Method for operating closing element system of motor vehicle

Abstract

The invention relates to a method for operating a closing element system of a motor vehicle, comprising a closing element, a drive system associated with the closing element for adjusting the closing element in an adjusting region, and a control system for actuating the drive system, sensor values relating to operator behavior performed outside the motor vehicle by an operator are detected in a detection region by means of the sensor system, the detected sensor values are checked in a check program by means of the control system in order to determine whether there is a valid operator behavior, and if there is a valid operator behavior, the operator behavior is detected by means of the sensor system. If so, the control system causes the drive system to adjust the closing element in the adjustment direction, and the control system ascertains the closing element position of the closing element. According to the invention, the control system modifies the inspection program by taking into account a predetermined adjustment direction as a function of the relationship between the closing element position and the detected position of the operator behavior detected as a function of the sensor value.

Description

Field of the Invention

[0001] The present invention relates to a method for operating a closing element system of a motor vehicle as described in the preamble of claim 1, a control system for a closing element system of a motor vehicle as described in the preamble of claim 11, and such a closing element system as described in claim 12. Background Art

[0002] The motor - adjustable closing elements of a closing element system can be any closing elements of a motor vehicle. These include a trunk lid, a rear hatch, a front lid (especially a hood), a door (especially a side door or a rear door), etc. The closing elements can be pivotally or longitudinally movably arranged on the motor vehicle body.

[0003] The known prior art on which the present invention is based (DE 102017129151 A1) relates to a method for operating a closing element system by a predefined operator behavior, which can be formed by the operator's foot movements. The operator behavior detected as valid causes the actuation (Ansteuerung) of the drive system of the closing element, so that the operator can open and close, for example, the lid or door of the motor vehicle without contact.

[0004] In the known method (DE 102017129151 A1), the operator behavior is detected by a sensor system using sensor values, where the valid operator behavior can be given by an allowable range of the sensor values or values derived therefrom. The challenge here is how to ensure the detection of the operator behavior in a highly reliable manner to improve convenience. At the same time, accidental triggering of the motor - type adjustment must also be prevented, which may even pose a collision risk to the operator. Summary of the Invention

[0005] The problem to be solved by the present invention is to design and further develop the known method to improve the recognition of the operator behavior for triggering the motor - type adjustment while maintaining a high level of safety for the operator.

[0006] The above - mentioned problem is solved by the features of claim 1.

[0007] Here, the sensor values detected by the sensor system are checked by the control system in the checking program to determine whether there is a valid operating behavior. The main factors considered are that the design of the checking program depends not only on the current position of the closing element and the position where the operator behavior is implemented, but also on the utilization of the triggered (vorgesehenen) adjustment direction. It is recognized that by comprehensively evaluating these factors, the collision risk between the moving closing element and the operator implementing the operator behavior can be reliably evaluated. The sensitivity in the checking program can be adjusted so that in the presence of a collision risk, higher requirements are imposed on the recognition of valid operator behavior.

[0008] Specifically, it is proposed that the control system modifies the checking program based on the relationship between the position of the closing element and the position of the detected operator behavior ascertained based on the sensor value, taking into account the predetermined adjustment direction.

[0009] Preferably, a collision risk is assigned to the positions in the detection area in this way, which is used as the basis for modifying the checking program according to claims 2 to 7. In particular, if the implementation position and the closing element position are relatively close, the collision risk is higher (claim 3).

[0010] Particularly preferably, according to the definition of the danger area in claim 4, the positions in the detection area are characterized in terms of collision risk in a simple manner. Preferably, the detection area can be divided into a danger area and a less critical interval area according to claim 5.

[0011] Furthermore, in the design according to claim 6, a remote area of the detection area is also defined, where the expected collision risk is low enough that only reduced requirements are imposed on the recognition of valid operator behavior in the remote area.

[0012] Generally, the checking program can be modified in terms of the recognition probability of valid operator behavior according to the corresponding collision risk, which is the subject of claim 7.

