Method for operating motorized flap arrangement of motor vehicle by means of operator attitude

Abstract

The invention relates to a method for operating a motorized flap arrangement (1) of a motor vehicle (2) using a sensor system (6) having a plurality of radar modules (7) which are arranged at a distance from one another on the motor vehicle (2) and have corresponding sensor controllers (8), a respective radar sensor value with respect to an operator (10) located outside the motor vehicle (2) is determined by means of the radar module (7) via emission and reception of radar signals, the radar sensor value determined by the respective radar module (7) being checked by means of the sensor control device (8) for a possible operator attitude according to a predetermined operator attitude criterion, wherein a possible operator attitude is associated with an identification quality level by means of a sensor control device (8) in the course of a test in accordance with a radar sensor value determined by the respective radar module (7), the respective identification quality level determined by means of the sensor control device (8) being transmitted to a control device (13) of the sensor system (6), the possible operator gesture is evaluated as a valid operator gesture or rejected as an invalid operator gesture by means of the control device (13) according to a predefined evaluation rule and an overview of the identification quality level, and wherein the motorized flap arrangement (1) is actuated by means of the control device (13) for the presence of a valid operator gesture.

Description

Technical Field

[0001] The invention relates to a method for operating a motorized skirt assembly of a motor vehicle according to claim 1, a control device for a sensor system for operating a motorized skirt assembly of a motor vehicle according to claim 11, a sensor system with such a control device according to claim 12, and a motor vehicle for carrying out the proposed method according to claim 13. Background Art

[0002] The motorized flap assembly in question is provided for adjusting a closure element of a motor vehicle by means of an electric drive. The term "closure element" is to be understood broadly and includes, for example, a tailgate, a tailgate, a bonnet, a side door, a cargo compartment flap, a window pane, a lift roof, etc. of a motor vehicle. The closure element can be arranged on the motor vehicle body in a pivotable and / or longitudinally displaceable manner. In the following, the application areas of adjusting the tailgate and the side doors are the focus of the discussion.

[0003] The known prior art (DE 10 2016 125 371 A1) on which the present invention is based relates to a method for operating a motorized flap arrangement, wherein the motorized adjustment is triggered via a predetermined operator gesture. The operator gesture is, for example, a predetermined foot movement of the operator. For this purpose, the movement performed by the operator is detected by a radar module and evaluated by means of a control device.

[0004] Sensor systems for such applications can have radar modules based on the use of ultra-wideband (UWB) technology. In addition to radar operation, UWB radar modules are also set up for UWB communication with a mobile device of the operator (e.g., an electronic key for identity verification). In many cases, however, this dual functionality is accompanied by a limited resolution for detecting the operator's gesture. In principle, a plurality of radar modules can be provided, which are arranged distributed around the circumference of the vehicle, for which the reception and transmission range of the sensor system is optimized in particular.

[0005] The radar module is equipped with a corresponding sensor control device, which is responsible for evaluating the radar sensor values ​​determined by the corresponding radar module and for detecting a validly implemented operator gesture, for example, by checking a predefined operator gesture criterion. If a valid operator gesture is present, the corresponding sensor control device reports the presence of an actuation request to the control device, which in turn causes the actuation of a motorized flap arrangement, for example, opening of a tail flap.

[0006] The challenge here is to improve the reliability of the recognition of valid operator gestures, but at the same time the probability of incorrect control due to movements that are incorrectly identified as valid operator gestures should be kept low. Summary of the invention

[0007] The invention is based on the problem of designing and improving the known method in such a way that a further optimization is achieved with respect to the aforementioned challenges.

[0008] This problem is solved by the features of claim 1 .

[0009] The present invention is based on the knowledge that in certain cases, effective operator gestures can also be implemented in such a way that the identification of the respective individual radar modules can be made difficult due to the low triggering. An example of this is the implementation of an operator gesture between two radar modules spaced apart from one another while only slightly sweeping across the respective detection range.

[0010] What is important is the fundamental consideration that, in the case of an overall inclusion of radar modules, a more reliable recognition of the operator's gesture is achieved by a specific combination of the results provided by the individual radar modules.

