Method for operating motor-driven closure element device of motor vehicle

Abstract

The invention relates to a method for operating a motor-driven closure element arrangement with closure elements of a motor vehicle using a plurality of UWB modules which are arranged at a distance from one another on the motor vehicle and which have a module control, by means of which a positioning of an operator approaching the motor vehicle is carried out, wherein the module controller operates a respective first antenna of the module having a first directional characteristic for receiving and transmitting UWB signals, and wherein gesture recognition is performed by means of the module on the basis of the detection of a predetermined transition event, and wherein the module controller operates a respective second antenna of the module having a second directional characteristic (having a main direction) for receiving and transmitting UWB signals. The main direction is aligned with a preset region of interest in which the operator gesture is performed, and wherein the presence of the preset operator gesture in the region of interest is monitored on the basis of the UWB radar signal and the actuation of the closure element arrangement is facilitated on the basis of the presence of an effective operator gesture in order to adjust the closure element.

Description

Technical Field

[0001] The invention relates to a method for operating a motor-driven closure element device of a motor vehicle according to claim 1 , a sensor system for a motor-driven closure element device of a motor vehicle according to claim 11 , and a closure element device for a motor vehicle according to claim 13 . Background Art

[0002] The motorized closure element device 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 in a broad sense and includes, for example, a tailgate, rear lid, engine hood, side doors, trunk lid, window panes, sunroof, etc. The closure element can be arranged on the motor vehicle body in a pivotable and / or longitudinally displaceable manner.

[0003] The prior art (DE 102021106552 A1), which serves as the starting point for the present invention, relates to a sensor system having a distance sensor, which can be designed as a radar sensor, for detecting the operator of a motor vehicle. A motorized adjustment is triggered by the operator's gesture, thereby enabling the operator to open or close a closure element contactlessly. The operator gesture can be, for example, a predetermined foot movement of the operator.

[0004] One challenge is to improve operator detection in order to enable recognition of operator gestures while suppressing possible false triggering. Furthermore, it is desirable to integrate radar-based operator detection into vehicle access functions such as mobile phone as a key (Paak) with minimal effort. Summary of the Invention

[0005] The problem underlying the present invention is to design and improve the known method in such a way that a further optimization is achieved with respect to the aforementioned challenges.

[0006] This problem is solved by the features of claim 1 .

[0007] The following fundamental consideration is crucial: operator detection is based on ultra-wideband (UWB) technology. The UWB module is used not only to locate the operator upon approach but also to detect their gestures. However, to achieve improved performance for detecting the operator's gestures, the UWB modules each have at least one first antenna and a second antenna, each with different directional characteristics.

[0008] Using a UWB module, an operator approaching the vehicle is located using a first antenna of the UWB module, each having a first directional characteristic. Upon detecting a predetermined operator-related switching event, gesture recognition is performed using the UWB module, using a corresponding second antenna of the UWB module. The main direction of the second directional characteristic is aligned with a predetermined region of interest for the operator's gesture, thereby enabling improved detection of the operator's gesture, independent of the positioning requirements. The UWB modules are each equipped with a first antenna and a second antenna, which are jointly controlled by corresponding module control units, resulting in only minimal additional manufacturing effort.

[0009] It is particularly preferred to use an omnidirectional property, such as a spherical property, for localization and a targeted directional property, such as a lobe property, for gesture recognition, which is the subject matter of claim 2 .

[0010] Further preferred embodiments of the antenna and the design of the UWB module are described in claims 3 and 4 .

[0011] By aligning the main direction of the second antenna according to claim 5 , an improved detection of the operator's gesture is achieved by the detection ranges of the UWB modules, which overlap as much as possible in the region of interest.

[0012] Furthermore, the first and second antennas can be used for different operating modes of the UWB module. In the embodiment according to claim 6, in addition to radar-based gesture recognition for localization, UWB communication with the operator's mobile device is provided. The operating modes can be optimally utilized by the antenna design.

[0013] Further embodiments of the operator detection within the scope of the vehicle access function are the subject matter of claims 7 to 9 .

