WO2025098747A1

WO2025098747A1 - Door opening protection

Info

Publication number: WO2025098747A1
Application number: PCT/EP2024/079621
Authority: WO
Inventors: Kevin KRUPINSKI; Leen Sit
Original assignee: Valeo Schalter und Sensoren GmbH
Current assignee: Valeo Schalter und Sensoren GmbH
Priority date: 2023-11-08
Filing date: 2024-10-21
Publication date: 2025-05-15
Anticipated expiration: 2026-05-08
Also published as: DE102023130958A1

Abstract

Disclosed is a computer-implemented method for a door opening protection of a vehicle (200). The method comprises receiving radar signal data (122) determined using a radar sensor (202) of the vehicle (200). One or more moving objects (260) are detected using the received radar signal data (122). A map (126; 270) is generated using the received radar signal data (122), which is descriptive of relative positions of one or more static objects (250, 252) relative to the vehicle (200). A set (128) of objects relevant for the door opening protection is determined using the map (126; 270) and a result (124) of the detecting of the one or more moving objects (260). A door protection function (130) is executed using the set (128) of relevant objects.

Description

DOOR OPENING PROTECTION

FIELD OF THE INVENTION

[1] The invention relates to the field of door opening protection of a vehicle. More particularly, the invention relates to a computer-implemented method for a door opening protection of a vehicle using radar signal data determined with a radar sensor of the vehicle.

BACKGROUND

[2] A door opening protection serves to protect a vehicle's door from damage when it is opened. For this purpose, sensors, e.g., ultrasonic sensors, are used to determine, whether there is an obstacle next to the door, with which the door may collide, when being opened. However, due to the limitations of the ultrasonic technology, a system using ultrasonic sensors may require multiple ultrasonic sensors embedded in the vehicle's doors to illuminate a large enough area of the vehicle's side to detect obstacles to the doors. Furthermore, multiple ultrasonic sensors are required to provide information regarding relative angles of detected obstacles. Nevertheless, there may remain blind spots due to a narrow field-of-view of the ultrasonic sensors. Therefore, there is a need for an improved door opening protection.

[3] It is an objective to provide for a computer-implemented method, a computer program, and a computer device for a door opening protection of a vehicle. The objectives underlying the invention are solved by the features of the independent claims.

SUMMARY

[4] In one aspect a computer-implemented method is disclosed for a door opening protection of a vehicle. The method comprises receiving radar signal data determined using a radar sensor of the vehicle. One or more moving objects are detected using the received radar signal data. The detecting comprises determining relative velocities and relative positions of the moving objects relative to the vehicle. A map is generated using the received radar signal data. The map is descriptive of relative positions of one or more static objects relative to the vehicle. A set of objects relevant for the door opening protection is generated using the map and a result of the detecting of the one or more moving objects. The set of relevant objects comprises, if being determined to be relevant for the door opening protection, one or more of the static objects described by the map. The respective static objects are determined to be relevant for the door opening protection, if the static objects are positioned in a door opening area, which is a predefined area relative to the vehicle which is covered by opening one or more doors of the vehicle. The set of relevant objects further comprises, if being determined to be relevant for the door opening protection, one or more of the moving objects. The respective moving objects are determined to be relevant for the door opening protection, if the moving objects have relative velocities and relative positions enabling the respective moving objects to enter the door opening area within a predefined time limit with a path being unblocked by the static objects. A door protection function is executed using the set of relevant objects.

[5] The received radar signal data may be descriptive of relative positions of static objects in a sensing area of the radar sensor used to determine radar signal data. Since radar sensors are furthermore suitable for determining relative velocities of objects, the received radar signal data may further be descriptive of relative positions and velocities of moving objects in the sensing area of the radar sensor. Thus, a radar sensor not only enables a door opening protection system to take into account static objects, but also moving objects and in particular interactions of static and moving objects for providing an improved door opening protection.

[6] Using a radar sensor, e.g., a multi-input -multi-output (MIMO) radar sensor, for determining objects, which could be obstacles for an opening of a door of a vehicle may offer several advantages for door opening protection in vehicles, including improved spatial resolution, object separation, enhanced sensitivity, and motion detection capabilities. By using, e.g., one or two, well-placed MIMO radar sensors per vehicle side field-of-views (FOVs) in two different planes, i.e., horizontal (azimuth) and vertical (elevation), in combination with suitable imaging technique, e.g., synthetic aperture radar (SAR) mapping of a surrounding of the vehicle, an improved detection of objects relevant for a door opening protection may be enabled.

[7] Radars are, e.g., used for various autonomous driving scenarios such as adaptive cruise control (ACC) and cross traffic alert (CTA). Radar sensors are devices which are to emit radar signals and detect reflections of the emitted radar signals from objects within ranges of detection of the radar sensors, i.e., the sensing areas of the radar sensors. The radar reflections comprised by the detected radar signal depend on features of objects within the sensors' sensing areas. These features of the objects may for example comprise position, shape, motion characteristics, and/motion trajectory. Radar signal data may comprise four-dimensional (4D) feature information of objects determined from the reflected radar signal received by the radar sensor. This four-dimensional data may, e.g., comprise distance, velocity, azimuth angle, and elevation angle of the detected object relative to the radar sensor.

[8] For example, a MIMO radar may be used for door opening protection, which employs multiple transmitting and receiving antennas to enhance radar performance. The radar sensor may, e.g., integrated into an outer rear-view mirror module of the vehicle, in particular into a bottom side of the rear-view mirror module of the vehicle.

[9] For example, a frequency modulated continuous wave (FMCW) radar sensor may be used. In case of a FMCW radar sensor, the transmitted radar signal is frequency modulated. This frequency modulation enables a distance measurement using an indirect time-of-flight measurement by comparing the frequency and phase of the received radar signal with a reference, e.g., the emitted radar signal. Furthermore, velocities may be measured using Doppler shifts of the received radar signal. Depending upon an object relative distance and velocity to the radar sensor, the acquired reflected radar signal may comprise frequency variations. These frequency variations may be processed using suitable techniques, like Fast Fourier Transform (FFT), to extract characteristics of objects, like distances and/or velocities. Thus, by performing an FFT on the radar signal data descriptive of the radar signals positions of detected objects, e.g., defined in three dimensions in terms of distance, azimuth angle and/or elevation angle, and/or velocities of detected objects may be determined. This analysis may, e.g., aid in target detection, target identification, target tracking, etc.

[10] A map may be generated using the received radar signal data, which is descriptive of relative positions of one or more static objects relative to the vehicle. Thus, not only single positions of single objects may be determined, but rather a compilation of positions of static objects within the sensing area of the radar sensor. This compilation may provide a precise image of the surroundings of the vehicle and enable determining spatial relations of the static objects. For example, such a map may be used for determining potential unblocked paths of moving objects between the static objects and/or path of moving objects, which are blocked by static objects. Such a map may, e.g., be a synthetic aperture radar (SAR) map which provides high- resolution information about objects, terrain, and structures in the surrounding environment. For generating the SAR may, a motion of the vehicle comprising the radar sensor may be used. Thus, the objects may be scanned from different points of views, while the vehicle moves relative to the respective objects, resulting in a finer spatial resolution than a radar scan of the environment executed, while the vehicle is at rest. For example, such an SAR may be used is to determine an importance of static objects, e.g., infrastructural objects, in the vicinity of the vehicle directly for an opening of a door of the vehicle. For example, static objects in the vicinity of the door may be detected, with which the door may collide, when being opened. For example, such an SAR may be used to determine an importance of static objects, e.g., infrastructural objects, in the vicinity of the vehicle indirectly for an opening of a door of the vehicle. For example, static objects in the vicinity of the door may be detected, which block paths of moving objects towards the vehicle and a door of the vehicle to be opened or being opened. Such moving objects with blocked paths towards the car may be determined to pose no danger of a collision, when opening the door, while for unblock moving objects a danger of a collision may be determined triggering suitable countermeasures.

