DOOR DEVICE HAVING MOVABLE SENSOR COMPONENT FOR ENVIRONMENT DETECTION AND METHOD FOR ENVIRONMENT DETECTION AT A DOOR DEVICE

Abstract

A rear door device of a motor vehicle has a door structure that can be moved relative to a base frame. For environment detection, a sensor component that can be moved out is at least partially held on the door structure or the base frame. There is also described a near-field detection method for preventing damage to the vehicle from ambient structures.

Claims

1-31. (canceled)

32. A door device of a motor vehicle, the door device comprising: a base frame; a door structure moveably mounted relative to said base frame; and a movable sensor component for environment detection, said movable sensor component being at least partially accommodated on or closely adjacent to said door structure or said base frame.

33. The door device according to claim 32, wherein said sensor component is mounted to be extended from a protected position into at least one detection position.

34. The door device according to claim 32, wherein said sensor component comprises a sensor head which is at least temporarily arranged outside said door structure.

35. The door device according to claim 34, wherein said sensor component comprises two opposing sensor heads arranged at least temporarily outside said door structure.

36. The door device according to claim 34, wherein in an idle state, said sensor head of said sensor component is accommodated substantially within said door structure.

37. The door device according to claim 34, wherein in a measurement state, said sensor head of said sensor component is arranged at least partially outside said door structure.

38. The door device according to claim 32, wherein said sensor head is movable between at least two positions relative to said door structure.

39. The door device according to claim 32, wherein said sensor head is movably mounted out of an interior of said door structure.

40. The door device according to claim 34, further comprising an actuator, being an active actuator and/or a passive actuator, for moving said sensor head, said actuator having a positive control with a sliding-block guide and/or a spring unit, or being a motor selected from the group consisting of electric motors, hydraulic motors, and pneumatic motors.

41. The door device according to claim 34, wherein said motor is accommodated in an interior of said door structure.

42. The door device according to claim 34, wherein at least one portion of said sensor head is flexible and/or bendable.

43. The door device according to claim 42, wherein said at least one portion of said sensor head is configured to move into a wheel well of the motor vehicle.

44. The door device according to claim 32, wherein a horizontal detection angle of said sensor component is greater than 120° and wherein a vertical detection angle of said sensor component is greater than 45°.

45. The door device according to claim 32, wherein a horizontal detection angle of said sensor component is greater than 150° and wherein a vertical detection angle of said sensor component is greater than 90°.

46. The door device according to claim 34, wherein said sensor head is configured to oscillate, to wobble, or to rotate during a measuring process.

47. The door device according to claim 34, wherein said sensor component or said sensor head includes an image recognition sensor.

48. The door device according to claim 32, further comprising a braking device configured to selectively brake a relative movement of said door structure relative to said base frame, and a door drive configured for selectively opening said door structure.

49. A method for near-field detection on a door device, wherein a door structure is movable relative to a base frame, the method comprising: monitoring an environment of the door structure to detect foreign bodies in a range of possible door movements of the door structure; and before or during an opening of the door structure, detecting with a movable sensor head of a sensor component at least part of the environment of the door structure.

50. The method according to claim 49, which comprises, prior to a measurement, extending the sensor head at least partially out of the door structure and retracting the sensor head following the measurement.

51. The method according to claim 49, which comprises analyzing sensor data, vehicle data, and environment data using deep learning.

52. The method according to claim 49, which comprises, following a measurement, passively retracting the sensor head by a closing process of the door structure.

53. The method according to claim 49, which comprises holding the sensor head on a toothed rack or spindle.

54. A door assembly of a motor vehicle, the door assembly comprising: a door moveably mounted relative to a base frame of the motor vehicle; and a movable sensor component for environment detection in a vicinity of the motor vehicle, said movable sensor component having a sensor head movably mounted between a detection position in which said sensor head is extended from said door and configured to acquire information about the environment in the vicinity of the motor vehicle and a protected position inside said door in which said sensor is protected against soiling.

Description

[0057] Further advantages and features of the present invention will be apparent from the exemplary embodiments which are explained below with reference to the accompanying figures.

[0058] In the figures:

[0059] FIG. 1 shows a schematic top view of a motor vehicle equipped with door devices according to the invention;

[0060] FIG. 2 shows a top view of a motor vehicle equipped with door devices according to the invention;

[0061] FIG. 3 shows a highly schematic view of a sensor component on an attachment part;

[0062] FIG. 4 shows a highly schematic view of the sensor component in a door device;

[0063] FIG. 5 shows a further highly schematic perspective view of a door device;

[0064] FIG. 6 shows a schematic horizontal section through a further exemplary embodiment of a door device; and

[0065] FIG. 7 shows a highly schematic side view of a motor vehicle with a door device according to the invention.