[0014] The proposed method can advantageously be extended to a motor vehicle having a plurality of motor-driven closure element arrangements. In this case, the closure element arrangements can be assigned corresponding UWB modules and gesture recognition can be selectively performed for the corresponding closure elements (claim 10).

[0015] According to another teaching according to independently significant claim 11, a sensor system for a motor-driven closure element arrangement of a motor vehicle is proposed. The sensor system is equipped with a plurality of UWB modules, which are configured to locate an operator approaching the motor vehicle using a first antenna. Gesture recognition is provided using a corresponding second antenna of the UWB modules. The sensor system can be used to implement the proposed method. In this regard, reference is made to all the explanations regarding the proposed method.

[0016] According to another teaching, also independently defined in claim 13, a closure element device for a motor vehicle is claimed. The closure element device comprises a closure element, a drive device associated with the closure element, having at least one drive for adjusting the closure element by means of a motor, and a sensor system comprising a plurality of UWB modules. The closure element device is configured to implement the proposed method. Reference is made to all explanations regarding the proposed method and the proposed sensor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be explained in detail below with reference to the accompanying drawings which illustrate only one embodiment. In the drawings:

[0018] Figure 1 shows a perspective view of the rear region of a motor vehicle having a closure element arrangement for carrying out the proposed method, the closure element arrangement having the proposed sensor system; and

[0019] Figure 2 Shown in top view Figure 1 The motor vehicle in FIG. 1 a) during positioning and b) during gesture recognition. DETAILED DESCRIPTION

[0020] The proposed method involves the operation of a motor-driven closure element device 1 of a motor vehicle 2. The closure element device 1 has a closure element 3. The method will be explained using the illustrated and, to this extent, preferred exemplary embodiment, in particular a closure element 3 designed as a tailgate. However, the explanation also applies to other closure elements of the motor vehicle 2, in particular those listed in the introduction. The closure element device 1 allows the closure element 3 to be moved from a closed position to a closed position. Figure 1 1 and 2. A motor-driven conversion from the open position to the closed position can also be provided.

[0021] The method is carried out using a sensor system having a plurality of UWB modules 4 which are arranged spaced apart from one another on the motor vehicle 2. Figure 1 As shown in FIG, at least two UWB modules 4 are provided, which are arranged here on opposite sides of the closure element 3. In principle, additional UWB modules 4 can be provided on the motor vehicle 2, which in particular allow monitoring of the motor vehicle environment in different directions and in particular along the entire circumference of the motor vehicle 2, which can also be achieved by Figure 2 a) Be informed.

[0022] The UWB modules 4 each have a module control 5 that operates an antenna (to be explained) for UWB operation. The module control 5 can load the antenna to transmit UWB signals and record, and in particular evaluate, the UWB signals received from the antenna. The UWB modules 4 are preferably configured for communication in the frequency range of 3.1 GHz to 10.6 GHz. The UWB signals utilized by the UWB modules 4 are preferably pulses having a bandwidth of at least 500 MHz and, more preferably, a duration in the nanosecond range. The UWB modules 4 are particularly preferably configured as integrated modules, wherein the antenna and the module control 5, for example, which is equipped with a microcontroller, are formed into a single unit.

[0023] The UWB module 4 is used to locate the operator 6 approaching the motor vehicle 2. "Location" generally means that the position information of the operator 6 relative to the motor vehicle 2 is determined by the UWB module 4 through UWB operation. Preferably, the distance information and direction information of the operator 6 relative to the motor vehicle 2 can be determined within the scope of the location. The location is schematically shown in FIG. Figure 2 Shown in a).

[0024] During localization, module control unit 5 operates first antenna 7 of each UWB module 4, each having a first directional characteristic, to transmit and receive UWB signals. UWB modules 4 thus each have a first antenna 7 that is used to localize operator 6 and determine position information. "Directional characteristic" can refer to the spatial distribution of at least one quantitative dimension of a transmission and / or reception characteristic, which can be depicted, for example, in an antenna diagram.