[11] Objects relevant for the door opening protection may be determined. Static objects may be determined to be relevant for the door opening protection, in case it is determined using the map that the respective static objects are positioned in a door opening area of the vehicle. The door opening area of the vehicle is a predefined area relative to the vehicle, which is covered by opening a door of the vehicle. For a plurality of doors of the vehicle, a plurality of door opening areas may be predefined. These areas may be defined by physical features of the doors. For a door being opened by a rotation around a hinge proving an axis of rotation, the door opening area may be defined by a circular sector with the hinge defining the center and a length of the door defining the radius. The radius of the circular sector may be defined by a maximum opening angle of the respective door. The axis of rotation may, e.g., be a vertical axis. The door may, e.g., be a conventional door, which is hinged at a front-facing edge of the door. Such a door swings outward from a body of the vehicle. The axis of rotation may, e.g., be a horizontal axis. The door may, e.g., be a gull-wing door, also referred to as an up-door, i.e., a door that is hinged at the roof rather than the side of the vehicle. Since the door is opened in a 3D environment, the circular sector may be extended to a cylinder sector additionally taking into account a height or width of the door and/or a distance of the door to the ground. The height of the door may define a height of the cylinder sector with a vertically oriented longitudinal axis, while the distance of the door to the ground may define a distance of the cylinder sector to the ground. The width of the door may define a length of the cylinder sector with a horizontally orientated longitudinal axis, while the distance of the door to the ground may define a distance of the cylinder sector to the ground. In this case, the door opening area may be defined as part of a 3D door opening volume, e.g., in form of the cylinder sector. Alternatively, e.g., a mounting height of the radar sensor or another predefined height, which is smaller than the height of the door and/or smaller than the mounting height of the radar sensor, may be used to define the height of the cylinder sector. For example, the door opening volume may be used for determining objects relevant for the door opening protection.

[12] Moving objects relevant for the door opening protection may be determined by analyzing the received radar signal data descriptive of radar reflections from the moving objects. For example, relative velocities and relative positions of the respective moving objects may be determined. It may be determined, whether the relative velocities and relative positions enabling the respective moving objects to enter the door opening area within a predefined time limit. The predefined time limit may define a period of time relevant for the door opening protection, i.e., a period of time during which a protection is required. In case a moving object is unable to enter the door opening area within a predefined time limit, i.e., the period of time relevant for the protection, the respective moving object may be classified as being, at least temporary, not relevant for the door opening protection. A moving object able to enter the door opening area within the predefined time limit may potentially be relevant for the door opening protection. In order to determine, whether it is relevant, it may additionally be determined using the map, whether there is a path for the moving object unblocked by static objects enabling the respective moving object to enter the door opening area within the predefined time limit. In case there is such an unblocked path, the moving object may be considered to be relevant for the door opening protection. In case all the paths enabling the moving object enter the door opening area within the predefined time limit are blocked by one or more static objects, the respective moving object may be classified as being, at least temporary, not relevant for the door opening protection. Thus, not only position and velocity of moving objects, but also the environment through which the respective objects have to move may be taken into account, in order to determine, whether a moving object being detected using the radar sensor is relevant for the door opening protection.

[13] The predefined time limit may be a common time limit for all moving objects or it may be an object individual time limit, e.g., depending on an individual feature of the moving objects, like their individual velocity. The predefined time limit may, e.g., comprise a predefined period of time required for opening the door of the vehicle. The predefined time limit may, e.g., comprise an additional period of time assumed to be suitable for a moving object to become aware of the open door and to initiate an evasive maneuver in order to avoid a collision with the open door. This additional period of time may, e.g., depend on the velocity oof the moving object. For example, a pedestrian may adapt more easily to avoid colliding with an open door than a cyclist, provided the pedestrian relative velocity to the vehicle is slower than the cyclist's relative velocity.

[14] For example, for the moving objects potential paths of movement may be determined using an extrapolation of a current path of movement of the objects. These current paths of movement may be determined using positions and velocities determined for these moving objects using the radar sensor of the vehicle. For example, also an additional radar sensor in the same radar system of the vehicle or other sensor data fused with the sensor data of the radar system of the vehicle may be used. For example, a plurality of positions and velocities may be determined for a moving object, in order to determine its current path of movement. These positions and velocities may, e.g., be determined from different points of view in space and time due to a movement of the vehicle with the radar sensor. For example, the extrapolated paths may be used to determine, whether the moving objects are enabled to enter the door opening area within a predefined time limit. For example, extrapolated paths may be the paths that are checked regarding a blockage by one or more of the static objects determined using the map.

[15] Those moving objects may be added to the set of relevant objects, for which unblocked paths are determined, which enable the respective moving objects to enter the door opening area within a predefined time limit.

[16] In order to protect the door of the vehicle, a door protection function is executed using the set of objects relevant for the door opening protection. Such a door protection function may, e.g., comprise outputting a collision warning signal warning occupants of vehicle of a potential collision of one or more doors of the vehicle with one or more objects of the set of relevant objects. The warning signal may be output in form of an acoustic, visual and/or haptic signal. A haptic signal may, e.g., be a vibrating or other tactile signal. For example, the warning signal may warn the occupants of a potential collision of the door, when being opened, with a static object within the door protection area. For example, the warning signal may warn the occupants of a potential collision of the door, when being opened, with a moving object entering the door protection area within the predefined time limit. For example, such a door protection function may comprise restricting a door opening angle of a door of the vehicle.

[17] For example, the acquired radar signals comprise radar signals acquired while the vehicle is moving. The map generated using the received radar signal data is a synthetic aperture radar map descriptive of the relative positions of the one or more static objects relative to the vehicle within an area covered by the radar sensing area of the radar sensor, while the vehicle is moving. [18] A moving of the ego vehicle may be used for generating a map in form of an SAR map descriptive of the positions of the one or more static objects in the radar sensing area relative to the vehicle as well as relative to each other. The movement of the vehicle, e.g., when the vehicle slows down to halt, may be used for acquiring radar signals with the radar sensor from different points of view by the moving vehicle.

[19] The radar sensor may, e.g., be tuned to obtain more detection points, i.e., increase the resolution, to show also smaller obstacle sizes. This may be achieved by changing waveform properties such as the bandwidth, field-of-view (FOV) and/or antenna beam direction for a radar sensor performance enhancement.

[20] For example, the radar sensor may be controlled, in order to vary a focus of the radar sensor. For example, the radar sensor may be operatable in a close-range mode and a far-range mode. The close-range mode may be optimized for a detection of nearby objects compared to the far-range mode, which is optimized for a detection of objects further away. For example, a resolution in the close-range mode may be higher than a resolution in the far-range mode. For example, a waveform and/or a bandwidth of the radar signal emitted by the radar sensor may be adjusted, in order to switch between the two modes. For example, the radar sensor may be controlled to be operated alternately in the two modes. For example, the radar sensor may be operated for a first predefined period of time, e.g., in the order of milliseconds, in the close-range mode to capture objects in close range and then switched to the far-range mode, in order to be operated for a second predefined period of time, e.g., in the order of milliseconds, in the far- range mode to capture objects in far range.