[0066] FIG. 1 shows a highly schematic top view of a motor vehicle 200, which here has four doors 1 or car door devices 100. Here, on the right-hand side of the vehicle, the front door 201 and the rear door 202 are each open, while on the left-hand side of the vehicle they are shown closed.

[0067] The motor vehicle has four wheel wells 203. The side mirrors are provided in the front regions. Sensors 7 which detect the surroundings can be arranged in the side mirrors.

[0068] At least one sensor component 4 is provided in particular on each of the rear doors 202 of the motor vehicle 200. The sensor components 4 each comprise a sensor head 5, which is shown on both rear doors 202 in the extended state in which the sensor head 5 protrudes outwardly from the door in each case.

[0069] When the door 202 is open, the sensor head 5 protrudes outwardly from the door structure 3. As a result, a particularly large and effective angular range is detected in that interfering bodies or foreign bodies 60 (compare FIG. 2) can be detected. This makes it possible that the outer skin 14 and the inner skin 15 are not damaged when the door is opened and closed. This was previously not possible with rear doors 202.

[0070] In the case of the front left door, the sensor component 4 or rather the sensor head 5 of the sensor component 4 is shown in the idle state 11 in which the sensor head 5 is situated substantially or even completely inside the interior of the door structure 3. This is the idle position 21.

[0071] The rear door 202 is shown on the left side of the motor vehicle 200 in the measurement state 12. Here, the door 202 is closed as well, but the sensor head 5 of the sensor component 4 is in the measurement state 12 and here in the extended measurement position 22. It is possible that the sensor component is fixedly mounted to the door device and there in particular to the door structure. In this case, the sensor component is not movable relative to the door structure 3. Preferably, in such cases, a measurement position 22 is assumed because the sensor head 5 is situated outside the interior of the door structure 3.

[0072] FIG. 2 shows a highly schematic top view of a motor vehicle 200 with front doors 201 and rear doors 202, wherein the detection range 25 of the sensor component 4, which results when the door is closed, is shown hatched on the right-hand side. Here, the foreign body 60, such as a pillar or the like, is reliably detected so that the opening angle can be specifically limited by means of a braking device 40.

[0073] On the left side of the motor vehicle 200 from FIG. 2, the detection ranges 25 and 26, which result when the door is closed (detection range 25) and when the door is open (detection range 26), are shown hatched.

[0074] FIG. 3 shows a highly schematic perspective view of an attachment part 16, such as a trim element 17 or a seal 18, which can be attached to a door body 13 of a door device 1. A feedthrough for the sensor component 4 is provided within the attachment part 16, so that a portion 6 and in particular the sensor head 5 extends to the outside. For example, the extension point can be formed in the area of the rear wheel well so that the sensor head 5 can remain extended when the door is open and closed.

[0075] FIG. 4 shows a schematic top view of a door device 1, with the sensor component 4 being arranged inside the door structure 3 (=car door). An actuator 30 is used here for actively moving the sensor head 5 out of the interior of the door structure 3 through the outer skin 14 to the outside. It is also possible that the sensor head 5 is guided to the outside through a recess or a feedthrough on an attachment part, as in FIG. 3.

[0076] FIG. 5 shows an alternative embodiment in which the sensor component 4 is secured to the door body 13. Here, the sensor component 4 has an electric motor 36 which, via a pinion, drives a toothed rack which is formed as a banana-shaped arm, for example, and carries the sensor head 5 at the distal end. By extending the arm 8, the sensor head 5 can be placed further out and can thus detect a wider surrounding area. Here, the electric motor is an active actuator 31, preferably with a position sensor. The sensor component can already measure the environment during the extension, which, due to the banana-shaped configuration or the resulting movement path, results in a spatial image of the environment and many more measuring points than a fixedly installed sensor head. Also, it is not mandatory that the sensor component remains in the maximum position. The measurement accuracy and measurement quality can noticeably increase if the sensor head oscillates or moves in such a manner that the collision object 60 can be detected (measured) in the best possible way. The sensor can preferably (also additionally) be moved vertically.

[0077] In the case of an active door, the sensor can also be intelligently linked here to the door actuator, i.e., if a collision object is not reliably detected, the door opening speed can slow down so that the sensor component has more time for measuring. Also, the door can change the direction of movement (oscillate slightly itself) so that the measurement quality is increased. Thus, the door itself and the sensor component can also oscillate/wobble during measurement. A plurality of measurement data can be collected and analyzed in a computer. As a result—thus depending on the situation and environment—the sensors and the door are individually and accordingly controlled and sometimes moved, which increases the measurement and detection quality.