[0025] Upon detection of a predetermined switching event associated with operator 6, gesture recognition is performed using UWB module 4. During this gesture recognition, module control unit 5 operates the corresponding second antenna 8 of UWB module 4 to transmit and receive UWB radar signals. UWB module 4 thus includes a second antenna 8 in addition to first antenna 7, which is also operated by module control unit 5. Therefore, at least partially identical control components are used to operate first antenna 7 and second antenna 8. Module control unit 5, in particular, includes a high-frequency divider for selectively operating first antenna 7 and second antenna 8. Second antenna 8 is equipped with a second directional characteristic, which is designed differently from the first directional characteristic of first antenna 7. This second directional characteristic has a primary direction 9, which is the preferred direction of the directional characteristic, in particular, the spatial direction with the highest radiated intensity or highest sensitivity for reception.

[0026] The main direction 9 of the second antenna 8 of the UWB module 4 is aligned with a predetermined region of interest 10. The region of interest 10 is a spatial region that is predetermined relative to the motor vehicle 2 and is provided for performing an operator gesture to be detected. The implementation of gesture recognition is schematically shown in FIG. Figure 1 and Figure 2 b). Here, it can be provided that one of the UWB modules 4 transmits a UWB radar signal using a second antenna 8, while the UWB radar signal reflected by the operator 6 is received by the second antennas 8 of multiple, here two, UWB modules 4, thereby enabling, for example, spatial resolution of radar targets. The UWB radar signal can have the same structure as the UWB signal used for positioning.

[0027] In gesture recognition, the execution of an operator gesture in the area of interest 10 is monitored based on the UWB radar signal. Preferably, the radar sensor values ascertained by means of the transmission and reception of the UWB radar signal are checked for the presence of a valid operator gesture using a preset operator gesture standard. The operator gesture standard can here relate to predetermined characteristics of the operator gesture to be executed, such as the position, velocity, acceleration, etc. of the detected radar target. Based on the existing consistency between the radar sensor values and the characteristics, it can be determined whether the detection should be classified as a valid operator gesture or discarded as an invalid gesture. Based on the presence of a valid operator gesture, the motor-driven closing element device 1 is actuated to adjust the closing element 3. If the detection is classified as invalid, the closing element device 1 is not actuated.

[0028] The directional characteristics of the first antenna 7 and the second antenna 8 allow the UWB operation to be optimally adapted to the requirements of positioning and gesture recognition without requiring additional control components. Figure 2 As shown in a), in a preferred embodiment, each of the first antennas 7 has an omnidirectional first directional characteristic. This omnidirectional first directional characteristic makes the first antenna 7 essentially non-directional and can cover the widest possible detection range for positioning. In a preferred embodiment, the omnidirectional first directional characteristic is a spherical characteristic. "Spherical characteristic" here also refers to a directional characteristic that has practically unavoidable deviations from an ideal isotropic directional characteristic.

[0029] The second antenna 8 is designed as a directional antenna with a main direction 9 and can have, for example, a lobe characteristic, an eight-shaped characteristic and / or a kidney-shaped characteristic as a second directional characteristic. By orienting the second antenna 8, smaller spatial areas and in particular the area of interest 10 can be monitored with improved performance for gesture recognition, which in turn is Figure 2 b) is shown.

[0030] Furthermore, it is preferably provided here that the first antenna 7 is designed as a patch antenna, thereby achieving in particular a nearly spherical characteristic of the first antenna 7. The second antenna 8 can be designed, for example, as an Edgefire antenna, in particular a Vivaldi antenna.

[0031] Generally, first antenna 7 and second antenna 8 are preferably arranged on a common circuit board 11 of the corresponding UWB module 4, for example by jointly arranging a patch antenna and an Edgefire antenna. This allows different directional characteristics of antennas having a flat design to be covered.

[0032] A further compact design of the UWB module 4 can be achieved by arranging the motor control 5 also on the printed circuit board 11 .

[0033] Overall, the module control 5 , the first antenna 7 , and the second antenna 8 can be arranged in a common module housing 12 of the respective UWB module 4 , which preferably surrounds these components. The module housing 12 can have a common radome for the first antenna 7 and the second antenna 8 .

[0034] Furthermore, it is preferably provided that the main directions 9 of the second antennas 8 are aligned with one another. Based on the position of the UWB module 4, the detection ranges of the second antennas 8 are close to one another. Figure 2 The overlapping area of the lobe characteristics shown in b) can constitute the region of interest 10 .