[21] Higher resolution, e.g., both in range and azimuth/elevation angles, may allow for more detailed information about objects in close range. It may enable the radar sensor to better distinguish between closely spaced objects and may provide a more precise representation of the surroundings in close range. The choice of waveform properties may affect both the resolution. Radar waveform and bandwidth may directly affect the radar systems performance. A wider bandwidth may allow for a higher resolution and an ability to separate also closely spaced objects. Modulation techniques, such as frequency modulation or phase modulation, may provide additional information about the objects, such as their velocity or range profile.

[22] For example, the method further comprises receiving a first velocity signal indicative of a velocity of the vehicle reaching a first predefined velocity threshold. The generating of the map is executed in response to the receiving of the first velocity signal. [23] A map may, e.g., only be generated, when a vehicle has slowed down sufficiently, such that a halt of the vehicle may be expected or possible. The map may be generated to provide a precise description of the surroundings within which the vehicle is expected to halt. When the vehicle halts, the information about the surroundings accumulated by the map be used, in order to determine whether there are objects, which have the potential to collide with a door of the vehicle being opened. These relevant objects may comprise one or more static objects in a vicinity of a door of the vehicle, such that a door of the vehicle may collide with these static objects, when being opened. These relevant objects may comprise one or more moving objects approaching the vehicle, such that a door of the vehicle being opened may collide with these objects, when they reach the vehicle. The map may, e.g., be used to determine whether a path of a moving object approaching the vehicle is blocked by static objects, such that the respective moving object is prevented from reaching the vehicle and cause a collision, or whether the path of a moving object approaching the vehicle is unblocked by static objects, such that the respective moving object may reaching the vehicle and cause a collision with the door, when being opened.

[24] A map may, e.g., be generated, when the vehicle is slowing down to a low speed and is projected to stop. Thus, estimations of static objects in the vicinity of the doors of the vehicle may be improved and determined in advance for when the vehicle comes to a halt. The resulting map descriptive of static objects in the surroundings of the vehicle may further be saved across power cycles of the vehicle, in order to be used as a startup map of the surrounding, when the vehicle is restarted.

[25] For example, the method further comprises receiving a second velocity signal indicative of the velocity of the vehicle reaching a second predefined velocity threshold. The determining of the set of relevant objects is executed in response to the receiving of the second velocity signal. The second predefined velocity threshold is lower than the first predefined velocity threshold.

[26] The set of relevant objects may, e.g., be determined, when the vehicle has further slowed down, such that a halt of the vehicle and an opening of the door may be imminent. For example, the second threshold may be zero velocity, indicating that the vehicle has come to a halt.

[27] For example, the method further comprises determining whether the paths of the one or more of the moving objects are unblocked by the static objects. Said determining comprises determining whether the moving objects have relative velocities and relative positions enabling the respective one or more moving objects to enter the door opening area within the predefined time limit. From the one or more moving objects determined to be enabled to enter the door opening area within the predefined time limit one or more moving objects are exclude from being added to the set of relevant objects, for which using the map one or more static objects are determined to block the path of the respective moving objects towards the door opening area. From the one or more moving objects determined to be enabled to enter the door opening area within the predefined time limit one or more moving objects are added to the set of relevant objects, for which using the map no static objects are determined to block the path of the respective moving objects towards the door opening area.

[28] Examples may have the beneficial effect, that it is determined whether paths of moving objects are unblocked using the map. In order to reduce the necessary computing effort, a blocking of paths may only be executed for those moving objects, which are able to actually reach the door opening area within the predefined time limit based on their relative position and velocity. For example, a path may be predicted for these objects through the map and it may be determined whether this path leads towards the opening area and whether it is unblocked by static objects. For example, it may be first determined whether the path leads towards the opening area and, if that is the case, whether this path is unblocked. Only moving objects moving along an unblock path towards the car opening area, such that they are enable to enter the door opening area within the predefined time limit and cause a collision with a door of the vehicle being open, may be considered as relevant.

[29] For example, the one or more static objects being determined to block the paths of the one or more moving objects are determined to have sizes exceeding a predefined minimum size as a precondition for being able to block the respective path of the respective moving object. Examples may have the beneficial effect, that a path is only considered to be block, in case a static object blocking the respective path has a sufficient minimum size to cause a moving object from continuing movement along the path. For example, the minimum size may be an object specific minimum size. For example, a pedestrian may object specific minimum size. For example, a pedestrian may easily pass around a pole without any or at least without a significant deviation from this current path, due a small size and high flexibility compared, e.g., to a car. A car may have to drive a wider curve around the pole due to its significantly larger width and lower, i.e., missing, flexibility. [30] Using the map, e.g., alternative paths may be determined for a moving object moving along a blocked path. For these alternative paths, it may be determined as well, whether they lead towards the car opening area and/or whether they are block by static objects.

[31] For example, the executing of the door protection function comprises outputting a door collision warning. The warning signal may be output in form of an acoustic, visual and/or haptic signal. A haptic signal may, e.g., be a vibrating or other tactile signal. For example, the warning signal may warn the occupants of a potential collision of the door, when being opened, with a static object within the door protection area. For example, the warning signal may warn the occupants of a potential collision of the door, when being opened, with a moving object entering the door protection area within the predefined time limit.

[32] For example, the executing of the door protection function comprises determining for the at least one door of the vehicle a predicted point of collision with at least one of the objects relevant for the door opening protection. A door opening angle for an opening of the at least one door of the vehicle is restricted to prevent the door from reaching the predicted point of collision.

[33] By restricting a door opening angle, the door may be prevented from reaching the predicted point of collision. Thereby, a collision may be prevented. The restriction may, e.g., be a blocking of a movement of the door, when the restricted door opening angle is reached. Thus, a door of the vehicle being opened by hand may be prevented from being opened too wide resulting in a collision with a static object in the vicinity of the door or a moving object moving towards the door. For example, the door is being opened automatically. The automatic opening of the door may be stopped, when the restricted door opening angle is reached, and thereby preventing a collision. For example, an electromotor configured for opening the door may be controlled to stop, when the restricted door opening angle is reached.

[34] For calculating the restricted door opening angle, e.g., a position of one or more hinges providing an axis of rotation for the door as well as length of the door may be used. For example, a collision angle may be determined, i.e., door opening angle at which the door reaches the point of collision. The restricted door opening angle may, e.g., be determined by reducing the collision angle by a predefined safety margin. The purpose of restricting the door opening angle is to prevent a collision or contact of the door with nearby and/or approaching objects, such as poles, trees, walls, other vehicles, persons and/or animals. This measure may help safeguarding the vehicle's doors from damage and minimizes the risk of injuring occupants of the vehicle or bystanders.

[35] Examples may not only provide an instantaneous detection of static obstacles, enabling a stopping of a door of the vehicle from being opened towards a static object that is too near a door's opening trajectory. In addition, the map is used to take into account moving objects and their predicted paths, in order to additionally determine whether and/or which moving objects may be relevant for the door opening protection.

[36] For example, it may be estimated whether the restricted opening angle is large enough to let a person out of the vehicle. If that is the case, a door mechanism may, e.g., open the door to the respective restricted opening angle. Else, a warning signal may be output to warn occupants of the vehicle of a potential collision. Furthermore, e.g., an opening of the door further than the restricted opening angle.

[37] For example, a starting of the predefined time limit is triggered by a door opening signal. When a door opening signal is received, the predefined time limit may be stated. Such a door opening signal may, e.g., indicate that a locked door is unlocked, that a door handle is actuated and/or that an automated door opening is activated.

