Patent Publication Number: US-10783407-B2

Title: System and method to detect trapped flexible material

Description:
INTRODUCTION 
     When a vehicle operator/passenger gets into or out of their vehicle, it is not uncommon for a piece of their loose clothing to get caught in the door. For someone getting into a vehicle, this can be a safety hazard because their clothing is now tethered and can tug on them to create a driving distraction or the exposed loose clothing may become soiled while the vehicle is in transit. Alternatively, for someone getting out of a vehicle, this can be a safety hazard because they can trip on their tethered clothing when attempting to walk away from the vehicle or the vehicle may depart while the clothing still attached. Accordingly, it is desirable to provide a system and method that can detect and remedy one&#39;s clothing having been trapped between a vehicle door and door frame. 
     SUMMARY 
     A system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions. One general aspect includes a memory configured to include a program and a processor configured to execute the program, where the program enables the processor to: after a first vehicle ingress/egress event, activate a sensor to capture a reference image of a portion of a vehicle body; after a second vehicle ingress/egress event, activate the sensor to capture a test image of the portion of the vehicle body; determine whether the test image includes one or more objects not found in the reference image; and release a door of the vehicle or produce a notification or prevent vehicle movement or some combination thereof, based on the determination of whether the test image includes one or more objects not found in the reference image. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     Implementations may include one or more of the following features. The system further including: where, when it is determined that the test image includes one or more objects not found in the reference image, access an image recognition database stored in the memory to recognize the one or more objects included in the test image; and release the vehicle door and/or produce the notification only when the one or more objects only included in the test image are recognized as a certain type. The system where the one or more objects included in the test image are recognized as a trapped portion of flexible material. The system where the determination of whether the test image includes one or more objects not found in the reference image is based on a comparison of the reference image and the test image. The system where: the step that occurs after the second vehicle ingress/egress event is redefined as activate the sensor to capture a plurality of test images of the portion of the vehicle body; and the determination step is redefined by whether the plurality of test images include one or more objects not found in the reference image; and the step in which the vehicle door is released and/or the notification is produced and/or vehicle movement is prevented is redefined by whether the plurality of test images include one or more objects not found in the reference image. The system where the sensor is a wide-angle camera or ultra-wide-angle camera. The system where the notification is a text message configured to be exhibited on a display located in the vehicle. The system where the notification is an at least temporary activation of a vehicle horn. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium. 
     One general aspect includes a method to detect an occurrence of flexible material being trapped by a vehicle, the method including: after a first vehicle ingress/egress event, via a controller, activating a sensor to capture a reference image of a portion of a vehicle body; after a second vehicle ingress/egress event via the controller, activating the sensor to capture a test image of the portion of the vehicle body; determining, via the controller, whether the test image includes one or more objects not found in the reference image; and releasing a door of the vehicle or producing a notification or prevent vehicle movement or some combination thereof, via the controller, based on the determination of whether the test image includes one or more objects not found in the reference image. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     Implementations may include one or more of the following features. The method further including: where, when it is determined that the test image includes one or more objects not found in the reference image, via the controller, accessing an image recognition database stored in a memory to recognize the one or more objects included in the test image; and releasing the vehicle door and/or producing the notification, via the controller, only when the one or more objects only included in the test image are recognized as a certain type. The method where the one or more objects included in the test image are recognized as a trapped portion of flexible material. The method where the determination of whether the test image includes one or more objects not found in the reference image is based on a comparison of the reference image and the test image. The method where: the step that occurs after the second vehicle ingress/egress event is redefined as activating the sensor to capture a plurality of test images of the portion of the vehicle body; and the determination step is redefined by whether the plurality of test images include one or more objects not found in the reference image; and the step in which the vehicle door is released and/or the notification is produced and/or vehicle movement is prevented is redefined by whether the plurality of test images include one or more objects not found in the reference image. The method where the sensor is a wide-angle camera and/or ultra-wide-angle camera. The method where the notification is a text message configured to be exhibited on a display located in the vehicle. The method where the notification is an at least temporary activation of a vehicle horn. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium. 
     One general aspect includes a vehicle including: a body and a door adapted to releasably engage the body; a sensor positioned on the body and configured to capture an image of a location at which the body and door meet each other, when the door is releasably engaged with the body; a memory that is disposed onboard the vehicle and configured to include a program; a processor that is disposed onboard the vehicle and configured to execute the program, where the program enables the processor to: after a first vehicle ingress/egress event, activate the sensor to capture a reference image of the location at which the body and door meet; after a second vehicle ingress/egress event, activate the sensor to capture a test image of the location at which the body and door meet; determine whether the test image includes one or more objects not found in the reference image; and release the door from the body or produce a notification or prevent vehicle movement or some combination thereof, based on the determination of whether the test image includes one or more objects not found in the reference image. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. 
