicle door is, for example, an ultrasonic sensor device configured to determine a distance information. The distance information may describe a distance between the sensor device and the object or obstacle in the environment of the first vehicle door.

The method comprises determining a first opening information and a second opening information. The first opening information describes a position of the first vehicle door with respect to the closed position of the first vehicle door. The second opening information describes a position of the second vehicle door with respect to the closed position of the second vehicle door. A control unit of the respective vehicle door may determine and/or receive the first opening information and/or second opening information. For example, a step motor of the respective vehicle door may capture a number of steps and/or an angle between a starting position and a current position of the respective vehicle door to determine the current position of the respective vehicle door. The step motor then may provide the determined opening information to the control unit. The control unit may be configured to provide a control command for at least the first vehicle door. The method comprises prohibiting an emission of a pulse and/or signal into an environment of the first vehicle door by the sensor device, if it is determined that the first opening information is within a first opening information range and the second opening information is within a second opening information range. This means that it is verified that the first opening information is within the first opening information range and that the second opening information is as well within a specific opening information range, which is the second opening information range. Only if this verification reveals that both information ranges match their respective opening information range, the sensor device omits to emit a pulse and/or signal in the environment. In other words, the method comprises deactivating a emitting function of the sensor device. Prohibiting the emission of the pulse and or signal may alternatively be referred to as silencing the sensor device. The first opening information range and the second opening information range may differ from one another or coincide. The pulse may be, for example, an ultrasonic pulse that the ultrasonic sensor as sensor device emits. Alternatively or additionally, the sensor device may emit a signal towards the environment. The sensor device typically captures as an echo of the emitted pulse or a reflected signal of the emitted signal if emittance of the pulse and/or signal is allowed and hence active. By prohibiting the emission of the pulse and/or signal, the sensor device cannot determine a sensor information that describes the second vehicle door. Therefore, the method prevents the detection of the second vehicle door as possible obstacle for the first vehicle door.

The described method is advantageous because no complex calculations are required to prevent detection of the second vehicle door as an obstacle for the first vehicle door although the second vehicle door has been moved in the coverage area of the sensor device. Adapting the coverage area or other complex calculations are hence not necessary. Furthermore, no complete deactivation of the sensor device takes place but only silencing of pulse and/or signal emission. Therefore, no deactivation information that may be misinterpreted as the result of a failure of the sensor device is determined and provided in the vehicle. Hence, the method provides a less complex method to operate a sensor device of a vehicle door of a vehicle.

A preferred embodiment comprises that the respective opening information describes an opening angle of the respective vehicle door. The first opening information describes hence the opening angle of the first vehicle door and/or the second opening information describes the opening angle of the second vehicle door. The step motor may determine the opening angle and/or provide data to determine the opening angle. Considering the opening angle makes it possible to define the opening information ranges depending on properties of the vehicle door such as a maximum opening angle of the vehicle door.

Therefore, the opening information is particularly easy to determine.

Another embodiment comprises that the respective opening information range depends on a maximum opening angle of the respective vehicle door. The respective opening information range is in particular between half the maximum opening angle and the maximum opening angle of the respective vehicle door. This means that the first opening information range depends on the maximum opening angle of the first vehicle door and/or the second opening information range depends on a maximum opening angle of the second vehicle door. Preferably, both vehicle doors have the same maximum opening angle. The maximum opening angle may be 60 degrees, 70 degrees, 80 degrees or in particular 90 degrees. The maximum opening angle may be any angle between the listed angles.

In case of, for example, a maximum opening angle of 70 degrees, the opening information range may be between 35 degrees and 70 degrees. If the first opening information and the second opening information indicate that both vehicle doors are open by at least 35 degrees, the above-described deactivation of the emitting function occurs. However, if, for example, at least one of the opening information describes that the respective vehicle door is open by an angle below half the maximum opening angle, the emitting function remains active. For example, if the first opening information describes an opening angle of 20 degrees, whereas the second opening information indicates an opening angle of 70 degrees, the emitting function remains active. Only if both opening information are within the respective opening information range, the emitting function is deactivated.

It is possible to vary the lower end of the opening information range. The lower end may be less or more than half the maximum opening angle, for example, a quarter or three quarters of the maximum opening angle. By choosing an opening information that depends on the maximum opening angle, a particularly simple way to choose the respective opening information range is provided.