[38] The predefined time limit may be a common time limit for all moving objects or it may be an object individual time limit, e.g., depending on an individual feature of the moving objects, like their individual velocity. The predefined time limit may, e.g., comprise a predefined period of time required for opening the door of the vehicle. The predefined time limit may, e.g., comprise an additional period of time assumed to be suitable for a moving object to become aware of the open door and to initiate an evasive maneuver in order to avoid a collision with the open door. This addition period of time may, e.g., depend on the velocity oof the moving object. For example, a pedestrian may adapt more easily to avoid colliding with an open door than a cyclist, provided the pedestrian relative velocity to the vehicle is slower than the cyclist's relative velocity.

[39] For example, the radar sensor is integrated into an outer rear-view mirror module of the vehicle. For example, the radar sensor is integrated into a bottom side of the rear-view mirror module of the vehicle. An arrangement of the radar sensor within an outer rear-view mirror module may enable, e.g., a single radar sensor to effectively cover a door opening area on one side of the vehicle. Arranging the radar sensor bottom side of the rear-view mirror module of the vehicle may enable the radar in particular to detect low lying nearby objects. But the field of view may still be sufficiently wide, to also detect approaching moving objects at distances sufficient to initiate effective door opening protection measures.

[40] For example, the radar sensor may be tilted to illuminate a desired area and still be able to do 3D detections of objects in the surroundings of the vehicle, e.g., determine height and/or position of these objects. For example, a radar sensor integrated into the rear-view mirror module of the vehicle may a B-pillar blind zone. Furthermore, when a door, at which the rearview mirror module of the vehicle is mounted, is opened, the rear-view mirror module and thus the field of view of the radar is moved with the door. Thus, as the respective door is slowly opened, a continuous radar monitoring of the soundings of the door being opened is enabled using the radar sensor being moved into the same direction, in which the door is moved.

[41] In another aspect, a computer program is disclosed for a door opening protection of a vehicle. The computer program comprises program instructions. The program instructions are executable by a processor of a computer device to cause the computer device to receive radar signal data determined using a radar sensor of the vehicle. One or more moving objects are detected using the received radar signal data. The detecting comprises determining relative velocities and relative positions of the moving objects relative to the vehicle. A map is generated using the received radar signal data. The map is descriptive of relative positions of one or more static objects relative to the vehicle. A set of objects relevant for the door opening protection is generated using the map and a result of the detecting of the one or more moving objects. The set of relevant objects comprises, if being determined to be relevant for the door opening protection, one or more of the static objects described by the map. The respective static objects are determined to be relevant for the door opening protection, if the static objects are positioned in a door opening area, which is a predefined area relative to the vehicle which is covered by opening one or more doors of the vehicle. The set of relevant objects further comprises, if being determined to be relevant for the door opening protection, one or more of the moving objects. The respective moving objects are determined to be relevant for the door opening protection, if the moving objects have relative velocities and relative positions enabling the respective moving objects to enter the door opening area within a predefined time limit with a path being unblocked by the static objects. A door protection function is executed using the set of relevant objects.

[42] The program instructions comprised by the computer program may further be executable by the processor of the computer device to cause the computer device to execute any of the aforementioned examples of the computer-implemented method for a door opening protection of a vehicle.

[43] For example, a computer program product is disclosed for a door opening protection of a vehicle. The computer program product comprises a computer readable storage medium having program instructions embodied therewith. The program instructions are executable by a processor of a computer device to cause the computer device to receive radar signal data determined using a radar sensor of the vehicle. One or more moving objects are detected using the received radar signal data. The detecting comprises determining relative velocities and relative positions of the moving objects relative to the vehicle. A map is generated using the received radar signal data. The map is descriptive of relative positions of one or more static objects relative to the vehicle. A set of objects relevant for the door opening protection is generated using the map and a result of the detecting of the one or more moving objects. The set of relevant objects comprises, if being determined to be relevant for the door opening protection, one or more of the static objects described by the map. The respective static objects are determined to be relevant for the door opening protection, if the static objects are positioned in a door opening area, which is a predefined area relative to the vehicle which is covered by opening one or more doors of the vehicle. The set of relevant objects further comprises, if being determined to be relevant for the door opening protection, one or more of the moving objects. The respective moving objects are determined to be relevant for the door opening protection, if the moving objects have relative velocities and relative positions enabling the respective moving objects to enter the door opening area within a predefined time limit with a path being unblocked by the static objects. A door protection function is executed using the set of relevant objects.

[44] The program instructions comprised by the computer program product may further be executable by the processor of the computer device to cause the computer device to execute any of the aforementioned examples of the computer-implemented method for a door opening protection of a vehicle.

[45] In another aspect a computer device is disclosed for a door opening protection of a vehicle. The computer device comprises a processor and a memory storing program instructions executable by the processor. Execution of the program instructions by the processor causes the computer device to receive radar signal data determined using a radar sensor of the vehicle. One or more moving objects are detected using the received radar signal data. The detecting comprises determining relative velocities and relative positions of the moving objects relative to the vehicle. A map is generated using the received radar signal data. The map is descriptive of relative positions of one or more static objects relative to the vehicle. A set of objects relevant for the door opening protection is generated using the map and a result of the detecting of the one or more moving objects. The set of relevant objects comprises, if being determined to be relevant for the door opening protection, one or more of the static objects described by the map. The respective static objects are determined to be relevant for the door opening protection, if the static objects are positioned in a door opening area, which is a predefined area relative to the vehicle which is covered by opening one or more doors of the vehicle. The set of relevant objects further comprises, if being determined to be relevant for the door opening protection, one or more of the moving objects. The respective moving objects are determined to be relevant for the door opening protection, if the moving objects have relative velocities and relative positions enabling the respective moving objects to enter the door opening area within a predefined time limit with a path being unblocked by the static objects. A door protection function is executed using the set of relevant objects.

[46] Execution of the program instructions stored in the memory by the processor may further cause the computer device to execute any of the aforementioned examples of the computer-implemented method for a door opening protection of a vehicle.

[47] It is understood that one or more of the aforementioned examples may be combined as long as the combined embodiments are not mutually exclusive.

BRIEF DESCRIPTION OF THE DRAWINGS

[48] In the following, examples are described in greater detail making reference to the drawings in which:

[49] Fig. 1 shows a flowchart illustrating an exemplary method for a door opening protection of a vehicle;

[50] Fig. 2 shows a diagram illustrating an exemplary outer rear-view mirror module of a vehicle comprising a radar sensor;

[51] Fig. 3 shows a diagram illustrating an exemplary side-view of an area covered by the radar sensor arranged as illustrated in Fig. 2; [52] Fig. 4 shows a diagram illustrating an exemplary top-view of an area covered by the radar sensor arranged as illustrated in Fig. 1, while the doors of the vehicle are in closed- state;

[53] Fig. 5 shows a diagram illustrating an exemplary top-view of an area covered by the radar sensor arranged as illustrated in Fig. 1, when the doors of the vehicle are opened;

[54] Fig. 6 shows a diagram illustrating an exemplary use case of the method for a door opening protection of a vehicle;

[55] Fig. 7 shows a flowchart illustrating an exemplary method for a door opening protection of a vehicle; and

[56] Fig. 8 shows a block diagram of an exemplary computer device configured for a door opening protection of a vehicle.