[0011] It is provided that the sensor control unit of the radar module respectively performs a check of a predefined operator gesture criterion according to the radar sensor value determined by the corresponding radar module. The radar module thus respectively makes a decision as to whether a possible operator gesture is present. In this case, the sensor control unit respectively associates a possible operator gesture with a recognition quality level, which generally relates to the probability of detecting a valid operator gesture.

[0012] The control device is located above the sensor control device and preferably does not directly evaluate the corresponding radar sensor data. Instead, the corresponding recognition quality level is transmitted to the control device and evaluated in the overview according to the evaluation rules.

[0013] For example, if an operator gesture is performed between two radar modules that are spaced apart from one another, then a correspondingly low recognition quality for a gesture that is determined by multiple radar modules, for example, can also lead to the setting of a successful triggering maneuver. However, since the requirements in the operator gesture criteria to be checked by the individual sensor control units do not necessarily have to be lowered, the probability of false triggering can be further reduced.

[0014] Furthermore, the embodiments according to claims 2 to 5 are particularly preferred, according to which possible operator gestures are associated with corresponding operator gesture parameters derived from the radar sensor values ​​by the sensor control device and taken into account in the evaluation rules. Thus, further features of the detected possible operator gestures can be incorporated into the evaluation via the overview.

[0015] The embodiment according to claim 3 specifies a temporal aspect of a possible operator gesture (eg duration) as an operator gesture parameter, whereby the operator gesture can be verified particularly reliably by a plurality of radar modules.

[0016] In the embodiment according to claim 4, a velocity value which can be derived, for example, from the Doppler information of the radar sensor value is indicated as an operator attitude parameter. The velocity value then serves as a characteristic feature of the operator attitude and improves safety against false triggering in particular.

[0017] Furthermore, the configuration of the operator gesture parameter, which is related to the position of the operator gesture and in particular a radar target linked to the operator gesture, is described in claim 5. This also makes it possible to selectively utilize the advantages of using radar for gesture recognition in the overview.

[0018] Another preferred embodiment of claim 6 relates to the use of a radar module for UWB communication with a mobile device (eg an electronic key), which can be used here, in addition to identity verification, to improve gesture recognition.

[0019] Of particular interest is also the embodiment according to claim 7, according to which the radar modules are also used to detect the approach of an operator. For example, an operator approach criterion is preset for this purpose, which describes the probability that an operator is approaching the baffle component in a targeted manner with an operation request. By summarizing the recognition quality level with the detected operator approach, the gesture recognition can be further optimized. For example, a low recognition quality level determined by one or more radar modules is sufficient for triggering when another radar module has already detected such an operator approach with a high probability.

[0020] Advantageous embodiments with regard to the evaluation rules and their creation are described in claims 8 and 9 .

[0021] The proposed method is sufficient with a relatively small amount of data that must be exchanged between the sensor control unit and the control device. Accordingly, the communication network of the motor vehicle (in the embodiment of claim 10 , a LIN bus or a CAN bus) is only slightly loaded.

[0022] According to another teaching having independent significance according to claim 11, a control device for a sensor system for operating a motorized skirt assembly of a motor vehicle is claimed. The control device is designed to obtain corresponding recognition quality levels for possible operator gestures detected by means of the radar modules according to radar sensor values ​​from a plurality of radar modules of the sensor system, wherein the control device evaluates the possible operator gestures as valid operator gestures according to a predefined evaluation rule according to the overview of the recognition quality levels or rejects them as invalid operator gestures, and wherein the control device causes the motorized skirt assembly to be actuated if a valid operator gesture is present. Reference is hereby made to all the explanations concerning the method according to the proposal.

[0023] According to another teaching, which is also of independent significance, a sensor arrangement for a motorized panel arrangement of a motor vehicle is claimed. The sensor system has a plurality of radar modules, which are arranged at a distance from one another on the motor vehicle and have a corresponding sensor control unit, wherein the radar modules determine corresponding radar sensor values ​​for an operator located outside the motor vehicle via emission and reception of radar signals, wherein the sensor control unit checks the radar sensor values ​​determined by the corresponding radar module for the presence of a possible operator gesture according to a predefined operator gesture criterion, and wherein the sensor control unit associates the possible operator gesture with a recognition quality level as part of the check according to the radar sensor values ​​determined by the corresponding radar module.