According to another embodiment, the sensor device comprises multiple sensor units. The multiple sensor units are positioned spatially apart from each other in the first vehicle door. For example, the sensor device may comprise two, three or even more individual sensor units. For each sensor unit there is a sensor unit specific opening information range. Therefore, it is determined for the respective sensor unit if the first opening information is within the sensor unit specific first opening information range and if the second opening information is within a sensor unit specific second opening information range. If this is the case, emitting the pulse and/or signal by the respective sensor unit is prohibited. This means that there may be no general first and second opening information ranges, but there may be sensor specific first and second opening information ranges for each sensor unit of the sensor device. A total number of sensor unit specific first and second opening information ranges hence depends on a number of sensor units comprised by the sensor device. The opening information ranges for different sensor units may differ because the sensor units are positioned spatially apart from each other in the first vehicle door. It is hence possible that the emitting function of only one of the sensor units or of a part of the sensor units of the sensor device is deactivated while the rest of the sensor units may still emit the pulse and/or signal in the environment of the first vehicle door. This means that it is possible to silence only one or some of the sensor units. It is hence possible to consider only the sensor unit or sensor units, which may detect the second vehicle door as obstacle and not the entire sensor device. This allows a differentiated control of the sensor device.

Determining if the first opening information is within the first opening information range and if the second opening information is within the second opening information range may comprise determining for each sensor unit of the sensor device if the first opening information is within the respective sensor unit specific first opening information range and if the second opening information is within the respective sensor unit specific second opening information range.

Furthermore, an embodiment comprises that the sensor unit specific first opening information range and the sensor unit specific second opening information range depend on a sensor unit position of the sensor unit in the first vehicle door and/or on a distance to at least one other sensor unit in the first vehicle door. This means that the sensor unit specific opening information ranges may depend on where the respective sensor unit is positioned in the first vehicle door. The sensor unit position is the position of the sensor unit within the first vehicle door. A sensor unit that is positioned closer to the second vehicle door may detect the second vehicle door in a situation in which another sensor unit that is positioned further away from the second vehicle door may not yet detect the second vehicle door. The reason for this is that the sensor unit position influences the coverage area of the sensor unit. The distance between two other sensor units may as well have an influence on the coverage area of the two sensor units. It is hence reasonable to consider where the respective sensor unit is located in the vehicle door and then choose the sensor unit specific opening information ranges dependent on the position and/or distance.

According to another embodiment, the method comprises that a measurement sequence for the sensor device of the first vehicle door and a sensor device of the second vehicle door comprises at least one emitting step for each sensor device. During the emitting step, at least one sensor unit of the respective sensor device emits the pulse and/or signal. While emitting the pulse and/or signal is prohibited, the at least one emitting step of the sensor device of the first vehicle door is treated as a waiting period and/or is skipped. As there is no active emittance of a pulse and/or signal in the respective steps, the both sensor devices cannot capture any echo and/or reflected signal because no pulse and/or signal was sent out in the environment. This means that during these steps the sensor devices are waiting until in the respective following step the sensor device of the second vehicle door emits a pulse and/or signal so that the echo and/or reflected signal may be created and captured. However, instead of or in addition to waiting a number of steps is reduced by erasing the emitting steps of the sensor device of the first vehicle door from the measurement sequence. In this case, the measurement sequence only comprises the emitting steps for the sensor device of the second vehicle door. It is hence easily possible to include the described method in a typically measurement sequence for the sensor devices of both vehicle doors.

Furthermore, an embodiment comprises that while emitting the pulse and/or signal is prohibited, a receiving function of the sensor device remains active. This means that receiving an echo and/or reflected signal by the sensor device is permitted. The sensor device is hence not completely disabled. This reflected signal may be referred to as a back signal. When, for example, a pulse and/or signal of a sensor device in the second vehicle door emits a pulse and/or signal, the pulse and/or signal may hit an object so that the echo and/or reflected signal is created. The echo and/or reflected signal may then hit the sensor device of the first vehicle door. The sensor device of the first vehicle door may thus capture the echo and/or reflected signal without emitting the pulse and/or signal in the environment. The receiving function is hence not influenced by deactivating the emitting function. Analysis of the environment under consideration of the received echo and/or reflected signal is possible and therefore not limited by the deactivated emitting function.