     Implementations may include one or more of the following features. The vehicle further including: when it is determined that the test image includes one or more objects not found in the reference image, access an image recognition database stored in the memory to recognize the one or more objects included in the test image; and release the door and/or produce the notification only when the one or more objects included in the test image are recognized as a certain type. The vehicle where the one or more objects included in the test image are recognized as a portion of flexible material trapped at the location at which the body and door meet. The vehicle where the determination of whether the test image includes one or more objects not found in the reference image is based on a comparison of the reference image and the test image. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium. 
     The above features and advantages and other features and advantages of the present teachings are readily apparent from the following detailed description for carrying out the teachings when taken in connection with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The disclosed examples will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and wherein: 
         FIG. 1  is a functional block diagram of a vehicle that includes a control system for controlling and implementing a system and method to detect an occurrence of flexible material being trapped by components of a vehicle in accordance with one or more exemplary embodiments; 
         FIG. 2  is a flowchart of an exemplary process for detecting the occurrence of flexible material being trapped by parts of vehicle in accordance with one or more exemplary embodiments; 
         FIG. 3A  depicts an application of an exemplary aspect of the process of  FIG. 2  in accordance with one or more exemplary embodiments; 
         FIG. 3B  depicts an application of another exemplary aspect of the process of  FIG. 2  in accordance with one or more exemplary embodiments; 
         FIG. 4A  depicts an application of an exemplary aspect of the process of  FIG. 2  in accordance with one or more exemplary embodiments; 
         FIG. 4B  depicts an application of another exemplary aspect of the process of  FIG. 2  in accordance with one or more exemplary embodiments; 
         FIG. 5  is a flowchart of another exemplary process for detecting the occurrence of flexible material being trapped by parts of vehicle in accordance with one or more exemplary embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the present disclosure are described herein. It is to be understood, however, that the disclosed embodiments are merely examples and other embodiments can take various and alternative forms. The figures are not necessarily to scale; some features could be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present system and/or method. As those of ordinary skill in the art will understand, various features illustrated and described with reference to any one of the figures can be combined with features illustrated in one or more other figures to produce embodiments that are not explicitly illustrated or described. The combinations of features illustrated provide representative embodiments for typical applications. Various combinations and modifications of the features consistent with the teachings of this disclosure, however, could be desired for particular applications or implementations. 
       FIG. 1  illustrates a vehicle  100 , according to an exemplary embodiment. As described in greater detail further below, the vehicle  100  includes a control system  102  for detecting the occurrence of flexible material being trapped by parts of vehicle  100 . In various embodiments, the control system  102  facilitates communications between the vehicle  100  and a peer network  104  having various other participants  106 . Also in various embodiments, the control system  102  is coupled to various vehicle modules  108  (e.g., braking control, engine control, transmission control, instrument pack, infotainment module, passive entry passive start module (PEPS module), body control module (BCM), audio system, lighting, climate control, and so on, in certain embodiments) via one or more vehicle buses  110  (e.g., one or more vehicle CAN buses, in certain embodiments). 
     In various embodiments, the vehicle  100  comprises an automobile. The vehicle  100  may be any one of a number of different types of automobiles, such as, for example, a sedan, a wagon, a truck, or a sport utility vehicle (SUV), and may be two-wheel drive (2WD) (i.e., rear-wheel drive or front-wheel drive), four-wheel drive (4WD) or all-wheel drive (AWD), and/or various other types of vehicles in certain embodiments. In certain embodiments, the vehicle  100  may also comprise a motorcycle or other vehicle, and/or one or more other types of mobile platforms (e.g., a robot, a ship, and so on) and/or other systems. 
     The vehicle  100  includes a body  112  that is arranged on a chassis  114 . The body  112  substantially encloses other components of the vehicle  100  and includes a front bumper  113 , back bumper  115  and side-view mirror casings  117 . A door  111  is installed on the body  112  and can releasably engage with the a door frame of body  112 . The body  112  and the chassis  114  may jointly form a frame. The vehicle  100  also includes a plurality of wheels  116 . The wheels  116  are each rotationally coupled to the chassis  114  near a respective corner of the body  112  to facilitate movement of the vehicle  100 . In one embodiment, the vehicle  100  includes four wheels  116 , although this may vary in other embodiments (for example for trucks and certain other vehicles). 
     A drive system  118  is mounted on the chassis  114 , and drives the wheels  116 , for example via axles  120 . The drive system  118  preferably comprises a propulsion system. In certain exemplary embodiments, the drive system  118  comprises an internal combustion engine and/or an electric motor/generator, coupled with a transmission thereof. In certain embodiments, the drive system  118  may vary, and/or two or more drive systems  118  may be used. By way of example, the vehicle  100  may also incorporate any one of, or combination of, a number of different types of propulsion systems, such as, for example, a gasoline or diesel fueled combustion engine, a “flex fuel vehicle” (FFV) engine (i.e., using a mixture of gasoline and alcohol), a gaseous compound (e.g., hydrogen and/or natural gas) fueled engine, a combustion/electric motor hybrid engine, and an electric motor. 