[0024] The sensor system further comprises a control device according to the proposal. Reference is hereby made to all the statements concerning the method according to the proposal and the control device according to the proposal.

[0025] According to a further teaching, which is also of independent significance, a motor vehicle is claimed for carrying out the proposed method. Reference is expressly made to all the statements concerning the proposed method, the control unit and the proposed sensor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The invention is explained in more detail below with reference to the accompanying drawings which show only exemplary embodiments. In the drawings:

[0027] Figure 1 shows a perspective view of the rear region of a motor vehicle for carrying out the proposed method with the proposed sensor arrangement,

[0028] Figure 2 a) to d) from Figure 1 The top view of the rear region of a motor vehicle shows different examples of possible operator postures, and

[0029] Figure 3 A flow chart of the proposed method is shown. DETAILED DESCRIPTION

[0030] The proposed method involves the operation of a motorized flap assembly 1 of a motor vehicle 2. In the embodiment presented and preferred in this respect, the flap assembly 1 is provided for transferring a closure element of the flap assembly 1 from a closed position into an open position. A transfer from an open position into a closed position can also be provided. Here and preferably, a drive 3 designed as a spindle drive with a drive assembly 4 is provided, which is arranged on opposite sides of the closure element.

[0031] In principle, further motorized adjustment functions of the flap assembly 1 can also be provided, for example unlocking and / or opening a motor vehicle lock associated with the closure element. With regard to possible designs of the closure element, reference is made to the explanation at the beginning, wherein the closure element is Figure 1 and Figure 2 It is exemplarily presented as a tail baffle 5.

[0032] A sensor system 6 with a plurality of radar modules 7 is provided, which serves to trigger a motorized adjustment of the skirt assembly 1 in the context of gesture recognition. The radar modules 7 are arranged at intervals on the motor vehicle 2, whereby the sensor system 6 can have access to a plurality of spatially distributed radar modules 7 during operation. The spaced arrangement can cover an extended detection and transmission range of the sensor system 6. In addition, the spaced arrangement of the radar modules 7 can be used to improve positioning, for example in the context of triangulation or when taking into account the redundancy of the radar modules 7.

[0033] The radar module 7 is here and preferably as a UWB module, configured for operation with UWB technology and in particular 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, further preferably with a duration in the order of nanoseconds. The radar module 7 has a corresponding sensor control device 8, wherein the radar module 7 is particularly preferably designed as an integrated module with an antenna assembly and a sensor control device 8 designed, for example, as a microcontroller in one unit.

[0034] Figure 3 An exemplary flow chart of the proposed method is shown. In action 9, a corresponding radar sensor value related to an operator 10 located outside the motor vehicle 2 is determined by means of the radar module 7 via the emission and reception of radar signals. Action 9 includes a plurality of sub-actions 91, 92, ..., 93 which are executed by the corresponding radar module 7. n , which may be performed simultaneously and / or time-shifted.

[0035] The radar sensor value indicates distance information between at least one body part of the operator 10 and the corresponding radar module 7. In particular, the radar sensor value also indicates direction information of the operator 10 and further preferably indicates speed information of the operator 10. Preferably, the radar modules 7 are each equipped with an antenna assembly having antennas arranged relative to each other in a preset angular position (Winkelstellung, sometimes referred to as angular coordinates) and position, preferably exactly two antennas, so that the angular resolution of the radar signal can be achieved. The sensor control device 8 controls the corresponding antenna assembly to transmit the radar signal. The received radar signal is evaluated by the sensor control device 8, and based on this, the radar sensor value is determined by the sensor control device 8.