According to a further embodiment, the method comprises that while emitting the pulse and/or signal is prohibited, the sensor device continues to provide a sensor device diagnostics information for a diagnostic system of the vehicle. It is possible that the sensor device diagnostics information is created by a control unit of the first vehicle door and is then provided to the diagnostic system of the vehicle. The diagnostic system is, for example, an onboard diagnostic system (OBD). From a perspective of the diagnostic system, the sensor device remains fully functional although it does not emit any pulse and/or signal. This means that in case of a failure and/or malfunction of the sensor device, the failure and/or malfunction may still be detected because it is described by the sensor device diagnostics information. As a result, the diagnostics system of the vehicle may not alert the control unit and/or another component of the vehicle just because of the deactivation of the emitting function. Hence, no false failure and/or malfunction detection occurs by performing the method.

Besides, an embodiment comprises that if it is determined that the first opening information is outside of the first opening information range emitting the pulse and/or signal in the environment of the first vehicle door by the sensor device is active. Alternatively or additionally, if it is determined that the second opening information is outside of the second opening information range emitting the pulse and/or signal in the environment of the first vehicle door by the sensor device is active. Alternatively or additionally, if it is determined that the first vehicle door is moved towards the closed position, emitting the pulse and/or signal in the environment of the first vehicle door by the sensor device is active. This means that as long as not both opening information are within the respective opening information ranges, there is no need to prohibit emittance of the pulse and/or signal in the environment of the first vehicle door by the sensor device Therefore, the emitting function remains active and/or is activated. It is sufficient if only one of the opening information is outside of its opening information range. Besides, if the first vehicle door is moving from the open position or the intermediate position towards the closed position, it is not anymore necessary to prohibit detecting the second vehicle door as a possible obstacle because closing of the vehicle door comprises a movement away from the second vehicle door and hence the obstacle. Preferably, the first opening information and the second opening information are determined continuously, and it is verified continuously if they are within or outside of the respective opening information range. This means that once the first opening information and/or second opening information has changed in a way that if it is outside its respective opening information range or if it is determined that the first vehicle door is performing a closing movement, the emitting function of the sensor device is immediately reactivated. Therefore, in all situations in which it is reasonable capture the environment of the first vehicle door, emitting the pulse and/or signal is permitted and performed. Moreover, according to an embodiment the sensor device determines a sensor information that describes the environment of the first vehicle door. The sensor information may be determined by analyzing the echo and/or the reflected signal. The sensor information describes, for example, a distance to at least one object in the environment of the first vehicle door. The sensor device provides the determined sensor information to the control unit of the vehicle. The sensor information preferably comprises ultrasonic data and/or radar data and/or lidar data. Preferably, the sensor information comprises distance data. In principle, it is also possible to consider camera data as sensor information. The sensor information is hence typical data provided by a sensor device of a vehicle.

A further embodiment comprises that the control unit provides a vehicle function for the vehicle under consideration of the sensor information. The vehicle function may require the sensor information. The vehicle function is, in particular, an automatic door opening function for the first vehicle door. Alternatively or additionally, the vehicle function is an automatic door closing function and/or a parking assistant function of the vehicle and/or any other driver assistance function that may at least partially depend on measurement data provided by the sensor device mounted in the first vehicle door. Preferably, under consideration of the sensor information the vehicle function prevents a collision of the vehicle and in particular of the first vehicle door with the object or obstacle in the environment of the first vehicle door.

Another embodiment comprises that in addition to prohibiting the emission of the pulse and/or signal into the environment, the sensor device is deactivated. It is hence also possible to turn or switch off the sensor device of the first vehicle door completely. However, this may influence a diagnostics system evaluation of the diagnostics system of the vehicle that may interpret the deactivated sensor device as a failure and/or malfunction of the sensor device. Nevertheless, this is another way to achieve that the second vehicle door is not detected as an obstacle for the first vehicle door that may influence an opening angle of the first vehicle door.

