Sensor system for providing vehicle access function of motor vehicle

Abstract

The invention relates to a sensor system (1) for providing a vehicle access function for a motor vehicle (2), comprising: a plurality of UWB modules (3) which are designed to transmit and receive UWB signals and which are arranged at a distance from one another in an installed state in a specified position on the motor vehicle; and a control device (4) for actuating the UWB modules and for providing the vehicle access function by means of the UWB modules, at least one of the UWB modules being arranged as a movable UWB module (5) in an installed state on a door (7) of the motor vehicle, which door can be adjusted by means of a door kinematics (6), the movable UWB module is configured such that the movable UWB module can be adjusted relative to the rest of the motor vehicle with adjustment of the cabin door. According to the invention, the control device is designed to position the movable UWB module relative to the rest of the motor vehicle and to provide the vehicle access function as a function of the determined position of the movable UWB module.

Description

Technical Field

[0001] The invention relates to a sensor system for providing a vehicle access function of a motor vehicle according to the preamble of claim 1 . Background Art

[0002] In many cases, vehicle access systems such as Passive-Keyless-Entry (PKE) and Passive-Entry-Passive-Start (PEPS) use a mobile device such as an electronic key to identify and locate the operator of a motor vehicle. The sensor systems in question are based on the use of Ultra-Wideband (UWB) modules, which in particular enable particularly precise localization of the operator, wherein vehicle access functions can be provided based on this localization.

[0003] In this case, the sensor system has a plurality of UWB modules which, in the installed state, are arranged at specified locations on the motor vehicle and, for example, are distributed over the circumference of the motor vehicle, whereby the reception and transmission range of the sensor system is primarily optimized. Since the sensor system in question relates in particular to the interaction of an operator with a hatch of a motor vehicle, individual UWB modules can be arranged on an adjustable hatch, or all UWB modules can also be arranged on an adjustable hatch. In the present case, the term "hatch" of a motor vehicle is to be understood broadly. This term includes not only tailgates and rear lids, but also vehicle doors, in particular side doors, and side mirrors. A hatch in this sense can be hinged to the body of the motor vehicle in a pivotable manner or in a movably manner. Summary of the invention

[0004] The problem underlying the present invention is to design and expand the sensor system in question in such a way that its operation and in particular the positioning accuracy with the aid of the sensor system are further optimized.

[0005] This problem is solved by the characterizing features of claim 1 .

[0006] The invention is based on the fact that at least one of the UWB modules is arranged as a movable UWB module on an adjustable door of a motor vehicle in the installed state, so that by adjusting the door the position of the movable UWB module can also be changed. The following basic consideration is important: when providing a vehicle access function, a change in the position of the movable UWB module by adjusting the door is taken into account, wherein in particular this position can also be determined by the sensor system.

[0007] In particular, it is proposed that the control device is set up to carry out a positioning of the movable UWB module relative to the rest of the motor vehicle and to provide a vehicle access function as a function of the determined position of the movable UWB module.

[0008] Particularly preferred embodiments are the subject matter of the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In the following, the invention is explained in more detail with reference to the accompanying drawings which show only exemplary embodiments.

[0010] In the figure:

[0011] Figure 1 A motor vehicle with the proposed sensor system is shown in a schematic top view. DETAILED DESCRIPTION

[0012] The invention relates to providing a vehicle access function by means of a sensor system 1 which is based on UWB technology and which is used in particular for locating an operator outside and / or inside a motor vehicle 2 .

[0013] The embodiment shown in the accompanying drawings and preferred in this respect relates to a sensor system 1 for providing a vehicle access function for a motor vehicle 2, the sensor system 1 comprising: a plurality of UWB modules 3, which are set up for sending and receiving UWB signals and are arranged at specified positions on the motor vehicle 2 at intervals from each other in the installed state; and a control device 4 for operating the UWB modules 3 and for providing the vehicle access function with the aid of the UWB modules 3, wherein at least one of the UWB modules 3 is arranged as a movable UWB module 5 in the installed state on a hatch 7 of the motor vehicle 2 which is adjustable by hatch kinematics 6, so that the movable UWB module 5 can be adjusted relative to the rest of the motor vehicle 2 by adjusting the hatch 7.