[0036] In action 11 (here with sub-actions 111, 112, ..., 11 n ) in which the radar sensor values ​​determined by the corresponding radar module 7 are checked for possible operator gestures according to a preset operator gesture criterion by means of a sensor control device 8. The operator gesture criterion can here relate to predetermined features of the operator gesture to be implemented, such as the position, velocity, acceleration, etc. of a body part. The detected radar sensor values ​​can be checked for compliance with the preset features and a corresponding similarity can be determined, which indicates to what extent the radar sensor values ​​represent an operator gesture with the corresponding features. The similarities of the individual features can be combined into an overall similarity, for example via a preset functional relationship, such as a coefficient, etc.

[0037] In action 12 (here with sub-actions 121, 122, ..., 12 n ), in the context of checking the operator posture criterion, the possible operator postures are associated with recognition quality levels according to the radar sensor values ​​determined by the corresponding radar module 7 by means of the sensor control device 8. The recognition quality level usually represents the probability p1, p2, ..., p n A valid operator gesture is detected. In a simple embodiment, the recognition quality level can relate to the already mentioned overall similarity. The recognition quality level can also be given by a plurality of values ​​and, for example, by the similarity of a plurality of the checked features.

[0038] With the checking of operator gesture criteria by the corresponding sensor control unit 8 and the association of the recognition quality level, the radar sensor values ​​are directly evaluated by the corresponding radar module 7 itself.

[0039] For further evaluation and integration of the gesture recognition performed by radar module 7, a control device 13 of sensor system 6 is provided, which is preferably located above sensor control device 8. In action 14, the corresponding recognition quality level determined by means of sensor control device 8 is transmitted to control device 13 of sensor system 6, wherein a communication network 15 of motor vehicle 2 (to be explained) is used for transmission.

[0040] In action 16, a possible operator gesture is evaluated as a valid operator gesture or rejected as an invalid operator gesture according to a summary of the recognition quality levels by means of control device 13 according to a predefined evaluation rule. An evaluation rule is a (calculation) rule for how to determine whether a valid operator gesture exists from the individual recognition quality levels and preferably also from further information transmitted by sensor control device 8 of radar module 7. An “overview” of the recognition quality levels means that a plurality of the transmitted recognition quality levels of the individual radar sensor modules are used and linked to one another in order to check the presence of a valid operator gesture.

[0041] It is not excluded that in individual cases a single, preferably sufficiently high, recognition quality level is also sufficient to be assessed as a valid operator gesture. Examples of this are given in Figure 2 a) shows an operator 10 performing an operator gesture in an optimal range and / or in an optimal orientation for detection by one of the radar modules 7. In this case, the recognition quality level associated with a possible operator gesture by the sensor control unit 8 of the relevant radar module 7 may already be sufficiently high. Thus, in this case, a single radar module 7 may already be sufficient for reliable gesture recognition.

[0042] In contrast, Figure 2 b) shows by way of example a situation in which the operator 10 performs an operator gesture between two radar modules 7 and therefore in the edge region of the detection range of the radar module 7. As a result, it can occur that although the operator gesture is detected by both radar modules 7, the associated radar sensor values ​​are present only with a relatively low resolution. Similarly, for example, in the case of an operator gesture defined as a reciprocating movement of the radar module 7, the forward movement (Hinbewegung) can be primarily detected, while the backward movement is primarily detected by the other radar module 7. Accordingly, the operator gesture can then only be partially recorded in the radar sensor values ​​by a single radar module 7. In this case, Figure 2 In the case presented in b), a relatively low recognition quality level is obtained for both radar modules 7 , which is transmitted to control device 13 .

[0043] However, by combining the recognition quality level, the performed operator gesture can be properly assessed as a valid operator gesture. In the evaluation rule, the situation that the gesture recognition is performed by a radar module 7 that is just adjacent can be taken into account accordingly.

[0044] In action 16, when a valid operator gesture is present, the motorized flap arrangement 1 is actuated by means of the control device 13. Here and preferably, the sensor arrangement transmits the identification information to a door control device 17 external to the sensor arrangement. The door control device 17 can be actuated for the motorized adjustment, for example, depending on other conditions, such as the closed state of the motor vehicle 2 or the identification of an electronic key. Figure 1 Alternatively, the control device 13 can also be integrated in the door control device 17 and, for example, itself assume the actuation of the motorized flap arrangement 1 .