[0035] It is preferably provided that the main directions 9 of the second antennas 8 intersect in a predefined region of interest 10 , thereby achieving a high degree of overlap of the detection ranges.

[0036] In principle, the region of interest 10 can be arranged in front of the closure element 3, thereby enabling particularly intuitive gesture operation. Figure 1 and 2 In the illustration in b), the UWB module 4 is arranged on the opposite side of the closure element 3, here on the bumper, wherein the main direction 9 of the second antenna 8 is at least partially aligned in the direction of the center of the closure element 3. The region of interest 10 is accordingly formed in front of the closure element 3. In one embodiment, the region of interest 10 can be preset on an operating element of the closure element 3, such as a door handle or the like, which is particularly suitable for side doors that can be opened, for example, by a wiping motion of the hand. Figure 1 In the illustration in FIG, for actuating the tailgate, a focus area 10 is provided on the bumper at the closure element arrangement 1 , so that triggering can be achieved in a simple manner, for example, by a foot movement, such as a kicking movement.

[0037] Particularly preferably, provision is made for positioning to be performed via UWB communication between at least one of the UWB modules 4 and a mobile device 13 assigned to the operator 6. The mobile device 13 can be designed, for example, as an electronic key, a key fob, a portable chip such as a UWB chip, a mobile phone, a PDA, a wearable device, or the like. The UWB module 4 and the mobile device 13 are configured for positioning based on bidirectional UWB communication. Specifically, UWB communication is performed in accordance with a standard such as IEEE 802.15.4z, and propagation time information is exchanged between the UWB module 4 and the mobile device 13, based on which positioning is performed.

[0038] Positioning can be triggered based on the detection of the mobile device 13 via further wireless communication, in particular BLE communication, etc. In particular, at least one BLE module, which may be part of the sensor system, monitors the situation in which the mobile device 13 enters the detection range by sending and receiving reminder signals when the UWB module 4 is deactivated. If the mobile device 13 is detected via BLE communication, the UWB module 4 can be activated for positioning.

[0039] In principle, it can be provided that the mobile device 13 is authenticated by means of UWB communication and / or BLE communication. For example, one or more actions according to the proposed method are only carried out if the UWB communication and / or BLE communication indicates that the detected mobile device 13 is already stored as a mobile device 13 permitted for the motor vehicle 2.

[0040] In another embodiment, unlocking of the closure element arrangement 1 is performed based on the approach of the operator 6 detected during positioning. A vehicle lock 14 can be assigned to the closure element 3, which is placed in an unlocked locked state based on the detected approach. Thus, the operator 6 can also open the door as they approach the closure element 3, optionally by performing an operator gesture or by actuating the door handle. Approach of the operator 6 is preferably considered "detected" if the positioning indicates a fall below a predefined first distance between the mobile device 13 and the vehicle 2. This first distance can also be predefined depending on the direction.

[0041] Furthermore, it is preferably provided that a switching event is considered "detected" if the positioning indicates a fall below a predefined second distance 15 between the mobile device 13 and the closure element arrangement 1. The second distance 15 can be smaller than the aforementioned first distance for unlocking the closure element arrangement 1. The second distance 15 can also be predefined depending on the direction. Here, if the operator 6 is sufficiently close to the region of interest 10 on the tailgate, for example, gesture recognition for opening the tailgate is triggered.

[0042] The switching event can be closely linked to additional or alternative conditions. In another embodiment, a switching event is considered "detected" if the positioning indicates adherence to a predetermined approach trajectory to the closure element arrangement 1. Generally, an approach trajectory refers to the temporal progression of the position of the operator 6 or mobile device 13 during approach. For example, the approach trajectory is used to check whether the operator 6 or mobile device 13 is within a predetermined movement path and / or is approaching the motor vehicle 2 at a predetermined speed. This prevents false triggering of gesture recognition, such as when the operator 6 walks past the motor vehicle 2.

[0043] Furthermore, it is preferably provided that, if no valid operator gesture is detected during gesture recognition, a return is made to the positioning of the operator 6 by means of the UWB module 4. In particular, the return to positioning occurs after a predetermined time period has elapsed after the start of gesture recognition or after the detection of an operator gesture classified as invalid. Preferably, upon returning to positioning, the occurrence of a switching event is again checked based on the positioning.