[0014] The vehicle access function is generally related to the operator's access to the motor vehicle 2, especially the unlocking, opening or closing of the hatch 7; the waking up of the vehicle's electronic equipment; and the activation of the travel drive, etc. Similarly, the vehicle access function is related to security measures such as locking when the operator leaves the motor vehicle 2.

[0015] The UWB modules 3 are designed to operate using UWB technology and are in particular designed for communication in the frequency range of 3.1 GHz to 10.6 GHz. The UWB signals are preferably pulses with a bandwidth of at least 500 MHz and further preferably with a duration in the nanometer range. Particularly preferred are the following designs of the UWB modules 3, which have an antenna device provided for UWB operation and a sensor controller for actuating the antenna device, for example a sensor controller designed as a microcontroller.

[0016] The UWB modules 3 are provided for a spaced arrangement on the motor vehicle 2, whereby the sensor system 1 can use a plurality of spatially distributed UWB modules 3 in operation. By means of the spaced arrangement, an extended detection and transmission range of the sensor system 1 can be covered. Furthermore, the spaced arrangement of the UWB modules 3 can be used in positioning, for example within the framework of triangulation or taking into account the redundancy of the UWB modules 3. The arrangement at specified positions means that at least some of the degrees of freedom for the relative arrangement of the UWB modules 3 to one another are predetermined. In this case, the specified positions can be registered and taken into account in positioning, in particular triangulation, etc.

[0017] The control device 4 is used to operate these UWB modules 3 and cause the provision of the vehicle access function. In the figure, the control device 4 is shown as a central control module by way of example, which communicates with these UWB modules 3. Similarly, at least part of the control functions can be implemented decentralized by the mentioned sensor controller, or can also be implemented by a door control device or a motor vehicle controller. In this regard, the term "control device" also covers all components for operating these UWB modules 3. In this case, the control of these UWB modules 3 can, as already mentioned, be used for communication within the framework of identity authentication and also for locating the operator. These UWB modules 3 can also be set up for radar operation.

[0018] At least one of these UWB modules 3 is provided for arrangement on a hatch 7, which in the present case is referred to as a "movable" UWB module 5. For an understanding of the term "hatch", reference is made to the initial statement. In the figure, a side door, a rear door and a tailgate are shown as hatches 7 of a motor vehicle 2, wherein the following statement uses a side door as an example. The hatch 7 is arranged on the rest of the motor vehicle 2 in such a way that it can be adjusted by means of a hatch kinematics 6, here between a closed hatch position and an open hatch position.

[0019] The term "door kinematics" encompasses all components that allow movement of the door 7. Adjustment of the door 7 can be performed with a single degree of freedom, such as the angular position about a pivot axis, or with multiple degrees of freedom, such as in a combined translational and pivoting movement of a sliding door.

[0020] By means of the arrangement of the movable UWB module 5, the movable UWB module 5 can also be adjusted relative to the rest of the motor vehicle 2 and in particular also relative to the other UWB modules 3 of the sensor system 1 by adjusting the hatch 7. The relative position of the movable UWB module 5 relative to the other UWB modules 3 is thus variable. In principle, a plurality of movable UWB modules 5 can also be provided. It is also possible to provide stationary UWB modules 8, which are arranged immovably relative to the rest of the motor vehicle 2, for example on the vehicle body. Preferably, the sensor system 1 has at least one movable UWB module 5 and at least one stationary UWB module 8.

[0021] It is now essential that the control device 4 is set up to carry out a positioning of the movable UWB module 5 relative to the rest of the motor vehicle 2 and to provide a vehicle access function as a function of the determined position of the movable UWB module 5 .

[0022] Therefore, when providing vehicle access functions, such as positioning, the following situation is considered: the relative position of the movable UWB module 5 relative to other UWB modules 3 is variable. In particular, the vehicle access function can be reliably provided regardless of the corresponding door position.