[0045] Furthermore, it is preferably provided here that at least one operator posture parameter is derived from the radar sensor values ​​of the possible operator posture determined by the corresponding radar module 7 by means of the sensor control device 8, the operator posture parameter is associated with the possible operator posture, the recognition quality level is transmitted to the control device 13 with the associated operator posture parameter, and the evaluation rule depends on the associated operator posture parameter.

[0046] The operator posture parameter is derived from the radar sensor value and is thus obtained by the sensor-based detection of the operator 10 by means of the radar signal. The operator posture parameter is a sensor-determinable variable which is related to the possible operator posture and is suitable for further characterizing the possible operator posture. In addition to the already mentioned recognition quality level, the at least one operator posture parameter is determined by the sensor control device 8 and then transmitted to the control device 13. The fact that the evaluation rule depends on the associated operator posture parameter means that the evaluation result as a valid or invalid operator posture can be influenced by different values ​​of the operator posture parameter.

[0047] In a preferred embodiment, it is provided that at least one operator posture parameter relates to a time aspect t1, t2, . . . , t n , preferably the duration, start time and / or end time of a possible operator gesture.

[0048] The time aspects t1, t2, . . . , t detected by the respective radar module 7 can be represented accordingly in the evaluation rules. n For example, if the durations are consistent with each other within a preset accuracy, a valid operator gesture may exist with a higher probability. By balancing the time aspect, false triggering due to other movements detected by the radar module 7 can also be avoided.

[0049] To determine the time aspect, preferably the duration, the start time and / or the end time, a preset criterion can be used with the aid of the sensor control device 8. For example, the start time and the end time are determined according to the speed value of the operator's gesture, for example via a threshold value, etc. The duration can be derived from the time difference between the start time and the end time determined in this way.

[0050] Furthermore, it is preferably provided here that at least one operator gesture parameter relates to velocity values ​​v1, v2, . . . , v of a possible operator gesture. n , in particular maximum speed, average speed and / or acceleration values.

[0051] In this case, the speed values ​​v1, v2, . . . , v detected by the respective radar module 7 can also be represented in the evaluation rule. n The velocity values ​​v1, v2, …, v n Preferably, it is determined based on the Doppler information of the radar signal. n An example of an evaluation rule is that for values ​​of velocity v1,v2,…,v n possible operator poses, and for low velocity values ​​v1,v2,…,v n Compared to the possible operator postures, lower requirements are placed on the overview of the recognition quality level.

[0052] Furthermore, it is preferably provided that at least one operator posture parameter relates to a geometric aspect x1, x2, . . . , x n , in particular the position of a possible operator posture relative to the motor vehicle 2 .

[0053] Here, the position can be present as distance information and / or angle information between a possible operator gesture and the corresponding radar module 7. When a possible operator gesture is detected by two or more adjacent radar modules 7 (such as Figure 2 b), it is advantageous to take the position into account. In particular, a comparison of the positions can allow inferences to be drawn as to whether a low recognition quality level is due to the same movement detected by different radar modules 7.

[0054] By means of a corresponding sensor control device 8 , radar targets can be linked to possible operator attitudes based on radar sensor values, wherein at least one operator attitude parameter relates to the position, number, spatial distribution and / or radar signal strength of the radar targets.

[0055] Preferably, the radar sensor values ​​are linked to the operator 10 in a time-dependent manner by means of the sensor control device 8 in each case in a target tracking program. Radar targets are identified in the radar sensor values, in particular by the intensity of the reflected radar signal and preferably by the exceeding of a predefined intensity threshold. In the target tracking program, some of the radar targets are linked to the operator 10, wherein in particular the movement course of the radar targets is determined in the time series of the radar sensor values. The movement course of the radar targets can be used to verify the operator posture criterion.