Another aspect of the invention relates to a vehicle. The vehicle comprises a first vehicle door with a sensor device and a second vehicle door. The first vehicle door is positioned adjacent to the second vehicle door. Each of the vehicle doors is movable between a closed position and an open position. At least if both vehicle doors are in their respective open positions, the second vehicle door is positioned in a coverage area of the sensor device of the first vehicle door. The vehicle is configured to determine a first opening information describing a position of the first vehicle door with respect to the closed position of the first vehicle door and to determine a second opening information describing a position of the second vehicle door with respect to the closed position of the second vehicle door. The vehicle is furthermore configured to determine if the first opening information is within a first opening information range and if the second opening information is within a second opening information range. If this is the case for both opening information, the vehicle is configured to prohibit emitting a pulse and/or signal in an environment of the first vehicle door by the sensor device. It is hence configured to deactivate a emitting function of the sensor device. The vehicle is configured to perform the described method, in particular, at least one of the embodiments or a combination of the embodiments of the described method.

Another aspect of the invention relates to a control unit. The control unit is configured to control at least a sensor device of the first vehicle door of the vehicle. The control unit performs the described method, in particular, at least one of the embodiments or a combination of the embodiments of the described method. The control unit comprises a processor device. The processor device may comprise at least one microprocessor and/or at least one microcontroller and/or at least one FPGA (field programmable gate array) and/or at least one DSP (digital signal processor). Further, the processor device may comprise program code. The program code may alternatively be referred to as a computer program product or computer program. The program code may be stored in a data memory of the processor device.

Another aspect of the invention relates to a computer program product. The computer program product is a computer program. The computer program product comprises instructions, which, when the program is executed by a computer, such as the control unit of the vehicle, cause the computer to perform the inventive method.

The invention includes combinations of the described embodiments.

The figures show in:

Fig. 1 a schematic representation of a vehicle with multiple doors;

Fig. 2 a schematic representation of a method to operate a sensor device of a first vehicle door of a vehicle; and Fig. 3 a schematic representation of measurement sequences for a sensor device of a first vehicle door.

Fig. 1 shows the vehicle 1 that comprises a first vehicle door 2 and a second vehicle door 3. The first vehicle door 2 is here a rear door of the vehicle 1 . The first vehicle door 2 is positioned adjacent to the second vehicle door 3. The second vehicle door 3 is here a front door of the vehicle 1 . There are a first vehicle door 2 and a second vehicle door 3 on both sides of the vehicle 1 . Here, the two sides are denoted as scenario A and scenario B.

There are different possible positions 4, 5, 6 of the respective vehicle door 2, 3. Each vehicle door 2, 3 is movable between a closed position 4 and an open position 5. Between the closed position 4 and the open position 5 there may be multiple intermediate positions 6. The vehicle doors 2, 3 in the open position 5 as well as the intermediate position 6 are sketched with dashed lines.

The first vehicle door 2 comprises a sensor device 7. The sensor device 7 may comprise multiple sensor units 8. Here, the second vehicle door 3 comprises the sensor device 7 as well. At least if both vehicle doors 2, 3 are in their respective open position 4, the second vehicle door 3 is positioned in a coverage area 10 of the sensor device 7 of the first vehicle door 2. Here, the vehicle doors 2, 3 comprises two sensor units 8 each. The sensor units 8 are positioned spatially apart from each other in the respective vehicle door 2, 3. The sensor units 8 may be ultrasonic sensors, radar sensors and/or lidar sensors.

In scenario A, both first vehicle doors 2, 3 are open at a maximum opening angle a_max in the open position 4. In the intermediate position 6, they are open at an opening angle that is half the maximum opening angle a_max and hence a_max / 2. In scenario B, two intermediate positions 6 are sketched in which an opening angle a of the respective vehicle door 2, 3 is smaller than the maximum opening angle a_max.

For each vehicle door 2, 3, an opening direction 9 of its movement is sketched as well. In scenario B, the first vehicle door 2 is currently closed, meaning that it is moved towards the closed position 4. All other sketched vehicle doors 2, 3 are currently moving from the closed position 4 towards the open position 5 or the intermediate position 6. The vehicle 1 may comprise a control unit 11 . The control unit 11 may provide a vehicle function 12 for the vehicle 1 . The vehicle function 12 is, for example, an automatic door opening function and/or automatic door closing function for the first vehicle door 2 of the vehicle 1 . Alternatively or additionally, the vehicle function 12 may be configured to provide a parking assistant function or another driver assistance function for the vehicle 1 . The vehicle function 12 may as well be provided for the second vehicle door 3.

The vehicle 1 may comprise a diagnostics system 13, such as an onboard diagnostic system (OBD), meaning it may comprise a system with vehicle self-diagnostic and reporting capability.