     In various embodiments, the control system  102  controls communications with the peer network  104 , for example for use in performing actions respect to one or more modules  108  of the vehicle  100  (e.g., vehicle braking, engine control, transmission control, infotainment control, climate control, lighting control, audio system control, instrument control, and so on), among other vehicle actions. Also in various embodiments, the control system  102  is disposed within the body  112  of the vehicle  100 . In one embodiment, the control system  102  is mounted on the chassis  114 . In certain embodiments, the control system  102  and/or one or more components thereof may be disposed outside the body  112 , for example, on a remote server, in the cloud, or in a remote smart phone or other device where image processing is performed remotely. In addition, in certain embodiments, the control system  102  may be disposed within and/or as part of the vehicle modules  108 , drive system  118 , and/or within and/or or as part of one or more other vehicle systems. Also, as depicted in  FIG. 1 , in various embodiments the control system  102  is coupled to the vehicle modules  108  via the vehicle communication bus  110 , and is further coupled to the peer network  104 . 
     As depicted in  FIG. 1 , the control system  102  includes various sensors  122 , a sensor interface  124 , a transceiver  126 , and a controller  128 . In various embodiments, the sensors  122  include cameras, radar sensors, infrared sensors, engine control sensors, and/or various other sensors pertaining to the various modules  108  and/or operation of the vehicle  100 . In various embodiments, the cameras  122 ′ are wide-angle cameras or ultra-wide-angle cameras and may be installed at various locations surrounding the body  112  such as, for example, the front bumper  113 , back bumper  115  and side-view mirror casings  117 . Also in various embodiments, the cameras  122 ′ are positioned to provide a 360-degree view of the vehicle  100  and corresponding areas around the vehicle  100 . As such, the cameras  122 ′ can be angled such that at least a portion of the body  112  is contained in the image captured from the cameras  122 ′. For example, one or more portions of the captured images may include the locations on the body  112  at which both the vehicle  100 &#39;s driver-side door  111  and driver-side door frame meet. Also in various embodiments, the sensor interface  124  facilitates communications between the sensors  122  and the controller  128 . 
     In various embodiments, the transceiver  126  facilitates and provides communications between the vehicle  100  and the peer network  104 . For example, in various embodiments, the transceiver  126  receives communications (e.g., including data pertaining to operation of the vehicle  100  and/or including recommendations for the vehicle  100 ) from the peer network  104  (e.g., from one or more other participants  106  of the peer network  104  such as, for example, remote mobile computing devices including smart phones, tablets, wearable devices and the like), and also provides communications from the vehicle  100  to the peer network  104 . In certain embodiments, the transceiver  126  may also receive, provide, and/or facilitate communications between the controller  128  and the sensors  122  and/or vehicle modules  108 . In various embodiments, the transceiver  126  may include a single transceiver and/or multiple transceivers, and may include one or more similar devices such as one or more receivers, transmitters, and/or communication modules (which will collectively be referred to as a “transceiver” for the purposes of this Application). 
     In various embodiments, as is generally known, the BCM  108  governs various electrical components located throughout the vehicle, like the vehicle&#39;s power door locks, haptic feedback devices, headlights, and horn system (which is configured to generate various audible warnings—as is generally known). In various embodiments, as is generally known, the PEPS module  108  provides passive detection of the absence or presence of a passive physical keyfob or virtual keyfob uploaded onto a smart device such as a smart phone or tablet computer. When the passive physical keyfob/virtual keyfob approaches, the PEPS module can determine if the fob is authentic as belonging to the vehicle  12 . If the keyfob is deemed authentic, the PEPS module  108  can send a command to BCM  108  permitting access to the vehicle  100 . In various embodiments, as is generally known, the infotainment module  108  includes a graphics display  105 , such as a touch screen on the instrument panel or a heads-up display reflected off of the windshield, and can be used to provide a multitude of input and output functions (i.e., capable of GUI implementation). The infotainment module  108  may also be similarly connected to one or more graphics displays  105 ′ located on the exterior side of body  112 . Audio system  108  provides audio output to a vehicle occupant and can be a dedicated, stand-alone system or part of the primary vehicle audio system. 