[0023] In one design scheme, it is provided that: the control device 4 is set up to: position the movable UWB module 5 based on the UWB signal exchange between the movable UWB module 5 and at least one other UWB module 3; preferably, the control device 4 determines the distance and / or angle between the movable UWB module 5 and the at least one other UWB module 3 based on the exchange of UWB signals.

[0024] Therefore, positioning based on UWB technology is used to obtain a conclusion on the position of the movable UWB module 5. In a preferred design, the at least one further UWB module 3 includes at least one stationary UWB module 8, so that positioning can be performed using a fixed reference point. However, it is also conceivable to exchange UWB signals between multiple movable UWB modules 5 for positioning.

[0025] Positioning can be performed based on the Time-of-Flight (ToF) measurement of these UWB signals, in particular according to the Time-Difference-of-Arrival method and / or the Two-Way-Ranging method. For example, the angle is determined according to the Angle-of-Arrival method and / or the Phase-Difference-of-Arrival method. In order to determine the angle, preferably, at least one of these UWB modules 3 has an antenna device having a plurality of antennas spaced apart from each other, which allows angular resolution of the UWB signal. Similarly, the angle can be determined by a plurality of other UWB modules 3.

[0026] In another design scheme, it is provided that: the sensor system 1 has at least one cabin door sensor, which is assigned to the cabin door 7 in the installed state and is configured to detect the adjustment of the cabin door 7; and the control device 4 is configured to: trigger and / or perform the positioning of the movable UWB module 5 based on the detection of the adjustment by the cabin door sensor; preferably, the cabin door sensor is designed as a lock state sensor of a motor vehicle lock assigned to the cabin door 7, as a motion sensor (especially a gyroscope sensor) and / or as a position sensor.

[0027] For example, it can be detected from the lock state sensor that the door 7 is not in the completely closed position and that a positioning of the movable UWB module 5 assigned to the door 7 may therefore be necessary. By means of motion sensors such as acceleration sensors, in particular gyroscope sensors, adjustments of the door 7 can also be detected and positioning can be triggered. Position sensors can be assigned to the door kinematics 6, for example, and directly or indirectly determine the door position, for example the door angle.

[0028] In a particularly preferred embodiment, it is provided that the control device 4 has a door kinematics model of the door kinematics 6 and that the control device 4 is designed to position the movable UWB module 5 as a function of the door kinematics model.

[0029] The door kinematics model is in particular a numerical description of the position of the movable UWB module 5 as a function of the door position. In particular, in the case of door kinematics 6 with only one degree of freedom, a simple distance measurement between the movable UWB module 5 and at least one further UWB module 3 may already be sufficient for the positioning. Correspondingly, UWB modules 3 with only a single antenna may also be used. Here, the door kinematics model describes, for example, the path along which the movable UWB module 5 can be moved with the adjustment of the door 7, whereby, at least for a portion of this path, the distance determination allows a three-dimensional positioning of the movable UWB module 5.

[0030] Likewise, the positioning can be performed only with the aid of the door sensor and based on the door kinematic model. For example, at least one degree of freedom (such as angular position) is detected with the aid of the door sensor, and the position of the movable UWB module 5 is determined based on the door kinematic model.

[0031] Furthermore, the door kinematics model can be used not only in conjunction with the exchange of UWB signals between the movable UWB module 5 and at least one further UWB module 3, but also in conjunction with the use of door sensors. For example, the positioning can be carried out with door kinematics 6 having multiple degrees of freedom and / or positions determined on the basis of different measurement methods can be compared with one another and thus verified.

[0032] This positioning can also be used to verify the sensor signal of the door sensor. If, for example, the door position, in particular the open position and / or the closed position, of the door 7 is detected by means of the door sensor, the door position can be checked by means of the control device 4 by measuring the distance to the movable UWB module 5 by means of the UWB signal.

[0033] As already mentioned, provision is made here and preferably that the vehicle access function provided by the control device 4 includes the location of the operator, in particular on the basis of a mobile device 9 carried by the operator.