[0056] The at least one operator posture parameter may include other information about such a radar target. Position may then mean distance information and / or angle information between the corresponding radar module 7 and the radar target. In particular, a plurality of radar targets detected in the sensor values ​​are combined into a cluster target according to a cluster model and are associated with a body part, wherein the operator posture parameter may indicate the number of combined radar targets. Spatial distribution may mean an area expanded by a radar target, an expanded volume and / or a shape preset by a radar target. Radar signal strength is particularly given by the strength of the reflected radar signal.

[0057] Furthermore, it is preferably provided that UWB communication with a mobile device 18 of the operator 10 is performed by means of at least one of the radar modules 7. The mobile device 18 can be designed, for example, as an electronic key, a mobile phone, a PDA, a wearable device, etc. The mobile device 18 is set up for UWB communication with at least one radar module 7, wherein in addition to the authentication of the operator 10, positioning can also be performed by means of UWB communication.

[0058] It is particularly preferred that time information and / or position information about mobile device 18 is determined by means of sensor control unit 8 of the at least one radar module 7 (which carries out UWB communication) and transmitted to control device 13. The evaluation rule can depend on the time information and / or the position information.

[0059] For example, the time information is given by the time of establishment of the UWB communication, for example by the (first) time of successful authentication. In this case, the time difference between the authentication and the time of a possible operator gesture can be a criterion for distinguishing between valid and invalid operator gestures. The position information can then be understood as distance information and / or angle information between the radar module 7 and the mobile device 18, which can also be used in addition to the recognition quality level and in particular the operator gesture parameters.

[0060] It is preferably provided that at least one further radar module of radar modules 7 is activated with the establishment of the UWB communication. The further radar modules 7 can be activated in particular by means of control device 13 .

[0061] Furthermore, it is preferably provided here that the radar sensor values ​​determined by the corresponding radar module 7 are checked according to a preset operator approach criterion for possible operator approach by means of the sensor control device 8, and the possible operator approach is transmitted to the control device 13, and the evaluation rules depend on the possible operator approach.

[0062] In this case, the operator approach criterion may generally refer to the performance of an operator action preceding the operator gesture and, in particular, to a movement pattern performed by the operator 10 directed toward the flap arrangement 1 . Figure 2 c) shows an exemplary preceding operator action, in which operator 10 approaches tailgate 5 and subsequently performs an operator gesture during an approach movement around motor vehicle 2. In this example, a possible operator gesture is assigned only a low recognition quality level by at least one of radar modules 7, for example because the operator gesture is detected at the edge of the detection range with a low resolution.

[0063] However, the preceding operator action can be detected by the further radar module 7 and classified as a possible operator approach with manipulation intent according to the operator approach criterion. For example, the requirements for an operator gesture to be evaluated as valid can then be reduced to adapt to the recognition quality level.

[0064] Detecting the previous operator action can also be used to avoid false triggering. For example, if the operator 10 completes the following Figure 2 d), which is more likely to correspond to an operator gesture corresponding to passing by the motor vehicle 2, the check of the operator's proximity to the standard can result in a low probability for an attempted manipulation. Accordingly, the requirements for operator gestures that are evaluated as valid are increased to adapt to the recognition quality level so that operator gestures (such as a running movement of the operator 10) are not incorrectly evaluated as valid operator gestures.

[0065] Like possible operator gestures, detected operator approaches can be associated with a recognition quality level and operator approach parameters, in particular similar to the interpreted operator gesture parameters, and transmitted to the control device 13, wherein the evaluation rules also depend on the recognition quality level and in particular the operator approach parameters. The above explanations for the overview of the characteristics of the operator gestures also apply accordingly to the operator approach.

[0066] The evaluation rules can be designed and generated in different ways. In a preferred design, it is provided that the evaluation rules are based on a trained machine learning model.

[0067] The trained machine learning model can preferably be trained in a training program. In this case, a training data set can be created at the sensor system 6 by reproducing (Nachstellen, sometimes also called tracking) different operator movements (here valid and invalid operator gestures), which training data set is annotated accordingly. In the training program, the predefined machine learning model is trained according to the training data set and the trained machine learning model is stored in the control device 13.

