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KR-20260064742-A - Method and control device for determining an obstacle in the pivoting area of two side doors of a vehicle

KR20260064742AKR 20260064742 AKR20260064742 AKR 20260064742AKR-20260064742-A

Abstract

A method for determining an obstacle within the pivoting area of two side doors of a vehicle arranged on the same side using a plurality of ultrasonic sensors comprises: determining a reflection point within the lateral environment of the vehicle including the pivoting area by multivariate measurement based on distance measurements performed using a plurality of ultrasonic sensors; determining the presence or absence of an obstacle within each pivoting area depending on whether there is a reflection point in the pivoting area; deactivating an ultrasonic sensor arranged on the vehicle body that monitors the pivoting area of the side door being opened in response to the opening of one of the side doors; and fixing the relevant reflection point for the pivoting area of the other side door.

Inventors

  • 루카 라즈반
  • 간드라 벤카타
  • 단카데 비샬

Assignees

  • 발레오 샬터 운트 센소렌 게엠베아

Dates

Publication Date
20260507
Application Date
20241009
Priority Date
20231024

Claims (10)

  1. A method for determining the presence or absence of an obstacle within each pivoting area (20, 30) of at least two side doors (2, 3) of a vehicle (1) arranged on the same side of the vehicle (1) using a plurality of ultrasonic sensors (41 to 44), Determining a plurality of reflection points (5) within a lateral environment (9) of a vehicle including a pivoting area (20, 30) by multivariate measurement based on distance measurement performed using a plurality of ultrasonic sensors (41 to 44) (S10), and Determining the presence or absence of an obstacle within each pivoting area (20, 30) based on whether at least one reflection point (5) exists in the pivoting area (20, 30) (S20, S30), and The method comprises deactivating (S50) an ultrasonic sensor (42) arranged on the body of a vehicle (1) that monitors a pivoting area (20) of the side door (2) that is opened in response to the opening of one of the side doors (2), and fixing (S70) a reflection point (51, 52) related to a pivoting area (30) of one or more other side doors (3). method.
  2. In Article 1, The above distance measurement is performed repeatedly in cycles, and The determined reflection point (5) is adjusted, deleted, and re-determined for each cycle, Fixing the reflection point (5) includes excluding the reflection point (5) from being adjusted or deleted during future cycles, and The fixed reflection point (5) remains fixed until the open side door (2) among the side doors is closed again. method.
  3. In Article 1 or Article 2, The determined reflection point (5) includes a plurality of attributes (501 to 504), and Fixing the reflection point (5) includes excluding at least one of the properties (501 to 504) of the reflection point from being adjusted during future cycles. method.
  4. In Paragraph 3, The plurality of attributes (501 to 504) include at least a set of two-dimensional coordinates (501, 502), a binary height indication (503), and a confidence level (504). method.
  5. In any one of paragraphs 1 to 4, When the opening angle (α) of the side door (2) is greater than a predetermined threshold, one of the side doors (2) is considered to be open. method.
  6. In any one of paragraphs 1 to 5, After deactivating the ultrasonic sensor (42) arranged on the vehicle body that monitors the pivoting area (20) of the side door (2) that opens, the proximity sensor (62) arranged on the outside of the side door (2) that opens is used to monitor a portion (21) of the pivoting area (20) of the side door (2) that opens, which is located on the outside of the side door (2). method.
  7. A command comprising, when executed by a control device (7) of a vehicle (1) connected to a plurality of ultrasonic sensors (41 to 44) arranged on the body of the vehicle (1), causing the control device (7) to perform the method of any one of claims 1 to 6. Computer program products.
  8. A control device (7) of a vehicle (1) having at least two side doors (2, 3) arranged on the same side of the vehicle (1) - the control device (7) is configured to determine the presence or absence of an obstacle within each pivoting area (20, 30) of the at least two side doors (2, 3) using a plurality of ultrasonic sensors (41 to 44) - wherein A first unit (71) configured to determine a reflection point (5) within a lateral environment (9) of a vehicle (1) including a pivoting area (20, 30) by multivariate measurement based on distance measurement performed using a plurality of ultrasonic sensors (41 to 44), and A second unit (72) configured to determine the presence or absence of an obstacle within each pivoting area (20, 30) depending on whether at least one reflection point (5) exists in the pivoting area (20, 30), and A third unit (73) configured to disable ultrasonic sensors (42) arranged on the body of a vehicle (1) that monitor a pivoting area (20) of one of the side doors (2) being opened in response to the opening of one of the side doors, and to fix reflection points (51, 52) associated with pivoting areas (30) of one or more other side doors (3). Control device.
  9. In the automobile (1), At least two side doors (2, 3) arranged on the same side of the vehicle (1), and A plurality of ultrasonic sensors (41 to 44) arranged on the body of a vehicle (1) to monitor each pivoting area (20, 30) of each of at least two side doors (2, 3), and A control device (7) of claim 8 automobile.
  10. In Article 9, Each of the plurality of ultrasonic sensors (41 to 44) is arranged on the door seal (8) below each side door (2, 3), or on the pillar below or behind each side door (2, 3). automobile.