[0034] The mobile device 9 can be designed as an electronic key, a mobile phone, a PDA, a wearable device, etc. The mobile device 9 is configured for UWB communication with the UWB module 3, wherein, in addition to positioning, identity authentication can also be performed by means of the UWB communication. Alternatively, the identity authentication can be performed by means of the sensor system 1 through another communication mode different from the UWB operation. Preferably, the sensor system 1 has at least one Bluetooth module, not shown, which is used for identity authentication by means of Bluetooth communication, preferably by means of BLE communication.

[0035] In principle, the control device 4 can deactivate the movable UWB module 5 as a function of the determined position, wherein positioning is performed, for example, with the aid of the remaining UWB modules 3. Incorrect positioning due to changes in the position of the movable UWB module 5 is thereby excluded.

[0036] Furthermore, the control device 4 can carry out a positioning operation taking into account the determined position. If the positioning operation is based on triangulation, for example, the determined position can be used as a reference position for the movable UWB module 5 .

[0037] In another embodiment, when the hatch 7 is in the open hatch position, the control device 4 operates the movable UWB module 5 as a UWB tag, which can be used, for example, for obstacle recognition of other vehicles. Other vehicles can be alerted by UWB communication accordingly: for example, the hatch 7 of the motor vehicle 2 is open and therefore represents a potential obstacle.

[0038] A method for operating the proposed sensor system 1 is also disclosed. It is important in this case that the positioning of the movable UWB module 5 relative to the rest of the motor vehicle 2 is carried out by means of the control device 4 and that the vehicle access function is provided as a function of the determined position of the movable UWB module 5. Reference is made to all statements concerning the sensor system 1.

[0039] Furthermore, a motor vehicle 2 having the proposed sensor system 1 is disclosed.

Claims

1. A sensor system for providing a vehicle access function of a motor vehicle (2), the sensor system (1) having: a plurality of UWB modules (3) which are configured to transmit and receive UWB signals and are arranged at designated locations on the motor vehicle (2) at intervals from one another in an installed state; and A control device (4) for controlling the UWB module (3) and for providing the vehicle access function by means of the UWB module (3), wherein: At least one of the UWB modules (3) is arranged as a movable UWB module (5) in the installed state on a door (7) of the motor vehicle (2) which is adjustable by means of door kinematics (6), so that the movable UWB module (5) can be adjusted relative to the rest of the motor vehicle (2) by adjusting the door (7), It is characterized in that The control device (4) is configured to carry out positioning of the movable UWB module (5) relative to the rest of the motor vehicle (2) and to provide the vehicle access function as a function of the determined position of the movable UWB module (5).

2. The sensor system according to claim 1, characterized in that The control device (4) is configured to position the movable UWB module (5) based on the exchange of UWB signals between the movable UWB module (5) and at least one other UWB module (3); preferably, the control device (4) determines the distance and / or angle between the movable UWB module (5) and the at least one other UWB module (3) based on the exchange of UWB signals.

3. The sensor system according to claim 1 or 2, characterized in that The sensor system (1) has at least one hatch sensor, which is assigned to the hatch (7) in the installed state and is configured to detect the adjustment of the hatch (7); and the control device (4) is configured to: trigger and / or perform positioning of the movable UWB module (5) based on the detection of the adjustment by the hatch sensor; preferably, the hatch sensor is designed as a lock state sensor of a motor vehicle lock assigned to the hatch (7), is designed as a motion sensor, in particular a gyroscope sensor, and / or is designed as a position sensor.

4. The sensor system according to any one of the preceding claims, characterized in that The control device (4) has a door kinematics model of the door kinematics (6); and the control device (4) is configured to position the movable UWB module (5) based on the door kinematics model.

5. The sensor system according to any one of the preceding claims, characterized in that The vehicle access functionality provided by the control device (4) includes the positioning of the operator, in particular based on a mobile device (9) carried by the operator; and / or the control device (4) deactivates the movable UWB module (5) based on the determined position, performs the positioning taking into account the determined position, and / or operates the movable UWB module (5) as a UWB tag when the hatch (7) is in an open hatch position.

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