[0068] Particularly preferably, a training data set with a plurality of operator gesture parameters is generated, wherein different sets of operator gesture parameters can be used multiple times in a training program. Depending on the reliability of gesture recognition in the training program, it can be determined which set of operator gesture parameters is optimal for a given sensor system 6 .

[0069] Furthermore, it is preferably provided that the evaluation rule is based on fuzzy logic. Fuzzy logic is currently particularly suitable for combining recognition quality levels that exist as "fuzzy groups" with one another. In particular, a procedure can be established via fuzzy logic in such a way that individual probabilities from the recognition quality levels can be combined into an overall probability. The fuzzy logic can be created at least partially based on experience.

[0070] Sensor control unit 8 and control device 13 communicate via a particularly wired communication network 15 of motor vehicle 2. Preferably, sensor control unit 8 communicates with control device 13 via a LIN bus or CAN bus of motor vehicle 2, particularly for transmitting the recognition quality level.

[0071] In particular, according to the proposed method, only a small amount of data needs to be transmitted via communication network 15, so that the LIN bus or CAN bus is only slightly loaded thereby. In particular, the transmission of raw data, such as groups of radar sensor values, to control device 13 can be omitted.

[0072] In a preferred embodiment, the data transmitted via the communication network 15 for the purpose of gesture recognition are limited to the recognition level, operator gesture parameters and optionally information about possible operator approaches.

[0073] According to a further teaching, a control device 13 for a sensor system 6 for operating a motorized windshield assembly 1 of a motor vehicle 2 is proposed, wherein the control device 13 is configured to obtain from a plurality of radar modules 7 of the sensor system 6 corresponding recognition quality levels for possible operator gestures detected by means of the radar modules 7 according to radar sensor values, wherein the control device 13 assesses possible operator gestures as valid operator gestures according to a predefined evaluation rule according to the overview of the recognition quality levels or rejects them as invalid operator gestures, and wherein the control device 13 causes the motorized windshield assembly 1 to be actuated if a valid operator gesture is present. Reference is hereby made to all explanations of the proposed method.

[0074] According to another teaching, a sensor arrangement for a motorized panel arrangement 1 of a motor vehicle 2 is proposed, wherein a sensor system 6 has a plurality of radar modules 7, which are arranged at intervals from one another on the motor vehicle 2 and have a corresponding sensor control device 8, wherein the radar modules 7 determine corresponding radar sensor values ​​about an operator 10 located outside the motor vehicle 2 via the emission and reception of radar signals, wherein the sensor control device 8 checks the radar sensor values ​​determined by the corresponding radar module 7 for the presence of a possible operator gesture according to a predefined operator gesture criterion, and wherein the sensor control device 8 associates the possible operator gesture with a recognition quality level as part of the check according to the radar sensor values ​​determined by the corresponding radar module 7, and the sensor system 6 has a control device 13 according to the proposal. Reference is made to all explanations regarding the method according to the proposal and the control device 13 according to the proposal.

[0075] According to a further teaching, a motor vehicle 2 is proposed for carrying out the proposed method. Reference is also made to all the explanations concerning the proposed method, the control device 13 and the proposed sensor system 6 .

Claims

1. A method for operating a motorized skirt assembly (1) of a motor vehicle (2) using a sensor system (6) having a plurality of radar modules (7), the radar modules (7) being arranged at a distance from one another on the motor vehicle (2) and having corresponding sensor control devices (8), in, By means of the radar module (7) determining corresponding radar sensor values ​​for an operator (10) located outside the motor vehicle (2) by transmitting and receiving radar signals, wherein the radar sensor values ​​determined by the corresponding radar module (7) are checked for a possible operator posture according to a predefined operator posture criterion by means of the sensor control device (8), wherein the possible operator gesture is associated with a recognition quality level in the context of a check using the sensor control device (8) according to the radar sensor values ​​determined by the corresponding radar module (7), wherein the corresponding recognition quality level determined by means of the sensor control device (8) is transmitted to a control device (13) of the sensor system (6), wherein the possible operator gesture is evaluated as a valid operator gesture or rejected as an invalid operator gesture by means of the control device (13) according to a preset evaluation rule in accordance with the overview of the recognition quality level, and In this case, the motorized flap arrangement (1) is actuated by means of the control device (13) in response to the presence of an effective operator posture.