[0013] Claims 8 to 10 give preferred designs of the checking program and its modification.

[0014] According to the further teaching (with independent significance) in claim 11, a control system for a closing element system of a motor vehicle is claimed. Here, it is important that the control system modifies the test program based on the relationship between the position of the closing element and the position of the detected operator behavior ascertained based on the sensor value, taking into account the predetermined adjustment direction. All the descriptions of the proposed method can be referred to.

[0015] According to the further teaching according to claim 12 (which also has independent significance), a closing element system for a motor vehicle is claimed. The closing element system is arranged to carry out the method according to the proposal. All explanations of the method according to the invention and of the control system according to the invention can be referred to. Description of the Drawings

[0016] The invention will be explained in more detail below with reference to the drawings which show only one embodiment. In the drawings,

[0017] Figure 1 a side view of a motor vehicle with an operator in the proposed method is shown;

[0018] Figure 2 a Figure 1 motor vehicle in the opening process is shown, having a region of the implementation position and

[0019] Figure 3 a Figure 1 motor vehicle in the closing process is shown, having a region of the implementation position. Detailed Description of the Invention

[0020] The embodiment shown in the drawings and preferred in this regard relates to a method for operating a closing element system 1 of a motor vehicle 2. The closing element system 1 has a closing element 3 and a drive system 4 assigned to the closing element 3, which drive system is used to adjust the closing element 3 in an adjustment region.

[0021] In the embodiment shown and preferred in this regard, the drive system 4 is arranged to convert the closing element 3 from the closed position to Figure 1 the open position shown in dashed lines. This opening process is further shown in Figure 2 . The drive system 4 is also arranged to convert the closing element 3 from the open position to the closed position, which is shown as a closing process in Figure 3 . It is also possible to start the adjustment from at least one intermediate position between the open position and the closed position and to adjust to the intermediate position. For possible design options of the closing element 3, reference is made to the preamble, where the closing element 3 is shown as a trunk lid according to a preferred design option.

[0022] The drive system 4 generally has a drive device 5 with an actuator, which is arranged to adjust the closing element 3 by means of an adjustment mechanism assigned to the closing element 3. The actuator is preferably embodied as an electric motor, which, for example, exerts a driving force on the closing element 3 via a rotary transmission and / or a linear transmission. In principle, the drive system 4 can have a plurality of drive devices 5 for the closing element 3, where, for example, the drive devices 5, in particular spindle drives, are arranged on opposite sides of the luggage compartment lid. The adjustment movement device includes components for adjusting the closing element 3 between different positions. In the illustrated embodiment, the adjustment movement device includes a hinge for the pivotable closing element 3. The adjustment area is given by the area on the motor vehicle 2 that is swept by the closing element 3 during the adjustment process.

[0023] The closing element system 1 has a control system 6 for controlling the drive system 4. The control system 6 is equipped with a control electronic unit, which takes over the control-technical tasks in the case of motorized adjustment and, for example, causes a drive voltage to be supplied to the drive system 4. The control system 6 can assume other functions related to the closing element system 1 and control other components of the closing element system 1, for example, cause the opening of the motor vehicle lock assigned to the closing element 3.

[0024] Sensor values related to an operator behavior carried out by an operator 9 outside the motor vehicle 2 are detected in a detection area 8 by means of a sensor system 7. Here, the operator behavior is generally understood as the time-dependent behavior of the operator 9, in particular the movement pattern of the body parts of the operator 9, such as an operator gesture. In terms of design, the sensor system 7 can have ultrasonic sensors, radar sensors, lidar sensors, optical sensors (such as cameras) and / or ultrasonic sensors for detection.