[0078] FIG. 6 shows yet another example in a horizontal section, again comprising an extending arm 8 on which, for example, a toothed rack is formed in order to actively retract or extend the arm 8 of the sensor component 4 via the motor 36. In the extended state, the sensor head 5 projects far beyond the outer skin 14 of the door device 1.

[0079] It is also possible that the extension is implemented via a spring 35 which results in automatic extension of the sensor head 5 when the door structure 3 of the door device 1 is opened.

[0080] The sensor head's side facing the vehicle interior can accommodate a second sensor, which then detects the area between the door and the door cutout in the body (entry/exit area). This results in a cost-effective solution for finger pinch protection, for example. This sensor component, too, can already measure the environment during extension/retraction, which, due to the circular segment movement path, results in a spatial image of the environment and many more measurement points than a fixedly installed sensor head. In particular, the sensor can additionally also be moved vertically.

[0081] The retraction/extension movement of the sensor (sensor head) can also be designed in such a manner that the exterior area is measured with a sensor in the extended state and the intermediate area between the door and the car body is measured when the sensor is retracted. This can be achieved, e.g., in that the sensor head or the entire sensor unit swivels by 180° about its own axis during extension.

[0082] Finally, FIG. 7 shows a highly schematic side view of a motor vehicle 200, wherein here the rear wheel well 203 can be seen, in which a wheel 204 is arranged. The rear door 202 can be opened, wherein a sensor component 4 is attached to the rear door 202 which here extends into the wheel well 203 in the rear region of the rear door 202.

[0083] The sensor component 4 may be larger or smaller than shown here in the exemplary embodiments. Hereby it is possible to form a stationary sensor component which, for example, constantly projects outwardly from the interior of the door structure 3. It is also possible to design the sensor head 5 of the sensor component 4 to be movable, the sensor head preferably extending when the door starts to open.

[0084] If, in particular, the sensor component is configured to be static, it is preferably painted in the color of the motor vehicle and is integrated into the design of the motor vehicle so that the sensor component is little or not at all noticeable.

[0085] It is possible that the sensor component is arranged inside the door structure and is covered, for example, by an aluminum layer on the outer skin 14.

[0086] In all embodiments, a wide variety of sensors provided on a motor vehicle can be used for near-field detection.

[0087] In all embodiments, the sensor unit can be designed as or comprise at least one radar sensor. For example, the sensor unit can be designed as a so-called ultra-wideband radar sensor. In this case, the sensor unit is designed to emit at least one ultrashort pulse and to receive the corresponding reflections again and evaluate them. For example, a change in phase, frequency, wavelength and/or propagation time can be used for detection of the environment.

[0088] In a particularly advantageous embodiment, the sensor unit comprises at least one transmitting unit. The transmitting unit is preferably suitable and designed to transmit at least one signal. The receiving unit is preferably suitable and designed to receive at least one reflection of the transmitted signal emanating at least partially from the collision object and to detect it as a signal. The detection device is preferably suitable and designed to detect the impassability as a function of the detected signal. Furthermore, the detection device is in particular suitable and designed to control the passive or active door device as a function of the detected impassability so that at least one actuating or damping characteristic of the damper device can be set by a signal from the detection device. The reflected signal can be processed particularly advantageously by the detection device and can be used for a particularly reliable detection of collision/obstacle objects.

[0089] The transmitted or received signal is in particular a transverse wave and/or a longitudinal wave, for example an electromagnetic wave and/or a sound wave. It is possible that the wave is subjected to corresponding modulations. Transmission as a pulse and in particular as an ultrashort pulse is also possible. A pulse phase modulation can be provided. The differences between the transmitted and reflected signals are, for example, characteristic of the size, shape and/or material composition of the collision/interference object. The differences in the transmitted and reflected signals relate to, e.g., amplitude, frequency, wavelength, phase, and/or polarization.

[0090] Interference between a transmitted signal and a received signal can also be determined. For example, the sensor unit is designed as or can comprise an interferometer. Preferably, signals in the range of shorter wavelengths are used for this purpose, such as visible light. Preferably, the transmitting unit and the receiving unit are integrated in at least one common sensor. It is also possible that the transmitting unit and the receiving unit are designed separately. In this case, the transmission between the sensor unit and the detection device can be wireless. However, at least one corresponding connecting line can also be provided.

[0091] Further sensor principles can be: thermal image sensor, image recognition/vision sensors, video sensors, ultrasonic, photonic mixer device, radar (24 GHz, 77 GHz . . . ), lidar (light detection and ranging).

[0092] In all embodiments it is preferred that of the sensor component only the sensor head and in particular an antenna extends outwardly from the interior of the door structure. It is possible that a stroke of about 10-30 mm is sufficient to move the sensor head outwardly from the interior. In other embodiments it can also be useful or possible for the stroke to be 50, 60, 70 or 80 mm.