Fig. 2 shows steps of a method to operate the sensor device 7 of the first vehicle door 2 of the vehicle 1 . In a step S1 , the method comprises determining a first opening information 20 that describes a position of the first vehicle door 2 with respect to the closed position 4 for the first vehicle door 2. In a step S2, the method comprises determining a second opening information 21 describing a position of the second vehicle door 3 with respect to the closed position 4 of the second vehicle door 3. At least one or preferably both opening information 20, 21 describe the opening angle a of the respective vehicle door 2, 3.

A step S3 comprises verifying if the first opening information 20 is within a first opening information range 22 and if the second opening information 21 is within a second opening information range 23. Preferably, the respective opening information range 22, 23 depends on the maximum opening angle a_max of the respective vehicle door 2, 3. Typically, both vehicle doors 2, 3 have the same maximum opening angle a_max and have hence the same opening information range 22, 23. The respective opening information range 22, 23 is preferably between half the maximum opening angle a_max/2 and the maximum opening angle a_max of the respective vehicle door 2, 3. This means that the described verification step S3 is successful for both doors 2, 3 in scenario A, which are sketched with dashed lines. However, in scenario B, the second vehicle door 4 is in an intermediate position 6 which is outside of the second opening information range 23 so that the verification step in step S3 is not successful.

If it is determined that the first opening information range 20 is within the first opening information range 22 and that the second opening information 21 is within the second opening information range 23, a step S4 is performed. Step S4 comprises prohibiting the sensor device 7 to emit a pulse 24 and/or a signal in an environment of the first vehicle door 2. In general, any emittance of a pulse 24 and/or a signal by the sensor device 7 of the first vehicle door 2 is prevented in step S4. A emitting function 30 of the sensor device 7 of the first vehicle door 2 is hence deactivated. However, receiving an echo 25 and/or a reflected signal by the sensor device 7 of the first vehicle door 2 may still be possible. A receiving function 31 of the sensor device 7 of the first vehicle door 2 thus remains active.

In a step S5, the sensor device 7 may continue to provide a sensor device diagnostics information 26 for the diagnostics system 13 of the vehicle 1 while emitting the pulse 24 and/or signal is prohibited,.

In a step S6, the method may comprise verifying if the first opening information 20 is outside of the first opening information range 22 and/or if the second opening information 21 is outside of the second opening information range 23 and/or if the first vehicle door 2 is moved towards the closed position 4. If any of these three demands is met, a step S7 is performed in which emitting the pulse 24 and/or signal in the environment of the first vehicle door 2 by the sensor device 7 of the first vehicle door 2 is active or, in particular, reactivated. This means that both the emitting function 30 as well as the receiving function 31 are active. This is, for example, the case for scenario B in Fig. 1 , where the second opening information 21 is outside the second opening information range 23. Furthermore, the first vehicle door 2 is moving towards the closed position 4. Therefore, two of the described three demands are met in scenario B. It is also possible that in a further scenario at least the first opening information 20 is outside of the first opening information range 22 (not sketched here).

After step S4 and/or after step S7, it is possible to perform a step S8. Step S8 may comprise that the sensor device 7 determines a sensor information 27 that describes the environment of the first vehicle door 2. This sensor device 7 may provide the sensor information 27 to the control unit 11 of the vehicle 1 . The sensor information 27 may be determined by analyzing the received echo 25 and/or reflected signal. In a step S9, the control unit 11 may provide a vehicle function 12 under consideration of the provided sensor information 27.

In steps S3 and S6, it is in general possible to specify the opening information range 22, 23 for a specific sensor unit 8 of the sensor device 7. Therefore, in these steps it is determined if the first opening information 20 is within a sensor unit specific first opening information range 22 and if the second opening information 21 is within a sensor unit specific second opening information range 23 or not. It is then possible to specifically prohibit emitting the pulse 25 and/or signal by one sensor unit 8 or multiple sensor units 8. The sensor unit specific first opening information range 21 and the sensor unit specific second opening information range 23 may depend on a sensor unit position of the respective sensor unit 8 in the first vehicle door 2 and/or on a distance to at least one other sensor unit 8 in the first vehicle door 2.

