# US 12,759,456 B2 · Vehicle exit assistance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,456 B2 - Document ID: US12759456B2 - Status: Granted - Kind: B2 - Application number: 18/481,219 - Filed: 2023-10-04 - Published: 2024-04-11 - Granted: 2026-10-13 - Earliest claimed: 2022-10-05 - Assignees: Aptiv Technologies AG - Applicants: Aptiv Technologies (2) S.à r.l. - Inventors: Aleksander Kostuch - Web page: https://patentgrep.com/patent/US12759456B2 ## CPC - B60Q 9/008: {for anti-collision purposes} - E05B 77/02: for accident situations - E05B 81/56: Control of actuators - G06T 7/73: using feature-based methods - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/59: inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions - G06T 2207/30201: Face - G06T 2207/30268: Vehicle interior - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - E05B: LOCKS; ACCESSORIES THEREFOR; HANDCUFFS - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A computer-implemented method for vehicle exit assistance includes analyzing interior cabin data originating from a vehicle sensing system to detect a position and/or movement of a person in a cabin of a vehicle. The computer-implemented method includes determining, based on the detected position and/or movement of the person, a door opening act indicative of an intention of the person to exit the vehicle. The computer-implemented method includes determining, based on exterior environment data collected from the vehicle sensing system, an object in a vicinity of the vehicle. The computer-implemented method includes determining a vehicle exit score based on the object and the door opening act. The computer-implemented method includes outputting, based on the vehicle exit score, a control signal to a vehicle assistance system of the vehicle to control vehicle exit of the person. ## Claims ### Claim 1 A computer-implemented method for vehicle exit assistance, the computer-implemented method comprising: analyzing interior cabin data originating from a vehicle sensing system to detect a position and/or movement of a person in a cabin of a vehicle; determining, based on the detected position and/or movement of the person, a door opening act indicative of an intention of the person to exit the vehicle; determining, based on exterior environment data collected from the vehicle sensing system, an object in a vicinity of the vehicle; determining a vehicle exit score based on the object and the door opening act; comparing the vehicle exit score to at least two thresholds in order to determine if and when a control signal is outputted; based on the comparison of the vehicle exit score to the at least two thresholds, outputting, based on the vehicle exit score, the control signal to a vehicle assistance system of the vehicle to control vehicle exit of the person; and in response to the control signal, automatically restricting, via the vehicle assistance system, operation of a door of the vehicle. ### Claim 2 (depends on 1) The computer-implemented method of claim 1 wherein the control signal is outputted in response to: determining that the door opening act is about to occur, and the object in the vicinity of the vehicle is detected. ### Claim 3 (depends on 1) The computer-implemented method of claim 1 further comprising outputting the control signal in response to data on a current velocity of the vehicle indicating that the current velocity is below a threshold. ### Claim 4 (depends on 1) The computer-implemented method of claim 1 wherein determining the door opening act includes determining a number of body keypoints indicative of a location of defined body portions of the person. ### Claim 5 (depends on 1) The computer-implemented method of claim 1 wherein determining the door opening act includes determining whether the person has unfastened a seatbelt. ### Claim 6 (depends on 1) The computer-implemented method of claim 1 wherein determining the door opening act includes determining, based on the interior cabin data, whether a body part of the person is oriented towards a door of the vehicle. ### Claim 7 (depends on 6) The computer-implemented method of claim 6 wherein the body part includes at least one of eyes and head. ### Claim 8 (depends on 1) The computer-implemented method of claim 1 wherein determining the door opening act includes tracking of one or more shoulder keypoints and/or hand keypoints and/or elbow keypoints. ### Claim 9 (depends on 1) The computer-implemented method of claim 1 wherein determining the vehicle exit score is based on at least one of characteristics of the vehicle and characteristics of the object. ### Claim 10 (depends on 1) The computer-implemented method of claim 1 wherein determining of the door opening act includes: detecting areas surrounding a hand of the person and a handle of a door of the vehicle; and calculating at least one of distance and overlap between the hand and the handle. ### Claim 11 (depends on 1) The computer-implemented method of claim 1 further comprising, in response to outputting of the control signal, at least one of locking a door of the vehicle and outputting a warning signal. ### Claim 12 (depends on 1) The computer-implemented method of claim 1 further comprising: in response to outputting of the control signal, outputting a warning signal, wherein the warning signal includes at least one of an audible warning, a visual warning, and display of a map of the vicinity of the vehicle including the object. ### Claim 13 (depends on 1) The computer-implemented method of claim 1 wherein determining the door opening act uses machine-learning-based methods. ### Claim 14 (depends on 1) The computer-implemented method of claim 1 wherein determining presence of the object uses machine-learning-based methods. ### Claim 15 A system for vehicle exit assistance, the system comprising: a vehicle assistance system; a vehicle sensing system configured to detect positional data of a person in a cabin of a vehicle, wherein the positional data includes at least one of position and movement of the person; and a data processing system configured to: determine, based on the positional data, a door opening act indicative of an intention of the person to exit the vehicle, determine, based on exterior environment data collected from the vehicle sensing system, an object in a vicinity of the vehicle, determine a vehicle exit score based on the object and the door opening act, compare the vehicle exit score to at least two thresholds in order to determine if and when a control signal is outputted, based on the comparison of the vehicle exit score to the at least two thresholds, output the control signal to the vehicle assistance system to control vehicle exit of the person, and in response to outputting the control signal, automatically restrict, via the vehicle assistance system, operation of a door of the vehicle. ### Claim 16 (depends on 15) The system of claim 15 further comprising an interface configured to generate a warning signal to the person in response to outputting of the control signal. ### Claim 17 (depends on 15) A vehicle comprising the system of claim 15. ### Claim 18 A non-transitory computer-readable medium comprising instructions including: analyzing interior cabin data originating from a vehicle sensing system to detect a position and/or movement of a person in a cabin of a vehicle; determining, based on the detected position and/or movement of the person, a door opening act indicative of an intention of the person to exit the vehicle; determining, based on exterior environment data collected from the vehicle sensing system, an object in a vicinity of the vehicle; determining a vehicle exit score based on the object and the door opening act; comparing the vehicle exit score to at least two thresholds in order to determine if and when a control signal is outputted; based on the comparison of the vehicle exit score to the at least two thresholds, outputting the control signal to a vehicle assistance system of the vehicle to control vehicle exit of the person; and in response to outputting the control signal, automatically restricting, via the vehicle assistance system, operation of a door of the vehicle.