DETAILED DESCRIPTION

[57] In the following, similar elements are denoted by the same reference numerals

[58] Fig. 1 shows an exemplary method a door opening protection of a vehicle. For executing a door protection function a set of objects relevant for the door opening protection is determined and used.

[59] In block 12, radar signal data determined using a radar sensor is received. The received radar signal data is descriptive of characteristics of objects located within a radar sensing area of the radar sensor in the surroundings of the vehicle. In block 14, one or more moving objects are detected using the received radar signal data. The detecting may comprise determining relative velocities and relative positions of the moving objects relative to the vehicle.

[60] In block 16, a map is generated using the received radar signal data. The map is descriptive of relative positions of one or more static objects relative to the vehicle. For example, the map being generated may be an SAR map. Such an SAR may provide high-resolution information about objects, terrain, and structures in the surrounding environment of the vehicle. For generating the SAR map, a movement of the vehicle may be used. In block 18, static objects within the surroundings of the vehicle may be determined.

[61] In block 20, it is determined whether the one or more of the static objects described by the map are relevant for the door opening protection. A static object is determined to be relevant for the door opening protection, if the static objects are positioned in a door opening area. The door opening area is a predefined area relative to the vehicle which is covered by a door of the vehicle, when the respective door is opened. A further precondition for determining a static object to be relevant for the door opening protection is, e.g., a size of the static object exceeding a predefined minimum size. For example, a static object has to be high enough for imposing a risk of a collision with a door of the vehicle being open. For example, in case a curbstone in the vicinity of the door, it may depend on a height of the curbstone, whether it imposes a risk of a collision or not.

[62] In case, the static object is determined to be relevant in block 20, it is added to the set of relevant objects in block 26. Else, it may be rejected in block 21, at least temporarily, as being not relevant.

[63] In block 22, it is determined for the one or more of the moving objects detected in block 14, whether they are enabled to enter the door opening area within a predefined time limit. For example, it may be predicted, whether moving objects following an extrapolated path of movement may be able to enter the door opening area within a predefined time limit. If that is the case, it may be determined in block 24, whether the paths of the one or more of the moving objects towards the door opening area are blocked by one or more of the static objects described by the map generated in block 16. A precondition for a static object, in order to be able to block a path of a vehicle, may, e.g., be a size of the static object exceeding a predefined minimum size. Else, the respective moving objects may be rejected in block 23, at least temporarily, as being not relevant.

[64] In case, the moving object is determined to be relevant in block 24, i.e., having a path not blocked by static objects, it is added to the set of relevant objects in block 26. Else, the respective moving objects may be rejected in block 25, at least temporarily, as being not relevant.

[65] The set of relevant objects generated in block 26 may comprise the static objects in the door opening area as well as moving objects, for which a path is determined to be unblocked by static objects located in the radar sensing area of the radar sensor. Information about the positions of static objects, which may potentially be able to block paths of moving objects, are determined using the map generated in block 16.

[66] In block 28, a door protection function is executed using the set of relevant objects determined in block 26. Such a door protection function may, e.g., comprise outputting a collision warning signal warning occupants of vehicle of a potential collision of one or more doors of the vehicle with one or more objects of the set of relevant objects. The warning signal may be output in form of an acoustic, visual and/or haptic signal. A haptic signal may, e.g., be a vibrating or other tactile signal. For example, the warning signal may warn the occupants of a potential collision of the door, when being opened, with a static object within the door protection area. For example, the warning signal may warn the occupants of a potential collision of the door, when being opened, with a moving object entering the door protection area within the predefined time limit.

[67] For example, door protection function may comprise a restriction of a door opening angle of a door of the vehicle. For this purpose, a point of collision with at least one of the objects relevant for the door opening protection may be determined for the respective door of the vehicle. The door opening angle for an opening of this door may then be restricted to prevent the door from reaching the predicted point of collision.

[68] By restricting a door opening angle, the door may be prevented from reaching the predicted point of collision. Thereby, a collision may be prevented. The restriction may, e.g., be a blocking of a movement of the door, when the restricted door opening angle is reached. Thus, a door of the vehicle being opened by hand may be prevented from being opened too wide resulting in a collision with a static object in the vicinity of the door or a moving object moving towards the door. For example, the door is being opened automatically. The automatic opening of the door may be stopped, when the restricted door opening angle is reached, and thereby preventing a collision. For example, an electromotor configured for opening the door may be controlled to stop, when the restricted door opening angle is reached.

[69] For calculating the restricted door opening angle, e.g., a position of one or more hinges providing an axis of rotation for the door as well as length of the door may be used. For example, a collision angle may be determined, i.e., door opening angle at which the door reaches the point of collision. The restricted door opening angle may, e.g., be determined by reducing the collision angle by a predefined safety margin. The purpose of restricting the door opening angle is to prevent a collision or contact of the doo with nearby and/or approaching objects, such as poles, trees, walls, other vehicles, persons and/or animals. This measure may help safeguarding the vehicle's doors from damage and minimizes the risk of injuring occupants of the vehicle or bystanders.

[70] Fig.2 shows an exemplary outer rear-view mirror module 204 of a vehicle 200 comprising a radar sensor 202. In the example, illustrated in Fig. 2, the radar sensor 202 is integrated into a bottom side 206 of the rear-view mirror module 204. The rear-view mirror module 204 is an e- mirror, but the radar sensor 202 could be integrated into a module comprising a classical mirror as well. Based on the positioning of the radar sensor 202 illustrated in Fig. 1, the same radar sensor may, e.g., be used not only for a door protection, but also for blind spot detection. The radar sensor 202 may, e.g., be integrated into the bottom side 206 of the rear-view mirror module 204 such that a flat or uniformly curved bottom surface of the rear-view mirror module 204 is form. Alternatively, the radar sensor 202 may, e.g., at least partially protrude from the bottom surface of the outer rear-view mirror module 204. The radar sensor 202 may be tilted to better illuminate the desired area and still be able to do 3D detections, e.g., descriptive of height and position of static objects in the vicinity of the door 208 of vehicle 200. The radar sensor 202 may in particular be integrated into the bottom side 206 of the outer rear-view mirror module 204 of the vehicle 200 such that an otherwise unused area is utilizes, while aerodynamics and/or aesthetics of the rear-view mirror module 204 are not compromised.

[71] Fig. 3 shows an exemplary side-view of an area 220 covered by the radar sensor 202 arranged as illustrated in Fig. 2 in an outer rear-view mirror module 204 of a vehicle 200, when the doors 208 of the vehicle 200 are closed. The radar sensor 202 is integrated into the outer rear-view mirror module 204 such that it looks slightly downward fully covering a section of space below the outer rear-view mirror module 204 covered by the two doors 208, when being opened. In Fig. 3 the doors 208 of the vehicle 200 are closed.

[72] Fig. 4 shows an exemplary top-view of the area 220 covered by the radar sensor 202 as illustrated in Fig. 3, when both doors 208 of the vehicle 200 are in closed-state. The radar sensor 202 is integrated into the outer rear-view mirror module 204 of vehicle 200. The circular sectors 240 illustrate the door opening areas for the two doors 208 of the vehicle 200. The door opening areas 240 define the areas covered by the two doors 208, when being opened. The size and position of the door opening areas 240 may, e.g., depend on the positions of hinges, around which the two doors 208 rotate, when being opened. The positions of the hinges may, e.g., coincide with the centers of the circular sectors 240, while their radii may be defined by the lengths of the doors 208.