     The controller  128  controls operation of the control system  102 , and the communications with the peer network  104 . In various embodiments, the controller  128  is coupled to the sensors  122  (e.g., via the sensor interface  124 ), the transceiver  126 , the vehicle modules  108  (e.g., via the vehicle bus  110 ), and to the peer network  104 . In various embodiments, the control system  102  receives data from the sensors  122 , the vehicle modules  108 , and the peer network  104 , processes the data, controls vehicle actions using the data via the vehicle modules  108 , and controls the vehicle  100 &#39;s communications with the peer network  104 . In various embodiments, the controller  128  provides these and other functions in accordance with the steps of the processes discussed further below in connection with  FIGS. 2 and 3 . 
     Also in one embodiment, the controller  128  is disposed within the control system  102 , within the vehicle  100 . In certain embodiments, the controller  128  (and/or components thereof, such as the processor  130  and/or other components) may be part of and/or disposed within one or more other vehicle components. Also in certain embodiments, the controller  128  may be disposed in one or more other locations of the vehicle  100 . In addition, in certain embodiments, multiple controllers  128  may be utilized. In addition, in certain embodiments, the controllers  128  can be placed outside the vehicle, such as in a remote server, in the cloud or on a remote smart device. 
     As depicted in  FIG. 1 , the controller  128  comprises a computer system. In certain embodiments, the controller  128  may also include one or more of the sensors  122 , the transceiver  126 , one or more components thereof, and/or one or more other components of the vehicle  100 . In addition, it will be appreciated that the controller  128  may otherwise differ from the embodiment depicted in  FIG. 1 . For example, the controller  128  may be coupled to or may otherwise utilize one or more remote computer systems and/or other control systems, for example as part of one or more of the above-identified vehicle  100  devices and systems. 
     In the depicted embodiment, the computer system of the controller  128  includes a processor  130 , a memory  132 , an interface  134 , a storage device  136 , and a bus  138 . The processor  130  performs the computation and control functions of the controller  128 , and may comprise any type of processor or multiple processors, single integrated circuits such as a microprocessor, or any suitable number of integrated circuit devices and/or circuit boards working in cooperation to accomplish the functions of a processing unit. During operation, the processor  130  executes one or more programs  140  contained within the memory  132  and, as such, controls the general operation of the controller  128  and the computer system of the controller  128 , generally in executing the processes described herein, such as the processes discussed further below in connection with  FIGS. 2 and 3 . While the processor  130  is depicted in  FIG. 1  as being part of the controller  128 , it will be appreciated that in certain embodiments the processor  130  (and/or one or more additional processors) may also be part of various other vehicle components, such as (by way of example) one or more vehicle modules  108  (e.g., an engine control unit), sensors  122 , drive system  118 , transceiver  126 , and so on. 
     The memory  132  can be any type of suitable memory. For example, the memory  132  may include various types of dynamic random access memory (DRAM) such as SDRAM, the various types of static RAM (SRAM), and the various types of non-volatile memory (PROM, EPROM, and flash). In certain examples, the memory  132  is located on and/or co-located on the same computer chip as the processor  130 . In the depicted embodiment, the memory  132  stores the above-referenced program  140  along with one or more stored values  142 . 
     The bus  138  serves to transmit programs, data, status and other information or signals between the various components of the computer system of the controller  128 . The interface  134  allows communication to the computer system of the controller  128 , for example from a system driver and/or another computer system, and can be implemented using any suitable method and apparatus. In one embodiment, the interface  134  obtains the various data from the sensors  122 , vehicle modules  108 , and/or transceiver  126 . The interface  134  can include one or more network interfaces to communicate with other systems or components. The interface  134  may also include one or more network interfaces to communicate with technicians, and/or one or more storage interfaces to connect to storage apparatuses, such as the storage device  136 . 
     The storage device  136  can be any suitable type of storage apparatus, including various different types of direct access storage and/or other memory devices. In one exemplary embodiment, the storage device  136  comprises a program product from which memory  132  can receive a program  140  that executes one or more embodiments of one or more processes of the present disclosure, such as those set forth in  FIGS. 2 and 3  and discussed below. In another exemplary embodiment, the program product may be directly stored in and/or otherwise accessed by the memory  132  and/or a disk (e.g., disk  144 ), such as that referenced below. 
     The bus  138  can be any suitable physical or logical means of connecting computer systems and components. This includes, but is not limited to, direct hard-wired connections, fiber optics, infrared and wireless bus technologies. During operation, the program  140  is stored in the memory  132  and executed by the processor  130 . 