[0025] The sensor values can generally represent the position of an object outside the motor vehicle 2. For example, the sensor values contain distance information, in particular direction information between the detected object (especially the operator 9) and the motor vehicle 2. In an inspection procedure, the detected sensor values are checked by means of the control system 6 to determine whether there is a valid operator behavior. Here, the control system 6 evaluates the sensor values according to a predetermined inspection system arrangement of the inspection procedure to determine whether the object behavior detected in the sensor values sufficiently complies with the provisions of a valid operator behavior. Depending on the inspection result, the operator behavior detected by the sensor values is either regarded as invalid and rejected or as a valid operator behavior.

[0026] A valid operator behavior is preferably an operator gesture with a defined time course. For example, the operator behavior 9 is defined by a predetermined foot movement (such as a kicking movement) and / or a predetermined hand movement (such as a wiping movement) or a predetermined hand approach to the closing element 3.

[0027] If there is a valid operator action, the control system 6 causes the drive system 4 to adjust the closing element 3 in the adjustment direction. In addition to the existence of a valid operator action, the execution of the motorized adjustment can also be associated with other conditions, such as the closed state (locked / unlocked) of the closing element system 1 and / or the identification of an electronic key. The corresponding conditions can in turn be checked by the control system 6 or by other control components coupled to the lid system, such as a lid controller, a door controller or the like. In addition, the motorized adjustment can be controlled by the drive control device of the drive system 4. As shown in the figure, the control system 6 can be implemented as centralized and can, for example, be part of a door controller, a lid controller or the like. The control system 6 can also be at least partially integrated into the drive device 5 or the drive control device 5 of the drive system 4, or integrated into the sensor system 7.

[0028] The control system 6 ascertains the closing element position of the closing element 3. The closing element position can be detected by sensors, for example by a position sensor of the closing element 3. Here, the closing element position can be reflected by the position of the closing element 3, for example, in the case of the pivotable trunk lid shown in the figure, by the angular position, by which the closing element position relative to the motor vehicle 2 is determined. It is also possible to detect the closing element position by actuating the drive system 4, for example, based on electrical drive values such as the drive current and / or drive voltage of the drive system 4 during the actuation process. For this purpose, for example, ripple identification of the drive current and the use of a motor model are carried out to ascertain the motor position, from which the closing element position can be derived.

[0029] Now, it is important that, by means of the control system 6, the inspection program is modified taking into account the predetermined adjustment direction, based on the relationship between the closing element position and the implementation position of the detected operator action ascertained based on the sensor values.

[0030] This relationship is generally understood as: setting the relationship between the ascertained closing element position and the implementation position to modify the inspection program. In particular, this modification is carried out based on the relative position given by the closing element position and the implementation position. The implementation position is the characteristic position of the detected operator action and can, for example, be given by the time and / or space average of the detected sensor target to be assigned to the operator action. The modification also depends on the adjustment direction predetermined for the motorized adjustment, which means that depending on whether the closing process or the opening process of the closing element 3 is to be triggered, the modification is carried out in different ways. In particular, it is necessary to distinguish whether the implementation position is along the adjustment direction or against the adjustment direction relative to the closing element position.

[0031] Particularly preferably, by means of the control system 6, taking into account the predetermined adjustment direction, a collision risk is assigned to the positions in the detection area 8 relative to the position of the closing element, and the inspection program is modified according to the collision risk assigned to the implementation position.

[0032] Here, the position of the closing element can be used as a reference for determining the relationship between the collision risk and the position. For example, the collision risk is a function of the distance between the respective position and the closing element 3. This distance can be assumed to be the minimum distance from the surface of the closing element 3. By assigning the collision risk relative to the position of the closing element, the relationship between the position of the closing element and the implementation position as described above is achieved, and thus a further distinction is made between the adjustment directions for this assignment.

[0033] Starting from the position of the closing element, positions closer to the position of the closing element along the adjustment direction can be assigned a higher collision risk than positions farther away from the position of the closing element. This is because objects detected near the closing element 3 usually pose a higher collision risk in the adjustment direction.