[73] Fig. 5 shows an exemplary top-view of an area 222 covered by the radar sensor 202 arranged as illustrated in Fig. 2, when the doors 208 of the vehicle 200 are opened. The instantaneous coverage area 220 of the radar sensor 202 is shown as a rectangle parallel with the front door 208. This instantaneous coverage area 220 matches the area 220 shown in Figs. 3 and 4 in size and form. The area 222 covered by the radar sensor 202, due to the movement of the front door 208 from closed-state to open-state is larger than the instantaneous coverage area 220 in closed state of the doors 208. The reason for this extension of the instantaneous coverage area 220 represented by the area 222 is a movement of the radar sensor 292, which is moved together with the outer rear-view mirror module 204, when the front door 208 is opened. This feature of an extension of a dynamic extension of the instantaneous coverage area 220 may, e.g., be used when there is an ambiguity in the detected surrounding by the radar sensor 202 after an initial scan with the doors 208 in closed state. Thus, the radar sensor 202, e.g., does not stop acquiring radar signals and forwarding radar signal data, the front door 208 of vehicle 200 is opened. This means that radar sensor 202 is able to capture the environment around front door 208 changing due to the movement of the door 208 and/or predict a trajectory the door 208 being opened.

[74] A door mechanism may, e.g., first open the front door 208. As the front door 208 is slowly opened, a continuous radar sensor monitoring may be executed using the radar sensor 202 move with the side mirror 204 in the same direction as the front door 208. For example, imaging technique, e.g., synthetic aperture imaging, may be used to overlay multiple radar sensor estimations over the area to obtain a better-quality estimation of objects present within the area 222. In this way, even ambiguous detections of potential objects may be clarified and an opening of the front door and/or rear door 208 may be stopped in time to avoid a collision of the respective door 208 with the respective object.

[75] Fig. 6 shows a diagram illustrating an exemplary use case of the method for a door opening protection of a vehicle 200 as, e.g., described in Fig. 1. For example, a map 270, e.g., an SAR map, may be generated by a radar sensor of vehicle 200, when it slows down and comes to a halt at the position illustrated in Fig. 6. The map 270 may be descriptive of static objects 250, 252 arranged within an area covered by the radar sensing area 220 of the radar sensor of vehicle 200, while the vehicle 200 is moving. These static objects may, e.g., comprise static objects 250, like poles, which are at least partially arranged within a door opening area 240 of a door of vehicle 200. Further, the static objects may, e.g., comprise static objects 252, like a curbstone. In Fig. 6, the static object 252 in form of the curbstone extends also into the door opening areas 240. However, a size, in particular a height, of the curbstone 252 may be too small to cause a collision, when the doors of the vehicle are opened. Nevertheless, the static objects 250 may be large enough to cause a collision, when the doors are fully opened. Therefore, the static objects 250 may be determined to be relevant for the door opening protection, while static object 252 may be considered not to be relevant. [76] However, the static object 252 may be taken into account, when determining whether moving object 260, e.g., another vehicle, is relevant for the door opening protection. Moving object 260 moves parallel to vehicle 200 in section A. In case moving object 260 continues to move forward, it will enter the door opening areas 240 and could cause a collision with a door of vehicle 200 being opened at that movement. However, using the map 270 generated, e.g., by synthetic aperture radar mapping, and a predictive algorithm, that, e.g., utilizes a velocity of the moving object 260, it may be determined that moving object 260 will not be able to enter section C comprising the door opening areas 240, due to static object 252 blocking a path of the moving object 260 into section C and towards the door opening areas 240. Moving object 260 may rather be expected to come to a halt before static object 252, when reaching section B. Thus, moving object 260 may not have to be taken into account as a relevant object for the door opening protection. It may be sufficient to take into account static objects 250 and, e.g., restrict an opening angle of the doors of vehicle 200, such that they do not collide with objects 250, when being opened.

[77] Fig. 7 shows an exemplary method a door opening protection of a vehicle. A radar sensor, e.g., mounted at an outer rear-view mirror module, may be used in a dual mode method for a blind spot detection (BSD) at higher velocities and for a door opening protection at lower to zero velocities. The radar sensor may be used to acquire radar signals detecting static as well as moving objects within a sensing area of the radar sensor. The radar sensor used for acquiring the radar signals may, e.g., be a MIMO radar sensor and/or a FMCW radar sensor. In block 701 radar signal data determined using the radar signals acquired by the radar sensor is received and used for detecting objects in the surroundings of the vehicle. In block 208, moving objects are detected. For example, relative positions and velocities of one or more objects are determined for the detected moving objects. In block 700 a velocity signal "vVehicle" indicative of a velocity of the vehicle is received. In blocks 702, 704, and 706, the velocity of the vehicle indicated by "vVehicle" is compared with different thresholds. In Fig. 7, the usage of three different thresholds is illustrated: "BSD Thresh"," mapping Thresh", and "Door Protection Thresh". The three thresholds satisfy the following relation: "BSD Thresh" > "mapping Thresh" > "Door Protection Thresh". In block 702, it is checked whether the velocity indicated by the velocity signal "vVehicle" received in block 700 is larger than "BSD Thresh". If not, the check is exited in block 703. If the velocity is larger than the "BSD Thresh", the method continues with block 712. In block 712, the moving objects detected in bock 708 are assessed. It is determined whether one or more of the detected moving objects, e.g., other vehicles, are moving at a side and/ in a rear of the vehicle, such that a blind spot detection warning function is to be executed. If not, the check is exited in block 711. If a blind spot detection warning function is to be executed, the method continues with block 714. In block 714, an alarm, i.e., a warning signal, is output using a human- machine-interface (HMI). The warning signal may, e.g., a visual, acoustic, or haptic signal. A haptic signal may, e.g., be a vibrating or other tactile signal.

[78] In block 704 it is checked whether the velocity indicated by the velocity signal "vVehicle" received in block 700 is smaller than the "mapping Thresh". If not, the check is exited in block 705. If the velocity is smaller than "mapping Thresh", the method continues with block 710. In block 710, a map, e.g., an SAR map, is generated. The map is descriptive of relative positions of one or more static objects relative to the vehicle.

[79] In block 706 it is checked whether the velocity indicated by the velocity signal "vVehicle" received in block 700 is smaller than the "Door Protection Thresh". If not, the check is exited in block 707. If the velocity is smaller than "Door Protection Thresh", the method continues with block 716. In block 716, it is determined whether a door protection function is to be executed.

[80] For example, a set of objects relevant for the door opening protection is generated using the map from block 710 and a result of the detecting of the one or more moving objects from block 708. The set of relevant objects comprises, if being determined to be relevant for the door opening protection, one or more of the static objects described by the map. The respective static objects are determined to be relevant for the door opening protection, if the static objects are positioned in a door opening area, which is a predefined area relative to the vehicle which is covered by opening one or more doors of the vehicle. The set of relevant objects further comprises, if being determined to be relevant for the door opening protection, one or more of the moving objects. The respective moving objects are determined to be relevant for the door opening protection, if the moving objects have relative velocities and relative positions enabling the respective moving objects to enter the door opening area within a predefined time limit with a path being unblocked by the static objects. Whether a door protection function is to be executed is determined using the set of relevant objects. The door protection function is, e.g., to be executed in case the set of relevant objects comprises one or more relevant objects.

[81] If a door protection function is not to be executed, the check is exited in block 717. If a door protection function is to be executed, the method continues with block 718. In block 718, e.g., an alarm, i.e., a warning signal, is output using a human-machine-interface (HMI). The warning signal may, e.g., a visual, acoustic, or haptic signal. A haptic signal may, e.g., be a vibrating or other tactile signal. Additionally or alternatively, the door protection function may comprise a stopping of the door at a restricted opening angle of the door. For example, the executing of the door protection function comprises determining for the door of the vehicle a predicted point of collision with an object of the set of relevant objects. The door opening angle for the opening of the door of the vehicle may be restricted to prevent the door from reaching the predicted point of collision and collide with the respective object of the set of relevant objects.