     It will be appreciated that while this exemplary embodiment is described in the context of a fully functioning computer system, those skilled in the art will recognize that the mechanisms of the present disclosure are capable of being distributed as a program product with one or more types of non-transitory computer-readable signal bearing media used to store the program and the instructions thereof and carry out the distribution thereof, such as a non-transitory computer readable medium bearing the program and containing computer instructions stored therein for causing a computer processor (such as the processor  130 ) to perform and execute the program. Such a program product may take a variety of forms, and the present disclosure applies equally regardless of the particular type of computer-readable signal bearing media used to carry out the distribution. Examples of signal bearing media include: recordable media such as floppy disks, hard drives, memory cards and optical disks, and transmission media such as digital and analog communication links. It will be appreciated that cloud-based storage and/or other techniques may also be utilized in certain embodiments. It will similarly be appreciated that the computer system of the controller  128  may also otherwise differ from the embodiment depicted in  FIG. 1 , for example in that the computer system of the controller  128  may be coupled to or may otherwise utilize one or more remote computer systems and/or other control systems. 
     METHOD 
     Now turning to  FIG. 2 , there is shown an embodiment of a method  200  to detect the occurrence of flexible material being trapped between the door  111  and body  112  of vehicle  100  when a user is entering the vehicle&#39;s cabin (an ingress event). One or more aspects of detection method  200  may be completed through control system  102  which may include one or more programs  140  contained in memory  132  and carried out by controller  128 . One or more ancillary aspects of method  200  may be completed by sensors  122  (such as, for example, the cameras  122 ′), the vehicle modules  108  (e.g., infotainment module, BCM, and/or PEPS module), a database stored in memory  132 , graphical display  105 , and door  111 . Method  200  is supported by the BCM  108  being configured to establish a short range wireless communication protocol (SRWC protocol) with a vehicle key fob when the fob is within proximity of vehicle  100 . Method  200  is also supported by the BCM  108  being configured to cause the power door locks to unlock the door  111  as well as release the door latch and cause the door to open. Method  200  is also supported by BCM  108  being configured to activate one or more haptic feedback devices. Method  200  is also supported by the infotainment module  108  being configured to cause graphics module  105  to display information. Method  200  is also supported by audio system  108  being configured to generate an audible warning. Method  200  is also supported by the drive system  118  (and, in certain embodiments, one or more other engine control system modules  108 ) being configured to activate and deactivate the vehicle&#39;s propulsion system (i.e., to cause and prevent vehicle movement). These configurations may be established by a manufacturer at or around the time of the vehicle&#39;s assembly. The method  200  is further yet supported by preconfiguring infotainment module to exhibit information such as notifications on its graphics display. 
     Method  200  begins at  201  in which the user comes into proximity of vehicle  100 . In essence, method  200  begins when the user is close enough to vehicle  100  to establish a SRWC between one or more of the vehicle modules  108  (e.g., PEPS modules or BCM) and a passive physical keyfob or virtual keyfob (“keyfob”) on the person of the user. Moreover, the SRWC protocol may be, for example, Bluetooth, BLE, or Wi-Fi. 
     In step  210 , the user triggers a first ingress event. In various embodiments, this event occurs when the PEPS module  108  recognizes the presence of the keyfob to be in proximity of vehicle  100  (e.g., within a range of 10 feet) and verifies the device to be a match for vehicle  100 . In various embodiments, alternatively, this event occurs when the user indicates desires access to the vehicle  100 . For example, when the user presses a physical/virtual button on their keyfob to command the vehicle  100  to unlock one or more of its doors  111 . In this step, moreover, upon sensing the presence of the keyfob or receiving a keyfob command, the PEPS module  108  can send a command to BCM to permit access to the vehicle  100  (e.g., unlock the one or more vehicle doors  111 ). 
     In step  220 , controller  128  will wake up the cameras  122 ′ installed at various locations around the body  112 . As such, power from the vehicle&#39;s battery (not shown) will be provided to these cameras  122 ′ so they are enabled to be activated and capture one or more images. In step  230 , the controller  128  will activate the camera  122 ′ installed on the side-view mirror casing  117  which is adjacent to the driver-side door. With additional reference to  FIG. 3A , the controller  128  will moreover cause the camera  122 ′ to capture an image of where the driver-side door  111  and driver-side door frame  112  meet each other (when the driver-side door  111  is hingedly/slidably closed and has thus engaged with the door frame  112 ). For example, the camera  122 ′ may capture an image of the bottom and one or more sides of the door trim while the door  111  is closed. In various embodiments, the controller  128  may alternatively or simultaneously activate another camera  122 ′ installed on the side-view mirror casing  117  located near the passenger-side door to capture an image of the door trim of that door  111  while closed. In various embodiments, a light sensor  122  may detect whether it is day or night in the vehicle environment. When it is determined that it is night outside, controller  128  may activate approach lighting to illuminate the exterior surface of body  112  prior to the camera(s) capturing its image. It should be understood that this captured image or images should be considered a “reference image” or “reference images.” 