[0034] In another design, starting from the position of the closing element, positions against the adjustment direction are assigned a lower collision risk than positions along the adjustment direction. In particular, the collision risk of positions against the adjustment direction may be lower because motorized adjustment tends to move the closing element 3 away from these positions.

[0035] It is conceivable that the collision risk is a continuous function of the position relative to the position of the closing element. However, it is also possible to define regions in the detection area 8 with corresponding collision risks. In particular, the geometry of the regions in the detection area 8 is predefined, and corresponding collision risks are assigned to these regions according to the position of the closing element and the adjustment direction.

[0036] Figure 2 and Figure 3 Regions A, B, and C defined relative to the motor vehicle 2 in the detection area 8 are shown. Here and preferably, regions A, B, and C are defined by the horizontal distance from a reference position on the motor vehicle 2, such as the horizontal position of the sensor system 7. According to the position of the closing element and the predetermined adjustment direction, collision risks are assigned to regions A, B, and C respectively. In this regard, there are differences between the opening process ( Figure 2 ) and the closing process ( Figure 3 ) of the closing element 3 and the respective positions of the closing element in the assignment.

[0037] Preferably, by means of the control system 6, taking into account the predetermined adjustment direction in the detection area 8, a danger area 10 located at the position of the closing element is defined, and positions within the danger area 10 are assigned a higher collision risk than positions outside the danger area 10.

[0038] In Figure 2During the opening process shown, the area on the closing element 3 along the opening direction is defined as the danger area 10. In Figure 2 a), the opening process starting from the closed position as the position of the closing element is specified, where the area A on the closing element 3 along the opening direction is defined as the danger area 10. Areas B and C are assigned a lower collision risk here. If the opening process is from Figure 2 b) the partially open position shown as the position of the closing element, then the area B is defined as the danger area 10, which is here on the closing element 3 along the opening direction. The area A can also be defined as the danger area 10 here, because for example the foot movement of the operator 9 can be carried out in this area, and the operator is located in area B. Figure 2 c) shows a further open position as the position of the closing element, where the areas A and B are also defined as the danger area 10.

[0039] Figure 3 The situation of the closing process is shown, where in Figure 3 a) the closing process is triggered by the closing element 3 in the open position. Due to the risk of the operator 9 being pinched or collided, the areas A and B are defined as the danger area 10 here. When triggered from the intermediate position of the closing element 3, in principle, the definition of the danger area 10 can be distinguished according to the current position of the closing element. In Figure 3 b), the position of the closing element is defined as a position close to the open position, and the areas A and B are defined as the danger area 10. In Figure 3 c), only the area A is in the adjustment direction starting from the position of the closing element, so only the area A is defined as the danger area 10.

[0040] In principle, an additional classification of the collision risk of the area can be carried out. For example, the adjustment area is divided into the danger area 10 and the clearance area 11, and the positions within the danger area 10 are assigned a higher collision risk than the positions in the clearance area 11. In this way, Figure 2 the area B in a) and Figure 3 the area A in a) can be defined as such a clearance area 11.

[0041] In another preferred design, a remote area 12 is defined in the detection area 8, and the positions within the remote area 12 are assigned a lower collision risk than the positions outside the remote area 12. The definition of the remote area 12 is preferably carried out independently of the position of the closing element. Preferably, the remote area 12 is defined outside the adjustment area. Therefore, the remote area 12 can be predetermined as follows: Due to the geometry of the closing element 3 and the adjustment movement device, it is less likely to collide with the objects in the remote area 12 regardless of the position of the closing element. In Figure 2 and 3In this case, region C is located outside the adjustment region and is defined as being far from region 12.

[0042] The inspection program can be modified as follows: compared with the case where a lower collision risk is assigned, the recognition probability of effective operator behavior is lower in the case where a higher collision risk is assigned. The recognition probability is usually used as a measure of the detection sensitivity of effective operating behavior in this case. Compared with the case of lower collision risk, the effectiveness requirement of operator behavior is higher in the case of higher collision risk. For example, it is checked whether the detected operator behavior conforms to the regulations of effective operator behavior, where the operator behavior in the case of higher collision risk conforms to a higher degree than the operator behavior in the case of lower collision risk.