[82] By restricting a door opening angle, the door may be prevented from reaching the predicted point of collision. Thereby, a collision may be prevented. The restriction may, e.g., be a blocking of a movement of the door, when the restricted door opening angle is reached. Thus, a door of the vehicle being opened by hand may be prevented from being opened too wide resulting in a collision with a static object in the vicinity of the door or a moving object moving towards the door. For example, the door is being opened automatically. The automatic opening of the door may be stopped, when the restricted door opening angle is reached, and thereby preventing a collision. For example, an electromotor configured for opening the door may be controlled to stop, when the restricted door opening angle is reached.

[83] Fig. 8 illustrates an exemplary computer device 102 for a door opening protection of a vehicle. The computer device 102 may be integrated in a vehicle, e.g., a car. The computer device 102 is intended to represent one or more computers which may be distributed. The computer device 102 is shown as comprising a computational system 104. The computational system 104 is intended to represent one or more computational systems. The computer device 102 is further shown as containing an optional hardware interface 106. The hardware interface may enable the computational system 104 to control other components such as a sensor, like a radar sensor for acquiring signal data of objects, if such other components are present. The computational system 104 is further shown as being in communication with an optional user interface 108. The user interface 108 may for example also include a display device, e.g., a display device in a vehicle. This could include such things as a two-dimensional computer display, a touchscreen, a virtual reality system, and an augmented reality system.

[84] The computational system 104 is further shown as being in communication with a memory 110. The memory 110 is intended to represent various types of memory which the computational system 104 may have access to. In one example the memory 110 is a non- transitory storage medium. [85] The memory 110 is shown as containing machine-executable instructions 120. The machine-executable instructions 120 may enable the computational system 104 to perform various numerical, stereo processing, and computational tasks. The machine-executable instructions 120 may also enable the computational system 104 to control and operate other components via the hardware interface 106, like a radar sensor. Execution of the machineexecutable instructions 120 by the computational system 104 may cause the computational system 104 to control the computer device 102 to execute the method for a door opening protection of a vehicle. Radar signal data 122 determined using a radar sensor of the vehicle is received. The memory 110 is shown as containing a result 124 of a detecting of one or more moving objects using the received radar signal data 122. The detecting comprises determining relative velocities and relative positions of the moving objects relative to the vehicle. A map 126, e.g., a SAR map, is generated using the received radar signal data 122. The map 126 is descriptive of relative positions of one or more static objects relative to the vehicle. A set 128 of objects relevant for the door opening protection is generated using the map 126 and a result 124 of the detecting of the one or more moving objects. The set 128 of relevant objects comprises, if being determined to be relevant for the door opening protection, one or more of the static objects described by the map. The respective static objects are determined to be relevant for the door opening protection, if the static objects are positioned in a door opening area, which is a predefined area relative to the vehicle which is covered by opening one or more doors of the vehicle. The set 128 of relevant objects further comprises, if being determined to be relevant for the door opening protection, one or more of the moving objects. The respective moving objects are determined to be relevant for the door opening protection, if the moving objects have relative velocities and relative positions enabling the respective moving objects to enter the door opening area within a predefined time limit with a path being unblocked by the static objects. A door protection function 130 is executed using the set 128 of relevant objects.

[86] While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive; the invention is not limited to the disclosed embodiments.

[87] Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measured cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

[88] A single processor or other unit may fulfill the functions of several items recited in the claims. A computer program may be stored/distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.

[89] As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as an apparatus, method, or computer program product. Accordingly, aspects of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," "module" or "system." Furthermore, aspects of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer executable code embodied thereon.

[90] Any combination of one or more computer readable medium(s) may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A "computer-readable storage medium" as used herein encompasses any tangible storage medium which may store instructions which are executable by a processor or computational system of a computing device. The computer-readable storage medium may be referred to as a computer-readable non-transitory storage medium. The computer-readable storage medium may also be referred to as a tangible computer readable medium. In some embodiments, a computer-readable storage medium may also be able to store data which is able to be accessed by the computational system of the computing device. Examples of computer- readable storage media include, but are not limited to: a floppy disk, a magnetic hard disk drive, a solid-state hard disk, flash memory, a USB thumb drive, Random Access Memory (RAM), Read Only Memory (ROM), an optical disk, a magneto-optical disk, and the register file of the computational system. Examples of optical disks include Compact Disks (CD) and Digital Versatile Disks (DVD), for example CD-ROM, CD-RW, CD-R, DVD-ROM, DVD-RW, or DVD-R disks. The term computer readable-storage medium also refers to various types of recording media capable of being accessed by the computer device via a network or communication link. For example, data may be retrieved over a modem, over the internet, or over a local area network. Computer executable code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[91] A computer readable signal medium may include a propagated data signal with computer executable code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electromagnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[92] "Computer memory" or "memory" is an example of a computer-readable storage medium. Computer memory is any memory which is directly accessible to a computational system. "Computer storage" or "storage" is a further example of a computer-readable storage medium. Computer storage is any non-volatile computer-readable storage medium. In some embodiments computer storage may also be computer memory or vice versa.

[93] A "computational system" as used herein encompasses an electronic component which is able to execute a program or machine executable instruction or computer executable code.

References to the computational system comprising the example of "a computational system" should be interpreted as possibly containing more than one computational system or processing core. The computational system may for instance be a multi-core processor. A computational system may also refer to a collection of computational systems within a single computer system or distributed amongst multiple computer systems. The term computational system should also be interpreted to possibly refer to a collection or network of computing devices each comprising a processor or computational system. The machine executable code or instructions may be executed by multiple computational systems or processors that may be within the same computing device or which may even be distributed across multiple computing devices.

[94] Machine executable instructions or computer executable code may comprise instructions or a program which causes a processor or other computational system to perform an aspect of the present invention. Computer executable code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages and compiled into machine executable instructions. In some instances, the computer executable code may be in the form of a high-level language or in a precompiled form and be used in conjunction with an interpreter which generates the machine executable instructions on the fly. In other instances, the machine executable instructions or computer executable code may be in the form of programming for programmable logic gate arrays.

[95] The computer executable code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).

[96] Aspects of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It is understood that each block or a portion of the blocks of the flowchart, illustrations, and/or block diagrams, can be implemented by computer program instructions in form of computer executable code when applicable. It is further understood that, when not mutually exclusive, combinations of blocks in different flowcharts, illustrations, and/or block diagrams may be combined. These computer program instructions may be provided to a computational system of a general-purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the computational system of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.

[97] These machine executable instructions or computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

[98] The machine executable instructions or computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to T1 cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.

[99] A "user interface" as used herein is an interface which allows a user or operator to interact with a computer or computer system. A "user interface" may also be referred to as a "human interface device". A user interface may provide information or data to the operator and/or receive information or data from the operator. A user interface may enable input from an operator to be received by the computer and may provide output to the user from the computer. In other words, the user interface may allow an operator to control or manipulate a computer and the interface may allow the computer to indicate the effects of the operator's control or manipulation. The display of data or information on a display or a graphical user interface is an example of providing information to an operator. The receiving of data through a keyboard, mouse, trackball, touchpad, pointing stick, graphics tablet, joystick, gamepad, webcam, headset, pedals, wired glove, remote control, and accelerometer are all examples of user interface components which enable the receiving of information or data from an operator.