     In step  240 , the user opens the vehicle door  111  and enters the vehicle  100 . Moreover, in this step, the user closes the vehicle door  100  to trigger a second ingress event upon the door latch signaling to the controller  128  that the door has properly shut closed. Alternatively, the second ingress event can occur when the controller  128  is signaled that the user has activated the vehicle  100  by shifting the vehicle  100  into the drive or reverse gear to begin vehicle operations. 
     In step  250 , with additional reference to  FIG. 3B , shortly after this second ingress event (e.g., after the door closes but before the vehicle begins to move), the controller  128  will reactivate the driver-side door camera  122 ′ (previously activated in step  230 ) and capture a second image of the spots where the driver-side door  111  and driver-side door frame  112  meet each other. In various embodiments, the controller  128  may alternatively or simultaneously activate another camera  122 ′ located near the passenger-side door to capture an image of that door trim. It should be understood that this second captured image (or second set of captured images) should be considered a “test image” or “test images.” 
     In step  260 , with additional reference to  FIGS. 4A and 4B , controller  128  will perform one or more generally known object detection techniques to determine whether the user&#39;s clothing (e.g., the end of a long dress or rain coat) has, in some fashion, been trapped by the door  111  and door frame  112 . For example, controller  128  can perform this image analysis by comparing the test image  401  to the reference image  402  at the pixel level to determine if the test image includes an object not found in the reference image. Thus, since the scene in the captured images should be static and the images are captured close in time, the reference and test images should be identical unless clothing  129  has been wedged between the door  111  and frame  112 . If clothing  129  is found to be wedged in the door, then the pixels  410  in the area where the clothing is found will have different characteristics such as, for example, different color and intensity. As follows, when a certain number of pixels  410  clumped together in a concentrated area of the test image  401  are found to have unique characteristics not seen in the reference image  402  (e.g., at and below the bottom of the door trim), these differences would indicate fabric is jammed between the door  111  and respective door frame  112 . Furthermore, if the test image  401  includes an object not found in the reference image, method  200  can move to optional step  270 ; otherwise, method  200  will move to completion  202 . It should be understood that only one pixel cluster  410  can be seen in the reference image  402  and test image  401 , however, skilled artists will understand that the entire area of these images will comprise pixels. 
     In optional step  270 , controller  128  performs one or more generally known deep learning approaches to recognize the objects included in the test image. For instance, controller  128  can access an image recognition database from memory  132  which is filled with training data that can be a number of sample images depicting a piece of clothing (i.e., flexible material) stuck between a car door  111  and door frame  112 . Moreover, controller  128  can then search this database for a sample image that depicts an object of similar characteristics (size, color, pattern, shape, etc.) to the unique object discovered in the test image. If the search uncovers a sample image including an object of identical or nearly identical characteristics to the object found in the test image, then the object in the test image will be recognized as trapped clothing and method  200  will move to step  280 . After such a determination, controller  128  may also provide the test image to the image recognition database, to be added to the training data. If the search cannot find a sample image with an object like the one found in the test image, however, controller  128  will determine that the object detection technique has produced a false positive and method  200  will move to completion  202 . An example of a false positive would be when a tree leaf has somehow been stuck to the door  111  sometime between the capturing of the reference and test image. 
     In step  280 , controller  128  will produce a notification which is exhibited on the internal graphical display  105  of the infotainment module  108 . This notification may be embodied as a visible text message stating “WARNING: CHECK DOOR FOR TRAPPED CLOTHING” or the like. Controller  128  may also transmit this notification to a known remote computing device such as, for example, a smart phone (not shown) via the peer network  104 , to be displayed on the user interface of that computing device. The notification may also include a supporting audible warning from the audio system  108  such as, for example, chirps or dings (e.g., via an electronic/software chime module within the audio system). The notification may further/alternatively include a supporting haptic feedback warning from one or more vibratory devices (e.g., a piezo-electric device) installed in the driver seat or one or more passenger seats or steering wheel. Controller  128  may also collaborate with the BCM  108  to cause the door  111  to be released from the door fame (i.e., by sequentially unlocking and unlatching and rotating away or sliding open the door  111 ). In addition, controller  128  may also collaborate with the drive system  118  and (one or more other engine control system modules  108 ) to prevent activation of or deactivate the vehicle&#39;s propulsion system until the trapped fabric has been released (e.g., after controller  128  has sensed door  111  has opened and closed and one or more new test images have been produced). In this way, controller  128  will prevent vehicle movement from occurring until the trapped fabric has been released. Alternatively, when vehicle  100  is embodied as an autonomous vehicle, controller  128  may also collaborate with drive system  118  to prevent automated vehicle departure. It should be understood that, in certain embodiments, the controller  128  may also cause door  111  to be released and opened and/or prevent vehicle movement without additionally producing a notification. After step  280 , method  200  moves to completion  202 . 
