Control system for a vehicle

A method for, in a vehicle, a control system controlling movement of a door of the vehicle along a door sweep trajectory between a first position and a second position, the control system comprising one or more controllers, the method comprising:

• receiving a sensor signal by an electrical input;
• based on the sensor signal, generating, by an electronic processor, an obstacle detection map of a sensor region in a vicinity of the vehicle, the sensor region adjacent to a side of the door and the obstacle detection map comprising a location of an obstacle in the sensor region, wherein the obstacle detection map is defined by an array of elements;
• determining, by the electronic processor, an overlap of the obstacle detection map and a projected door sweep region defined by the door sweep trajectory;
• assigning, by the electronic processor, an angle value to each array element corresponding to the projected door sweep region, wherein in an area of the obstacle detection map corresponding to the location of the obstacle, each angle value of each array element in the area corresponds to a maximum door opening angle when the door is at a threshold distance to the obstacle;
• generating, by the electronic processor, an output signal based on the obstacle detection map, wherein the output signal is a selected angle value of the obstacle detection map that is the minimum angle value of the obstacle detection map in the area of the obstacle detection map corresponding to the location of the detected obstacle;
• and
• controlling movement of the door based on the output signal, wherein the sensor signal is received from one or more sensors mounted on the door, and wherein the angle values of the array elements are updated as the door moves along the door sweep trajectory.