[0043] In a design, an operator behavior model with characteristic values is assigned to effective operator behavior. In the inspection program, the control system is used to check whether the sensor values correspond to the characteristic values of the operator behavior model, and the operator behavior model is generated and / or parameterized according to the relationship between the closing element position and the implementation position, taking into account the predetermined adjustment direction.

[0044] Such an operator behavior model preferably represents the shape or change process of the sensor values during the implementation of the operator behavior. In particular, the characteristic values can be determined from the temporal correlation of the sensor values, such as as an average value, width, height, edge steepness, and / or the curvature of the sensor value pulse portion caused by the operator behavior. In a preferred design, a plurality of spaced sensor elements of the sensor system 7 are provided, where the characteristic value is defined as the time offset of the sensor pulses of the sensor elements.

[0045] Generating the operator behavior model means selecting the characteristic values included in the evaluation according to the relationship, taking into account the predetermined adjustment direction. For example, the weight of the characteristic values in the evaluation is changed by modifying the parameters.

[0046] In particular, the recognition quality of the detected operator behavior can be determined according to the characteristic values, and the operator behavior is classified as effective operator behavior or rejected according to the recognition quality. The determination of the recognition quality and / or at least one threshold value of the recognition quality can be modified according to the relationship between the closing element position and the implementation position, taking into account the predetermined adjustment direction. Here, the recognition quality can be a quantitative index of whether the detected operator behavior conforms to the regulations of effective operator behavior. Particularly preferably, a higher threshold value is used for a higher collision risk compared with a lower collision risk.

[0047] Other design alternatives and modifications of the checking program are conceivable. In particular, in the checking program, sensor values can be fed as input values to a trained machine learning model, and based on at least one output value of the trained machine learning model, it is evaluated whether there is a valid operator behavior. The trained machine learning model is based on, for example, a support vector machine and can be generated using a training data set containing sensor values of valid and invalid operator behaviors.

[0048] The trained machine learning model and / or the input values can depend on the relationship between the closing element position and the implementation position, taking into account a predefined adjustment direction. For example, multiple trained machine learning models are stored for different recognition probabilities, and in particular, one of the trained machine learning models is selected according to the collision risk of the implementation position.

[0049] According to a further teaching, a control system 6 for a closing element system 1 of a motor vehicle 2 is proposed, wherein the control system 6 is coupled to a sensor system 7 in the assembled state, and the sensor system detects sensor values in a detection area 8 that are related to an operator behavior implemented by an operator 9 outside the motor vehicle 2. The control system 6 checks the detected sensor values during an inspection to determine whether there is a valid operator behavior. If there is a valid operator behavior, the control system 6 causes a drive system 4 of the closing element system 1 to adjust a closing element 3 of the motor vehicle 2 along an adjustment direction, and the control system 6 determines the closing element position of the closing element 3.

[0050] It is hereby stipulated that the control system 6 modifies the checking program based on the relationship between the closing element position and the implementation position of the detected operator behavior ascertained based on the sensor values, taking into account the predefined adjustment direction. Please refer to all the descriptions of the proposed method.

[0051] According to a further teaching, a closing element system 1 for a motor vehicle 2 is proposed, wherein the closing element system 1 is configured to execute the proposed method. The closing element system 1 preferably has the proposed control system 6. Reference can be made to all the descriptions regarding the proposed method and the proposed control system 6.