2. The method according to claim 1, characterized in that At least one operator posture parameter is derived from the radar sensor value of the possible operator posture determined by the corresponding radar module (7) by means of the sensor control device (8), the operator posture parameter is associated with the possible operator posture, the recognition quality level is transmitted to the control device (13) with the associated operator posture parameter, and the evaluation rule depends on the associated operator posture parameter.

3. The method according to claim 2, characterized in that At least one operator gesture parameter relates to a temporal aspect of the possible operator gesture, preferably a duration, a start time and / or an end time of the possible operator gesture.

4. The method according to any one of claims 2 or 3, characterized in that At least one operator posture parameter relates to a speed value, in particular a maximum speed, an average speed and / or an acceleration value, of the possible operator posture.

5. The method according to any one of claims 2 to 4, characterized in that At least one operator posture parameter relates to a geometrical aspect of the possible operator posture, in particular the position of the possible operator posture relative to the motor vehicle (2), preferably, radar targets are associated with possible operator postures based on the radar sensor values ​​by means of a corresponding sensor control device (8), and at least one operator posture parameter relates to the position, number, spatial distribution and / or radar signal strength of radar targets.

6. The method according to any one of the preceding claims, characterized in that By means of at least one of the radar modules (7), UWB communication is carried out with a mobile device (18) of the operator (10), time information and / or position information about the mobile device is determined by means of a sensor control device (9) of the at least one radar module (7), and the time information and / or position information is transmitted to the control device (13), and the evaluation rule depends on the time information and / or position information, preferably, at least one other radar module of the radar modules (7) is activated by means of the establishment of UWB communication.

7. The method according to any one of the preceding claims, characterized in that The sensor control device (8) checks the radar sensor value determined by the corresponding radar module (7) for the presence of a possible operator approaching the apron assembly (1) according to a preset operator approach criterion, and transmits the presence of a possible operator approaching to the control device (13), and the evaluation rule is dependent on the presence of the possible operator approaching.

8. The method according to any one of the preceding claims, characterized in that The evaluation rules are based on a trained machine learning model.

9. The method according to any one of the preceding claims, characterized in that The evaluation rules are based on fuzzy logic.

10. The method according to any one of the preceding claims, characterized in that The sensor control unit (8) communicates with the control device (13) via a LIN bus or a CAN bus of the motor vehicle (2), in particular for transmitting the recognition quality level.

11. A control device for a sensor system (6) of a motorized skirt assembly (1) for operating a motor vehicle (2), wherein the control device (13) is configured to obtain from a plurality of radar modules (7) of the sensor system (6) corresponding recognition quality levels for possible operator gestures detected by means of the radar modules (7) according to radar sensor values, in, The control device (13) assesses the possible operator gesture as a valid operator gesture according to a preset evaluation rule in accordance with the overview of the recognition quality level, or rejects it as an invalid operator gesture, and in the presence of a valid operator gesture, the control device (13) causes the motorized flap assembly (1) to be actuated.

12. A sensor arrangement for a motorized wing assembly (1) of a motor vehicle (2), the sensor system (6) having a plurality of radar modules (7) which are arranged at a distance from one another on the motor vehicle (2) and have corresponding sensor control devices (8), wherein the radar modules (7) determine corresponding radar sensor values ​​for an operator (10) located outside the motor vehicle (2) by transmitting and receiving radar signals, wherein: The sensor control device (8) checks the radar sensor values ​​determined by the corresponding radar module (7) for the presence of a possible operator posture according to a predefined operator posture criterion, and the sensor control device (8) associates the possible operator posture with a recognition quality level according to the radar sensor values ​​determined by the corresponding radar module (7) during the checking. The sensor system (6) has a control device (13) according to claim 11.

13. A motor vehicle for carrying out the method according to any one of claims 1 to 10.

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