Description

Method and control device for determining an obstacle in the pivoting area of two side doors of a vehicle The present invention relates to the field of ultrasonic vehicles, and more specifically, to a method and control device for determining the presence or absence of an obstacle within each pivoting area of at least two side doors arranged on the same side of a vehicle using a plurality of ultrasonic sensors, and to a vehicle having the control device. It is known that ultrasonic sensors are used for distance measurement in the lateral environment of a vehicle to determine the distance to a potential reflection point from an obstacle. Using the measured distance of the ultrasonic sensor and a known installation location, the 2D or 2.5D location of this reflection point can be determined through multilateration. If this reflection point is located in the pivoting area of the vehicle's side door, the opening of the side door may be prevented or a warning may be issued to the driver. If one of the ultrasonic sensors is mounted on the vehicle body, such as at the door sill rather than on the side door, and when one of the side doors is actually opened, the ultrasonic sensor will consider the door as an obstacle, which will lead to a false alarm or blocking of further opening of the door. However, if the ultrasonic sensor that incorrectly identifies the opening door as an obstacle is deactivated to prevent a false alarm or erroneous blocking of further opening, the detection performance of the entire ultrasonic system is degraded and the detection accuracy of obstacles in adjacent pivoting areas is reduced. With these problems in mind, the objective of the present invention is to improve the ultrasonic detection accuracy of obstacles in the lateral environment of a 4-door or 5-door vehicle when one of the doors is opened. Accordingly, under a first aspect, a method is proposed for determining the presence or absence of an obstacle within each pivoting area of at least two side doors arranged on the same side of a vehicle using a plurality of ultrasonic sensors. The method comprises determining a plurality of reflection points within the lateral environment of the vehicle including the pivoting area by multivariate measurement based on distance measurements performed using a plurality of ultrasonic sensors, determining the absence of an obstacle within each pivoting area when there are no reflection points in the pivoting area, deactivating an ultrasonic sensor placed on the vehicle body that monitors the pivoting area of the opened side door in response to the opening of one of the side doors, and fixing the relevant reflection points for the pivoting area of one or more other side doors. Therefore, the degradation of the quality of the reflection point determined in the pivoting area of the other side door(s), which would be caused by deactivating the ultrasonic sensor monitoring the pivoting area of one side door that cannot participate in multivariation after deactivation, is advantageously prevented by fixing the reflection point that was determined before the ultrasonic sensor monitoring the pivoting area of one side door was deactivated. Therefore, in practice, when there is no obstacle in their pivoting area, the risk of the other side door(s) being blocked due to a false detection of a reflection point inside their pivoting area, and/or in practice, when there is an obstacle in their pivoting area, the risk of the other side door(s) being erroneously cleared due to a false detection of a reflection point outside their pivoting area can be advantageously reduced. Here, for example, a reflection point "related to the pivoting area" may be a reflection point located in a specific pivoting area, or a reflection point located in an area including the pivoting area and an additional safety buffering area that covers potential errors in determining the exact location of the reflection point, and/or a reflection point that has been seen or seen at maximum amplitude by an ultrasonic sensor monitoring the pivoting area. Here, "freezing" of a reflection point may refer to one or more of the following: extending the validity period, excluding from deletion at least one additional attribute associated with the reflection point, such as the entire reflection point or at least its coordinates and/or height indication, confidence level, etc. The reflection point may be a 2D reflection point specified by 2D coordinates in the vertical projection of the vehicle and its surroundings on the road plane, or a 2.5D reflection point specified by 2D coordinates and additional height indications classifying the reflection point as either "high" or "low," where a "low" 2.5D reflection point indicates an obstacle, such as a curb, that the vehicle's side door can pivot without damage, and a "high" indicates an obstacle that could collide with the pivoting side door. The "high"/"low" indication may also be obtained by observing the