[0093] A sensor head made of a flexible material prevents the sensor head from breaking when it comes into contact with other objects or the user.

[0094] Preferably, the sensor component as a whole is attached to the door body of the door structure and, for example, screwed on or also glued on.

[0095] Overall, the invention provides a very simple solution. It does not interfere with the design of a motor vehicle. It can be installed on many vehicles, in particular if the sensor head is fed through a seal on a vehicle door. Many seals on doors and even the basic design of doors are relatively similar on different vehicles.

[0096] It is possible to install a plurality of sensors, if necessary. They can also be installed in the B-pillar or other areas of the vehicle.

[0097] If such a sensor system or component is not needed, a normal seal can be installed. For vehicles with an active door opening and/or an active door brake, seals can be installed through which a sensor component can be fed.

[0098] In preferred embodiments, it is possible to extend the sensor head of a sensor component even when the door is closed.

[0099] In all embodiments, the sensor component is always protected against soiling, which is very important. In the retracted state within the door structure, the sensor component is fully protected. A dirty or iced sensor unit results in incorrect measurements or even failure, which can immediately lead to collision and thus damage. The user himself cannot tell whether the sensor is measuring correctly, he relies on it. Faulty measurements are therefore very detrimental to the quality of the overall system and call into question the usefulness of the overall system. When the sensor component or the sensor head is extended, the vehicle is usually stationary and soiling is not particularly likely since the doors are also always closed quickly in bad weather. After all, the customer does not want the interior exposed by the open door to become soiled by rain, snow, splash water.

[0100] In all embodiments, the sensor component, such as the parking sensors, the near-field recognition system for autonomous driving, the surround unit for parking (image recognition, surround view, the distance sensors from dynamic driving . . . ), can be networked with other sensors. The computing unit of the door sensor unit or another computing unit records the measured values and thus the environment already during driving into a parking space, a garage or parking position. An algorithm calculates the environment around the door (artificial environment) from this data, the GPS data (vehicle position . . . ) and stored data (e.g. the private garage place of the vehicle is approached daily and continuously measured, which improves the data quality each time—deep learning can be used here). When opening/closing the door, this is then compared and verified with the dynamic measured values (3D measurement) resulting from the door swiveling. This data can be made available to the vehicle itself but also to third parties, such as the navigation map manufacturer or the adjacent vehicle in a parking space or the parking lot operator. Data from stationary cameras etc. in the parking area can also be accessed. It is also conceivable that the parking lot operator makes this data available to the parking lot user in the form of retrievable data. Also, the parking area can be marked accordingly so that the vehicle is thereby informed about the environment or recognizes it intelligently. This again increases the quality of environment recognition and collision avoidance.

[0101] The presence of the systems described above depends on the vehicle class.

[0102] If, despite all these environment detection possibilities and collision avoidance improvement possibilities, reliable opening/closing the door is not possible, the door brake or the door actuator can inform the user of this by means of haptic feedback when the door is operated. This can be a rattling, an acoustic tone, a visual signal a short blocking of the door movement or similar. This also applies if one or more sensors fail(s). The user then takes over the door movement on his/her own responsibility, since it must always be possible to open the door (safety-relevant, among other things).

[0103] In principle, such a sensor component works not only on the rear door of a motor vehicle, but also on the front door, the tailgate, engine hood or sliding doors, and can also be used on other components.

[0104] The sensor unit does not have to be connected to the door control unit in a fixed (wired) manner; wireless data exchange (radio, Bluetooth, NFC, ANT, GSM, WLAN . . . ) is also possible.

REFERENCE LIST

[0105] 1 door device [0106] 2 base frame [0107] 3 door structure [0108] 4 sensor component [0109] 5 sensor head [0110] 6 portion, end portion [0111] 7 sensor [0112] 8 arm [0113] 11 idle state [0114] 12 measurement state [0115] 13 door body [0116] 14 outer skin [0117] 15 innner skin [0118] 16 attachment part [0119] 17 trim element [0120] 18 seal [0121] 21 idle position [0122] 22 measurement position [0123] 23 horizontal detection angle [0124] 24 vertical detection angle [0125] 25 detection range [0126] 26 detection range [0127] 30 actuator [0128] 31 active actuator [0129] 32 passive actuator [0130] 33 positive control [0131] 34 sliding-block guide [0132] 35 spring unit [0133] 36 motor [0134] 40 braking device [0135] 50 door drive [0136] 60 foreign body, collision object [0137] 100 car door device [0138] 200 motor vehicle [0139] 201 front door [0140] 202 rear door [0141] 203 wheel well [0142] 204 wheel [0143] 205 sensor