[100] A "hardware interface" as used herein encompasses an interface which enables the computational system of a computer system to interact with and/or control an external computing device and/or apparatus. A hardware interface may allow a computational system to send control signals or instructions to an external computing device and/or apparatus. A hardware interface may also enable a computational system to exchange data with an external computing device and/or apparatus. Examples of a hardware interface include but are not limited to: a universal serial bus, IEEE 1394 port, parallel port, IEEE 1284 port, serial port, RS-232 port, IEEE-488 port, Bluetooth connection, Wireless local area network connection, TCP/IP connection, Ethernet connection, control voltage interface, MIDI interface, analog input interface, and digital input interface.

[101] A "display" or "display device" as used herein encompasses an output device or a user interface adapted for displaying images or data. A display may output visual, audio, and or tactile data. Examples of a display include, but are not limited to: a computer monitor, a television screen, a touch screen, tactile electronic display, Braille screen, [102] Cathode ray tube (CRT), Storage tube, Bi-stable display, electronic paper, Vector display, Flat panel display, Vacuum fluorescent display (VF), Light-emitting diode (LED) displays, Electroluminescent display (ELD), Plasma display panels (PDP), Liquid crystal display (LCD), Organic light-emitting diode display (OLED), a projector, and Head-mounted display.

REFERENCE SIGNS LIST

102 computer device

104 computational system

106 hardware interface

108 user interface

110 memory

120 machine-executable instructions

122 radar signal data

124 result of detecting moving objects

126 map

128 set of relevant objects

130 door protection function

200 vehicle

202 radar sensor

204 outer rear-view mirror module

206 bottom side of the rear-view mirror module

208 vehicle door

220 area covered by the radar sensor

222 area covered by the radar sensor

240 door opening area

250 static object

252 static object

260 moving object

270 map

A section

B section

C section

Claims

1. A computer-implemented method for a door opening protection of a vehicle (200), the method comprising:

• receiving radar signal data (122) determined using a radar sensor (202) of the vehicle (200);

• detecting one or more moving objects (260) using the received radar signal data (122), the detecting comprising determining relative velocities and relative positions of the moving objects (260) relative to the vehicle (200);

• generating a map (126; 270) using the received radar signal data (122), the map (126; 270) being descriptive of relative positions of one or more static objects (250, 252) relative to the vehicle (200);

• determining a set (128) of objects relevant for the door opening protection using the map (126; 270) and a result (124) of the detecting of the one or more moving objects (260), the set (128) of relevant objects comprising: if being determined to be relevant for the door opening protection, one or more of the static objects (250, 252) described by the map (126; 270), the respective static objects (250, 252) being determined to be relevant for the door opening protection, if the static objects (250, 252) are positioned in a door opening area (240), which is a predefined area relative to the vehicle (200) which is covered by opening one or more doors (208) of the vehicle (200); if being determined to be relevant for the door opening protection, one or more of the moving objects (260), the respective moving objects (260) being determined to be relevant for the door opening protection, if the moving objects (260) have relative velocities and relative positions enabling the respective moving objects (260) to enter the door opening area (240) within a predefined time limit with a path being unblocked by the static objects (250, 252);

• executing a door protection function (130) using the set (128) of relevant objects.

2. The method of claim 1, the acquired radar signals comprising radar signals acquired while the vehicle (200) is moving, the map (126; 270) generated using the received radar signal data (122) being a synthetic aperture radar map (126; 270) descriptive of the relative positions of the one or more static objects (250, 252) relative to the vehicle (200) within an area covered by the radar sensing area (220) of the radar sensor (202), while the vehicle (200) is moving.

3. The method of any of the previous claims, further comprising receiving a first velocity signal indicative of a velocity of the vehicle (200) reaching a first predefined velocity threshold, the generating a map (126; 270) being executed in response to the receiving of the first velocity signal.

4. The method of claim 3, further comprising receiving a second velocity signal indicative of the velocity of the vehicle (200) reaching a second predefined velocity threshold, the determining of the set (128) of relevant objects being executed in response to the receiving of the second velocity signal, the second predefined velocity threshold being lower than the first predefined velocity threshold.

5. The method of any of the previous claims, further comprising determining whether the paths of the one or more of the moving objects (260) are unblocked by the static objects (250, 252), said determining comprising determining whether the moving objects (260) have relative velocities and relative positions enabling the respective one or more moving objects (260) to enter the door opening area (240) within the predefined time limit, from the one or more moving objects (260) determined to be enabled to enter the door opening area (240) within the predefined time limit excluding one or more moving objects (260) from being added to the set (128) of relevant objects, for which using the map (126; 270) one or more static objects (250, 252) being determined to block the path of the respective moving objects (260) towards the door opening area (240), and adding one or more moving objects (260) to the set (128) of relevant objects, for which using the map (126; 270) no static objects (250, 252) being determined to block the path of the respective moving objects (260) towards the door opening area (240).

6. The method of claim 6, the one or more static objects (250, 252) being determined to block the paths of the one or more moving objects (260) being determined to have sizes exceeding a predefined minimum size as a precondition for being able to block the respective path of the respective moving object (260).

7. The method of any of the previous claims, the executing of the door protection function (130) comprising determining for the at least one door (208) of the vehicle (200) a predicted point of collision with at least one of the objects (128) relevant for the door opening protection, restricting a door opening angle for an opening of the at least one door of the vehicle (200) to prevent the door from reaching the predicted point of collision.

8. The method of any of the previous claims, a starting of the predefined time limit being triggered by a door opening signal.

9. A computer program for a door opening protection of a vehicle (200), the computer program comprising program instructions (120), the program instructions (120) being executable by a processor (104) of a computer device (102) to cause the computer device (102) to:

• receive radar signal data (122) determined using a radar sensor (202) of the vehicle (200);

• detect one or more moving objects (260) using the received radar signal data (122), the detecting comprising determining relative velocities and relative positions of the moving objects (260) relative to the vehicle (200);

• generate a map (126; 270) using the received radar signal data (122), the map (126; 270) being descriptive of relative positions of one or more static objects (250, 252) relative to the vehicle (200);

• Determine a set (128) of objects relevant for the door opening protection using the map (126; 270) and a result (124) of the detecting of the one or more moving objects (260), the set (128) of relevant objects comprising: if being determined to be relevant for the door opening protection, one or more of the static objects (250, 252) described by the map (126; 270), the respective static objects (250, 252) being determined to be relevant for the door opening protection if the static objects (250, 252) are positioned in a door opening area (240), which is a predefined area relative to the vehicle (200) which is covered by opening one or more doors (208) of the vehicle (200); if being determined to be relevant for the door opening protection, one or more of the moving objects (260), the respective moving objects (260) being determined to be relevant for the door opening protection if the moving objects (260) have relative velocities and relative positions enabling the respective moving objects (260) to enter the door opening area (240) within a predefined time limit with a path being unblocked by the static objects (250, 252) ;

• execute a door protection function (130) using the set (128) of relevant objects.

10. A computer device (102) for a door opening protection of a vehicle (200), the computer device (102) comprising a processor (104) and a memory (110) storing program instructions (120) executable by the processor (104), execution of the program instructions (120) by the processor (104) causing the computer device (102) to:

• generate a map (126; 270) using the received radar signal data (122), the map (126; 270) being descriptive of relative positions of one or more static (250, 252) objects relative to the vehicle (200);