[0044] In another embodiment, the sensor system can have multiple pairs of UWB modules 4, each of which is assigned to one of multiple motor-driven closure element devices 1 of the motor vehicle 2 and for which a switching event is preset. For example, the rear hatch and the side doors in the corresponding closure element device 1 can both be adjusted by a motor. The closure element device 1 is preferably assigned a UWB module 4 positioned in the area of the closure element 3. In principle, more than two UWB modules 4 can also be assigned to one closure element device 1. Similarly, individual UWB modules 4 can be assigned to multiple closure element devices 1, wherein, for example, individual UWB modules 4 for both the rear hatch and the rear side doors are used for gesture recognition.

[0045] Gesture recognition is performed based on the detection of one of the switching events by means of the pairing of the respectively assigned UWB module 4. Gesture recognition and the resulting triggering of the motor-driven control are performed for the respective closure element 3. Figure 2 In b), for example, in addition to the gesture recognition shown for the tailgate, gesture recognition can be provided for at least one of the side doors, which then has a corresponding region of interest 10 with a respective assigned UWB module 4 .

[0046] According to another concept, a sensor system for a motorized closure element device 1 of a motor vehicle 2 is proposed. The sensor system is equipped with a plurality of UWB modules 4, which can be arranged spaced apart from one another on the motor vehicle 2 and each having a module control unit 5. The UWB modules 4 are configured to locate an operator 6 approaching the motor vehicle 2. During this location, the module control unit 5 operates a respective first antenna 7 of the UWB module 4, having a first directional characteristic, to transmit and receive UWB signals. The UWB module 4 performs gesture recognition based on the detection of a switching event associated with the operator 6. During this gesture recognition, the module control unit 5 operates a respective second antenna 8 of the UWB module 4, having a second directional characteristic (with a main direction 9), to transmit and receive UWB radar signals. When the sensor system is installed, the main direction 9 is respectively aligned with a predetermined region of interest 10 for performing an operator gesture. Reference is made to all explanations regarding the proposed method.

[0047] Furthermore, it is preferably provided here that the sensor system has a control device which, in gesture recognition, monitors the presence of a predefined operator gesture in the region of interest 10 by means of UWB radar signals and initiates the actuation of the motorized closure element arrangement 1 depending on the presence of a valid operator gesture.

[0048] The control device can be controlled by at least one of the module control mechanisms 5 and / or as in Figure 1 The control device 16 , such as a flap control device or a door control device, is implemented as shown in FIG. The control device can implement further functions associated with the closure element device 1 , such as unlocking and / or opening the motor vehicle lock 14 assigned to the closure element 3 .

[0049] According to another concept, a closure element device 1 for a motor vehicle 2 is proposed, comprising a closure element 3, a drive device 17 assigned to the closure element 3 and having at least one drive 18 for adjusting the closure element 3 by means of a motor, and a sensor system comprising a plurality of UWB modules 4. The closure element device 1 is configured to carry out the proposed method.

[0050] Reference is made to all explanations concerning the proposed method and the proposed sensor system.

Claims

1. A method for operating a motor-driven closure element arrangement (1) with a closure element (3) of a motor vehicle (2) using a sensor system having a plurality of UWB modules (4), which are arranged spaced apart from one another on the motor vehicle (2) and each have a module control (5), The UWB module (4) is used to locate an operator (6) approaching the motor vehicle (2), wherein the module control device (5) operates a first antenna (7) of the UWB module (4) with a first directional characteristic for transmitting and receiving UWB signals. wherein gesture recognition is performed with the aid of the UWB module (4) based on the detection of a predetermined switching event related to the operator (6), in which the module control unit (5) operates a corresponding second antenna (8) of the UWB module (4) with a second directional characteristic, the second directional characteristic having a main direction (9), for transmitting and receiving UWB radar signals, wherein the main direction (9) is aligned with a predetermined region of interest (10) for performing the operator gesture, In the gesture recognition, the execution of an operator gesture in the region of interest (10) is monitored based on UWB radar signals, and, based on the presence of a valid operator gesture, a motor-driven closing element device (1) is activated for adjusting the closing element (3).