     Now turning to  FIG. 5 , there is shown an embodiment of a method  500  to detect the occurrence of flexible material being trapped between the door  111  and body  112  of vehicle  100  when a user is exiting the vehicle&#39;s cabin (an egress event). One or more aspects of detection method  500  may be completed through control system  102  which may include one or more programs  140  contained in memory  132  and carried out by controller  128 . One or more ancillary aspects of method  400  may be completed by sensors  122  (such as, for example, the cameras  122 ′), the vehicle modules  108  (e.g., infotainment module, BCM, and/or PEPS module), graphical display  105 ′, and door  111 . Method  500  is also supported by audio system  108  being configured to generate an audible warning. Method  200  is also supported by the infotainment module  108  being configured to cause interior graphics display  105  and/or exterior graphics display  105 ′ to display information. Method  500  is also supported by the drive system  118  (and, in certain embodiments, one or more other engine control system modules  108 ) being configured to activate and deactivate of the vehicle&#39;s propulsion system (i.e., to cause and prevent vehicle movement). The method  500  is further yet supported by preconfiguring the BCM  108  to govern the vehicle horn system and cause the horn to produce an audible alarm as well as cause the power door locks to unlock the door  111  as well as release the door latch and cause the door to open. These configurations may be established by a manufacturer at or around the time of the vehicle&#39;s assembly. 
     Method  500  begins at  501  in which the user is positioned in the interior cabin of vehicle  100  and preparing to exit from the vehicle. For example, when the user has completed a trip and is ready to leave their vehicle  100 . In step  510 , the user triggers a first egress event. In various embodiments, this event occurs when the user pulls a door latch to release the door  111  from being engaged with the doorframe  112  and thus open the door  111 . In step  520 , if not already awake, controller  128  will wake up the cameras  122 ′ installed at positions around the body  112 . In addition, in this step, prior to the door  111  opening and being hingedly rotated away from body  112  (or, in certain embodiments, the door  111  opening by sliding along the side of body  112  via rails, or some other known manner of opening door  111 ) the controller  128  will activate the camera  122 ′ installed on the side-view mirror casing  117  which is adjacent to the driver-side door (see  FIG. 3A ). The controller  128  will moreover cause the camera  122 ′ to capture an image of where the driver-side door  111  and driver-side door frame  112  meet each other (while the driver-side door  111  is still hingedly/slidably closed and has thus engaged with the door frame  112 ). For example, as explained above, the camera  122 ′ may capture an image of the bottom and one or more sides of the door trim while the door  111  is closed. In various embodiments, the controller  128  may alternatively or simultaneously activate the camera  122 ′ installed on the side-view mirror casing  117  located near the passenger-side door to capture an image of the door trim of that door  111  while closed. When it is dark outside, as discussed above, controller  128  may activate the vehicle&#39;s approach lighting to illuminate the body  112  and make it easier for clarity of the captured image. It should be understood that this captured image or images should be considered a “reference image” or “reference images”, similar to those discussed above in method  200 . 
     In step  530 , the user opens door  111  by operatively rotating the door  111  away from body  112  (or having the door  111  automatically slide along the body  112  via rails) and exits out of the vehicle  100 . Moreover, in this step, after fully leaving the vehicle, the user properly closes the door  111  behind themselves (or the door will automatically slide closed) such that it will trigger a second egress event upon the door latch signaling to the controller  128  that the door has properly shut closed. In step  540 , upon the second egress having been triggered, the controller  128  will reactivate the driver-side door camera  122 ′ (previously activated in step  520 ) and capture multiple secondary images of the spots where the driver-side door  111  and driver-side door frame  112  meet each other. These images may be captured over a time duration such as, for example, one fourth (0.25) to one half (0.5) of a second in length. In various embodiments, the controller  128  may alternatively or simultaneously activate the camera  122 ′ located near the passenger-side door to capture multiple images of that door trim. It should be understood that this secondary set of captured images are considered “test images”, similar to those discussed above in method  200 . 
     In step  550 , controller  128  will perform one or more generally known object detection techniques to determine whether the user&#39;s clothing (e.g., the end of a long dress or rain coat) has been trapped by the door  111  and door frame  112  in some fashion. For example, controller  128  can perform this image analysis by comparing the series of test images (see  FIG. 4A ) to the reference image (see  FIG. 4B ) at the pixel level to determine if the test images include an object not found in the reference image. Thus, since the scene in the captured images should be static and the reference image and each test image are captured close in time, the reference and test images should be identical unless clothing has been wedged between the door  111  and respective frame  112 . If this is the case, then the pixels in the area where the clothing is found to be wedged will have different characteristics such as, for example, different color and intensity. As follows, if a certain number of pixels, clumped together in a substantially similar manner in each of the test images, are found to be of different characteristics than the pixels in that area of the reference image (e.g., at and below the bottom of the door trim), then the difference between the combined test images and reference image would indicate fabric is jammed between the door  111  and respective door frame  112 . Furthermore, if the test images include a substantially identical object not found in the reference image, method  500  can move to step  560 ; otherwise, method  500  will move to completion  502 . 