Fig. 3 shows an example of a measurement sequence for the sensor devices 7 of the first vehicle door 2 and the second vehicle door 3. In the first column, four steps ai, bi, Ci, di of the measurement sequence are listed. The second column and the third column are assigned to the two sensor units 8 of the second vehicle door 3 and the fourth and fifth column are assigned to the sensor units 8 of the first vehicle door 2. The order of the columns corresponds to an order of the sensor units 8 viewed in x-direction according to Fig. 1 . This means that the second column is assigned to the sensor unit 8 that is positioned closest to a front of the vehicle 1 whereas the last and fifth column is assigned to the sensor unit 8 that is positioned the furthest in a rear area of the vehicle 1 . The sensor units 8 with an active emitting function 30 and with an active receiving function 31 are marked as such in each step of the measurement sequence.

In the step ai, one of the sensor units 8 of the second vehicle door 3 both emits the pulse 24 and/or the signal and receives the echo 25 and/or reflected signal. The other sensor unit 8 of the second vehicle door 3 may as well receive the echo 25 and/or the reflected signal. The next step bi of the measurement sequence is a so-called emitting step 32 for the first vehicle door 2. This means that in this step one of the sensor units 8 of the first vehicle door 2 both emits and receives. In this step also one of the sensor units 8 of the second vehicle door 3 as well as the other sensor unit 8 of the first vehicle door 2 receive an echo 25 and/or reflected signal and have hence an active receiving function 31 . The emitting sensor unit 8 in step Ci is again one of the sensor units 8 of the second vehicle door 3 whereas step di is another emitting step 32 for the sensor device 7 of the first vehicle door 2.

In step S4, the measurement sequence may change to one of the two possibilities sketched below in Fig. 3. On the left side, the emitting steps 32 for the sensor device 7 of the first vehicle door 2 are treated as waiting periods 33. Therefore, the time necessary to do these steps b₂ and d₂ is kept as a part of the measurement sequence. On the right side, the emitting step 32 for the sensor device 7 of the first vehicle door 2 is skipped completely, meaning that the measurement sequence is reduced to the steps a₂ and c₂. These are the two steps of the example, during which the sensor units 8 of the second vehicle door 3 emit the pulse 24 and/or signal in their environment. Other measurement sequences and, in particular, other steps ai, b₂, Ci, d₂, a₂, b₂, c₂, d₂ are possible.

In addition to step S4, the sensor device 7 may be completely deactivated.

The control unit 11 may be configured to control the sensor device 7 of the first vehicle door 2 alone, the sensor devices 7 of both vehicle doors 2, 3 on one side of the vehicle 1 together and/or the sensor device 7 of all vehicle doors 2, 3 together. The control unit 11 may be a central control device of the vehicle 1 . The control unit 11 may perform and/or at least initiate the above-described steps of the method and/or the measurement sequence.

In summary, silencing sensor devices 7 that do not detect ego-vehicle parts were described. The goal of mounting the sensor devices 7 in movable parts of the vehicle 1 such as the vehicle doors 2, 3 is to detect obstacles to open the door until a calculated distance from the obstacle to avoid a collision. The solution consists of silencing the sensor device 7 of the rear door meaning the first vehicle door 2 when the rear door is opened from above a certain angle and the front door meaning the second vehicle door 3 is opened from a certain angle as well. For example, if the rear door is open for more than 35 degrees and if the front door is open for more than 35 degrees, then all the sensor units 8 of the rear door and hence the first vehicle door 2 are silenced. It is also possible to silence only a single sensor unit 8 if just a specific area is to be blended out. If the rear door is open less than 35 degrees or if the front door is open less than 35 degrees or if the rear door is moving towards the closed position 4, the sensor units 8 of the rear door can actively send. Actively sending or silencing has to be calibrated considering the needed use cases to ensure that static and dynamic obstacles can still be detected by the vehicle door 2, 3 so that the vehicle door 2, 3 would not collide against the obstacles.

The alternative is to turn off the sensor device 7 of the rear door completely. Another alternative is to ignore the obstacle and points detected by the rear door while opening, which were not detected when the rear door was in the closed position 4.