2. The method according to claim 1, characterized in that The first antennas (7) each have an omnidirectional first directional characteristic, and / or the second antennas (8) each have a lobe characteristic, an eight-shaped characteristic and / or a kidney-shaped characteristic as a second directional characteristic.

3. The method according to claim 1 or 2, characterized in that The first antenna (7) is constructed as a patch antenna and / or the second antenna (8) is constructed as an Edgefire antenna, in particular a Vivaldi antenna. Preferably, the first antenna (7) and the second antenna (8) are arranged on a common circuit board (11) of the corresponding UWB module (4). Furthermore, preferably, the module control unit (5) is also arranged on the circuit board (11).

4. The method according to any one of the preceding claims, characterized in that The module control device (5), the first antenna (7) and the second antenna (8) are arranged in a common module housing (12) of the corresponding UWB module (4).

5. The method according to any one of the preceding claims, characterized in that The main directions (9) of the second antennas (8) are aligned with one another, preferably intersecting in a predetermined region of interest (10), the region of interest (10) preferably being predetermined in front of the closure element (3), in particular at an operating element of the closure element (3) and / or at a bumper of the closure element device (1).

6. The method according to any one of the preceding claims, characterized in that The positioning is performed by UWB communication between at least one of the UWB modules (4) and a mobile device (13) assigned to an operator (6), preferably the positioning is triggered by further wireless communication, in particular BLE communication, based on the detection of the mobile device (13), and the mobile device (13) is preferably authenticated by means of UWB communication and / or BLE communication.

7. The method according to any one of the preceding claims, characterized in that The closure element device (1) is unlocked based on the approach of an operator (6) detected in the positioning, the approach of the operator (6) being considered "detected" if the positioning indicates a situation where a predetermined first distance between the mobile device (13) and the motor vehicle (2) is fallen below.

8. The method according to any one of the preceding claims, characterized in that If the positioning indicates a situation where a predetermined second distance (15) between the mobile device (13) and the closure element device (1) is fallen below and / or a predetermined approach trajectory to the closure element device (1) is adhered to, the switching event is considered to be "detected".

9. The method according to any one of the preceding claims, characterized in that If no valid operator gesture is detected during the gesture recognition, the operator (6) is localized using the UWB module (4).

10. The method according to any one of the preceding claims, characterized in that The sensor system comprises a plurality of pairs of UWB modules (4), each of which is assigned to one of a plurality of motor-driven closure element devices (1) of a motor vehicle (2), and for which a switching event is predefined. Gesture recognition is performed based on the detection of a switching event by means of pairing of the respectively assigned UWB modules (4).

11. A sensor system for a motor-driven closure element device (1) of a motor vehicle (2), wherein the sensor system is equipped with a plurality of UWB modules (4), which can be arranged on the motor vehicle (2) in a manner spaced apart from one another and each have a module control device (5), The UWB module (4) is configured to locate an operator (6) approaching a motor vehicle (2), wherein the module control device (5) operates a first antenna (7) of the UWB module (4) having a first directional characteristic for transmitting and receiving UWB signals. The UWB module (4) performs gesture recognition based on the detection of a preset switching event related to an operator (6), in which the module control unit (5) operates the second antenna (8) of the UWB module (4) with a corresponding second directional characteristic (the second directional characteristic has a main direction (9)) for sending and receiving UWB radar signals, wherein in the installed state of the sensor system, the main direction (9) is aligned with a preset area of interest (10) for performing the operator's gesture.

12. The sensor system according to claim 11, characterized in that The sensor system has a control device which monitors the execution of an operator gesture in a region of interest (10) in gesture recognition based on UWB radar signals and initiates the actuation of a motor-driven closure element device (1) based on the presence of a valid operator gesture.

13. A closure element device for a motor vehicle (2), the closure element device (1) comprising a closure element (3), a drive device (17) assigned to the closure element (3) and having at least one drive (18) for adjusting the closure element (3) by means of a motor, and a sensor system with a plurality of UWB modules (4), wherein the closure element device (1) is configured to implement the method according to any one of claims 1 to 10.

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