     This object detection technique may be better understood as a consecutive image frame analysis and may be understood as being particularly more reliable and applicable determination for method  500  (i.e., for vehicle egress), than comparing a single test image to a single reference image. This is because fabric, being a flexible material, may press against the door  111  (e.g., due to wind or some other weather condition) for a moment and seem trapped when it is not actually trapped and thus produce a false positive of the object detection analysis. Capturing multiple test images would make it harder to produce this false positive since the fabric will move over time and thus appear different in each test image. As follows, if one or more test images shows a clump of pixels that are not shown or different than one or more other test images, it will be determined that these differences do not actually indicate fabric has been jammed between the door  111  and respective door frame  112 . Controller  128  may also activate the approach lighting before or during the capturing of the images to enhance image clarity in one or more of the test images. Additionally, in this step, controller  128  can perform one or more generally known deep learning approaches, discussed above, to recognize the unique objects included in one or more of the captured test images for verification purposes (e.g., by accessing an image recognition database). 
     In step  560 , controller  128  will produce a notification which is an audible warning produced through the vehicle&#39;s horn system. This notification may be embodied as numerous horn chirps which may be heard by the user being within a few feet of the vehicle  100 . In various embodiments, the notification may also include a supporting audible warning from the audio system  108  (e.g., chirps or dings) and, in various embodiments, this notification may also include a supporting visible text message that is displayed on the graphical display  105  of the infotainment module  108  and/or the exterior graphics display  105 ′. Controller  128  may also transmit the visible text message notification to a known remote computing device such as, for example, a smart phone (not shown) via the peer network  104 , to be displayed on the user interface of that computing device. Controller  128  may also collaborate with the BCM  108  to cause the door  111  to be released from the door fame (i.e., by sequentially unlocking and unlatching the door  111 ) so as to release the trapped fabric between the door  111  and door frame. In addition, controller  128  may also collaborate with the drive system  118  (or more other engine control system modules  108 ) to prevent activation of or deactivate the vehicle&#39;s propulsion system until the trapped fabric has been released (e.g., after controller  128  has sensed door  111  has opened and closed and one or more new test images have been produced). In this way, controller  128  will prevent vehicle movement until the trapped fabric has been released. Alternatively, when vehicle  100  is embodied as an autonomous vehicle, controller  128  may also collaborate with drive system  118  to prevent automated vehicle departure. It should be understood that, in certain embodiments, the controller  128  may also cause door  111  to be released and/or prevent vehicle movement without also producing a notification. After step  560 , method  500  moves to completion  502 . 
     The processes, methods, or algorithms disclosed herein can be deliverable to/implemented by a processing device, controller, or computer, which can include any existing programmable electronic control unit or dedicated electronic control unit. Similarly, the processes, methods, or algorithms can be stored as data and instructions executable by a controller or computer in many forms including, but not limited to, information permanently stored on non-writable storage media such as ROM devices and information alterably stored on writeable storage media such as floppy disks, magnetic tapes, CDs, RAM devices, and other magnetic and optical media. The processes, methods, or algorithms can also be implemented in a software executable object. Alternatively, the processes, methods, or algorithms can be embodied in whole or in part using suitable hardware components, such as Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), state machines, controllers or other hardware components or devices, or a combination of hardware, software and firmware components. 
     While exemplary embodiments are described above, it is not intended that these embodiments describe all possible forms encompassed by the claims. The words used in the specification are words of description rather than limitation, and it is understood that various changes can be made without departing from the spirit and scope of the disclosure. As previously described, the features of various embodiments can be combined to form further embodiments of the system and/or method that may not be explicitly described or illustrated. While various embodiments could have been described as providing advantages or being preferred over other embodiments or prior art implementations with respect to one or more desired characteristics, those of ordinary skill in the art recognize that one or more features or characteristics can be compromised to achieve desired overall system attributes, which depend on the specific application and implementation. These attributes can include, but are not limited to cost, strength, durability, life cycle cost, marketability, appearance, packaging, size, serviceability, weight, manufacturability, ease of assembly, etc. As such, embodiments described as less desirable than other embodiments or prior art implementations with respect to one or more characteristics are not outside the scope of the disclosure and can be desirable for particular applications. 
     Spatially relative terms, such as “inner,” “outer,” “beneath,” “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature&#39;s relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. 
     None of the elements recited in the claims are intended to be a means-plus-function element within the meaning of 35 U.S.C. § 112(f) unless an element is expressly recited using the phrase “means for,” or in the case of a method claim using the phrases “operation for” or “step for” in the claim.