Claims

1 . Method to operate a sensor device (7) of a first vehicle door (2) of a vehicle (1 ), wherein the first vehicle door (2) is positioned adjacent to a second vehicle door (3) and each of the vehicle doors (2, 3) is movable between a closed position (4) and an open position (5), wherein at least if both vehicle doors (2, 3) are in the respective open position (5), the second vehicle door (3) is positioned in a coverage area (10) of the sensor device (7) of the first vehicle door (2), comprising:

- determining (S1 ) a first opening information (20) describing a position of the first vehicle door (2) with respect to the closed position (4) of the first vehicle door (2); and

- determining (S2) a second opening information (21 ) describing a position of the second vehicle door (3) with respect to the closed position (4) of the second vehicle door (3); characterized in prohibiting (S4) an emission of a pulse (24) and/or signal into an environment of the first vehicle door (2) by the sensor device (7), if it is determined (S3) that the first opening information (20) is within a first opening information range (22) and the second opening information (21 ) is within a second opening information range (23).

2. Method according to claim 1 , characterized in that the respective opening information (20, 21 ) describes an opening angle of the respective vehicle door (2, 3).

3. Method according to any one of the preceding claims, characterized in that the respective opening information range (22, 23) depends on a maximum opening angle of the respective vehicle door (2, 3), wherein the respective opening information range (22, 23) is in particular between half the maximum opening angle and the maximum opening angle of the respective vehicle door (2, 3).

4. Method according to any one of the preceding claims, characterized in that the sensor device (7) comprises multiple sensor units (8) which are positioned spatially apart from each other in the first vehicle door (2), wherein if it is determined for the respective sensor unit (8) that the first opening information (20) is within a sensor unit specific first opening information range (22) and that the second opening information (21) is within a sensor unit specific second opening information range (23), emitting the pulse (24) and/or signal by the respective sensor unit is prohibited.

5. Method according to claim 4, characterized in that the sensor unit specific first opening information range (22) and/or the sensor unit specific second opening information range (23) depend on a sensor unit position of the sensor unit (8) in the first vehicle door (2) and/or a distance to at least one other sensor unit (8) in the first vehicle door (2).

6. Method according to claim 4 or 5, characterized in that a measurement sequence for the sensor device (7) of the first vehicle door (2) and a sensor device (7) of the second vehicle door (3) comprises at least one emitting step (32) for each sensor device (7), during which at least one sensor unit (8) of the respective sensor device (7) emits the pulse (24) and/or signal, wherein while emitting the pulse (24) and/or signal is prohibited, the at least one emitting step (32) for the sensor device (7) of the first vehicle door (2) is treated as a waiting period (33) and/or is skipped.

7. Method according to any one of the preceding claims, characterized in that while emitting the pulse (24) and/or signal is prohibited, a receiving function (31) of the sensor device (7) remains active.

8. Method according to claim 7, characterized in that while emitting the pulse (24) and/or signal is prohibited, the sensor device (7) continues to provide (S5) a sensor device diagnostics information (26) for a diagnostics system (13) of the vehicle (1 ).

9. Method according to any one of the preceding claims, characterized in that if it is determined (S6) that the first opening information (20) is outside of the first opening information range (22) and/or the second opening information (21) is outside of the second opening information range (23) and/or the first vehicle door (2) is moved towards the closed position (4), emitting the pulse (24) and/or signal in the environment of the first vehicle door (2) by the sensor device (7) is active (S7).

10. Method according to any one of the preceding claims, characterized in that the sensor device (7) determines a sensor information (27) that describes the environment of the first vehicle door (2) and provides (S8) the sensor information (27) to a control unit (1 1 ) of the vehicle (1 ). Method according to claim 10, characterized in that the control unit (1 1 ) provides a vehicle function (12) for the vehicle (1 ), in particular an automatic door opening function for the first vehicle door (2), under consideration of the sensor information (27). Method according to any one of the preceding claims, characterized in that in addition to prohibiting the emission of the pulse (24) and/or signal by the sensor device (7), the sensor device (7) is deactivated. Vehicle (1 ) comprising a first vehicle door (2) with a sensor device (7) and a second vehicle door (3), wherein the vehicle (1 ) is configured to perform a method according to any one of the preceding claims. Control unit (1 1 ) configured to control at least a sensor device (7) of a first vehicle door (2) of a vehicle (1 ), wherein the control unit (11 ) is configured to perform a method according to any one of the claims 1 to 12. Computer program product comprising instructions, which, when the program is executed by a computer, cause the computer to perform a method according to any one of the claims 1 to 12.