Claims

1. A method for operating a closure element system (1) of a motor vehicle (2), wherein, The closing element system (1) has: a closing element (3); a drive system (4) assigned to the closing element (3) for adjusting the closing element (3) in an adjustment region; and a control system (6) for actuating the drive system (4). A sensor system (7) detects sensor values in a detection region (8) that are related to an operator action performed by an operator (9) outside the motor vehicle (2). The detected sensor values are checked in an inspection routine by the control system (6) to determine whether a valid operator action exists. If a valid operator action exists, the drive system (4) is caused by the control system (6) to adjust the closing element (3) in an adjustment direction, and the control system (6) determines the position of the closing element (3). It is characterized in that the control system (6) modifies the inspection routine based on the relationship between the position of the closing element and the position of the detected operator action ascertained based on the sensor values, taking into account a predetermined adjustment direction.

2. The method according to claim 1, characterized in that, The control system (6) assigns a collision risk to positions in the detection region (8) relative to the position of the closing element, taking into account the predetermined adjustment direction, and modifies the inspection routine based on the collision risk assigned to the position of the action.

3. The method according to claim 2, characterized in that Positions closer to the position of the closing element in the adjustment direction starting from the position of the closing element are assigned a higher collision risk than positions farther away from the position of the closing element. Preferably, positions in the opposite direction of the adjustment direction starting from the position of the closing element are assigned a lower collision risk than positions in the adjustment direction.

4. The method according to claim 2 or 3, characterized in that, The control system (6) defines a danger region (10) at the position of the closing element in the detection region (8), taking into account the predetermined adjustment direction, and positions within the danger region (10) are assigned a higher collision risk than positions outside the danger region (10).

5. The method according to claim 4, wherein The adjustment region is divided into the danger region (10) and a spacing region (11), and positions within the danger region (10) are assigned a higher collision risk than positions in the spacing region (11).

6. The method according to any one of claims 2 to 5, characterized in that A remote region (12) is defined in the detection region (8), and positions within the remote region (12) are assigned a lower collision risk than positions outside the remote region (12). Preferably, the remote region (12) is defined outside the adjustment region.

7. The method according to any one of claims 2 to 6, characterized in that The inspection routine is modified such that the probability of identifying a valid operator action is lower in the case of a higher assigned collision risk than in the case of a lower assigned collision risk.

8. The method according to any one of the preceding claims, characterized in that, An operator action model with characteristic values is assigned to the valid operator action. In the inspection routine, the control system checks whether the sensor values correspond to the characteristic values of the operator action model, and generates and / or parameterizes the operator action model based on the relationship between the position of the closing element and the position of the action, taking into account the predetermined adjustment direction.

9. The method according to claim 8, wherein Identify the recognition quality of the detected operator behavior based on the eigenvalues in the eigenvalue group, classify the operator behavior as a valid operator behavior or reject the operator behavior according to the recognition quality, and modify the determination of the recognition quality and / or at least one threshold of the recognition quality according to the relationship between the closing element position and the implementation position, taking into account the predetermined adjustment direction.

10. The method according to any one of the preceding claims, characterized in that In the inspection program, the sensor value is fed as an input value to a trained machine learning model, and whether there is a valid operator behavior is evaluated based on at least one output value of the trained machine learning model. The trained machine learning model and / or the input value depend on the relationship between the closing element position and the implementation position, taking into account the predetermined adjustment direction.

11. Control system for a closing element system (1) of a motor vehicle (2), wherein, The control system (6) is coupled to the sensor system (7) in the assembled state. The sensor system detects sensor values related to operator behavior performed by the operator (9) outside the motor vehicle (2) in the detection area (8). Among them, the control system (6) checks the detected sensor values in the inspection program to determine whether there is a valid operator behavior. If there is a valid operator behavior, the control system (6) prompts the drive system (4) of the closing element system (1) to adjust the closing element (3) of the motor vehicle (2) along the adjustment direction, and the control system (6) determines the closing element position of the closing element (3). It is characterized in that The control system (6) modifies the inspection program according to the relationship between the closing element position and the implementation position of the detected operator behavior determined according to the sensor value, taking into account the predetermined adjustment direction.

12. A closing element system for a motor vehicle (2), wherein, The closing element system (1) is arranged to perform the method according to any one of claims 1 to 11.

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