Phase reconstruction

Abstract

The invention relates to a method for controlling an opening element (2) of a motor vehicle (1) by detecting the movement of a target, said method comprising the following steps: (a) emitting a radiofrequency signal intended to be at least partially reflected from said target (5), referred to as the emission signal, (b) receiving a radiofrequency signal originating from the reflection of the emission signal from said target (5), the radio frequency signal is referred to as a return signal, (c) calculating an amplitude A1 and a phase [phi] 1 of the return signal over time, (d) calculating a reconstructed phase [phi] 2 of the return signal corresponding to a phase [phi] 1 corrected for a phase jump related to a congruent property of the time variation of the phase [phi] 1, (e) controlling the locking or unlocking of the opening element (2), or the opening or closing of the opening element (2), or the displacement of a handle arranged flush with the opening element (2) from the rest position to the gripping position.

Description

[0001] This disclosure relates to a method for controlling the opening element of a motor vehicle by detecting the movement of a target, such as a part of a user's body or a transceiver device. Technical Field

[0002] This disclosure pertains to the field of motor vehicle access management. Background Technology

[0003] It is known to use radio frequency (RF) signals to control the opening of opening elements in motor vehicles, such as trunk doors. RF signals are electromagnetic signals that include a carrier wave with a frequency, for example, between 3 kHz and 300 GHz, but most commonly between 5 GHz and 30 GHz in applications in the motor vehicle field.

[0004] Specifically, there exists a posture detection method for controlling the opening elements of a vehicle. In this method, a radio frequency signal is emitted in the direction of the target, and the returned radio frequency signal is analyzed to identify a predetermined posture made by the user's feet.

[0005] It is also known to use pulsed radio frequency signals (as opposed to continuous signals) with so-called radio frequency pulses, that is, signals whose carrier frequency falls within a wide radio frequency spectrum. Using this type of signal makes it particularly possible to determine the distance between a target and the equipment used to transmit and receive the pulsed radio frequency signal.

[0006] The discussed aspect concerns the detection and control of posture within a region, specifically the full opening or closing of the control element.

[0007] It is also known that, in this case, the radio frequency signal is analyzed by calculating the phase of the signal. However, this phase calculation is sometimes difficult to use.

[0008] On the one hand, the phase of the signal becomes significantly noisy over time, for example when the target is stationary.

[0009] On the other hand, the phase of a signal is usually calculated within an angular range of -180° to +180° (i.e., from -π to +π radians), which makes it difficult to analyze phase values ​​outside this angular range.

[0010] The purpose of this invention is to provide a method and apparatus for overcoming these limitations. Summary of the Invention

[0011] A method is proposed for controlling the opening element of a motor vehicle by detecting the movement of a target, such as a part of a user's body or a transceiver device. The method includes the following steps: a) Using at least one transmitter, a radio frequency signal intended to be reflected at least partially from the target is transmitted; this radio frequency signal is referred to as the transmitted signal. b) Using at least one receiver, receive the radio frequency signal reflected from the target originating from the transmitted signal; this radio frequency signal is referred to as the return signal. c) Based on the transmitted signal and the returned signal, calculate the amplitude A1 and phase φ1 of the returned signal as a function of time. d) Calculate the reconstructed phase φ2 of the returned signal, which corresponds to the phase φ1 corrected for the phase jump associated with the congruence property of the time variation of the phase φ1. e) Based on the amplitude A1 and the reconstructed phase φ2, control the locking or unlocking of the opening element, or the opening or closing of the opening element, or the displacement of the handle flush with the opening element from the rest position to the gripping position.

[0012] In an orthogonal coordinate system The orthogonal coordinate system represents the radio frequency signal S, with point O as the origin, ... As the x-axis vector, and As the ordinate vector.

[0013] In an orthogonal coordinate system In the above, signal S is decomposed into in-phase component I (along...). The real component) and the orthogonal phase component Q (along the ... The complex number is the sum of the imaginary components of the signal S, therefore the signal S is defined by the following equation: [Mathematical Expression 1] The phase φ of signal S is equal to its argument: [Mathematical Expression 2] Throughout the rest of this document, the half-line corresponding to Q = 0 and I < 0 is called the phase transition line. The phase transition line divides the coordinate system... The plane is divided into two quadrants: the upper quadrant and the lower quadrant.

[0014] The in-phase component I and the quadrature-phase component Q are related to the phase φ and amplitude A of the signal by the following equation: [Mathematical Expression 3] [Mathematical Expression 4] [Mathematical Expression 5] The amplitude A of signal S is equal to its modulus in this coordinate system, that is, the square root of the sum of the squares of the in-phase component I and the squares of the quadrature-phase component Q: [Mathematical Expression 6] Congruence should be understood as meaning congruence modulo 2π or cyclic properties.

[0015] Step (e) can be performed based on the characteristics related to the movement of the target.

[0016] Before controlling the locking or unlocking of the opening element, or the opening or closing of the opening element, or the displacement of the handle flush with the opening element from the rest position to the gripping position, step (e) may also determine at least one characteristic related to the movement of the target, the at least one characteristic being selected from the movement speed, linear movement magnitude and / or angular movement magnitude related to the movement of the target relative to a defined area of ​​the vehicle.

[0017] The handle flush with the opening element can be an extendable or retractable handle. In the rest position, the handle is flush with the outer surface of the opening element and can be moved to a gripping position in which the access passage to the cavity is released or the gripping member is extended.

[0018] The opening element can be a motorized opening element or a manually opening element.

[0019] For example, the opening element could be the trunk, door, or hood of a motor vehicle.

[0020] The transmitter and receiver can be located in the same transmitting and receiving device. The transmitter and receiver can be formed by antennas.

[0021] Multiple transmitters and multiple associated receivers can also be used; these transmitters (and associated receivers) can be located in areas of the vehicle that are spaced apart from each other.

[0022] The transmitted signal can be a pulse signal that includes a carrier wave modulated by a pulse sequence.

[0023] The transmitted signal can be a radio frequency (RF) signal. An RF signal is an electromagnetic frequency signal whose carrier frequency is between 3 kHz and 300 GHz. The carrier frequency can be between 5 GHz and 30 GHz, for example, between 5 GHz and 10 GHz.

[0024] The transmitted signal can be an ultra-wideband signal.

[0025] Ultra-wideband (UWB) signals are electromagnetic signals characterized by very short pulses (e.g., about a few nanoseconds) and very wide bandwidths (e.g., greater than 500 MHz, or even greater than 1 GHz). The pulses are so short that they have a duration of about a few cycles of the carrier frequency, meaning the signal can have a significantly wider bandwidth than conventional signals. UWB signals also have very low transmit energy. This type of signal is suitable for use in environments with significant radio noise or interference.

[0026] The following describes examples of signal processing that allows for the characterization of target movement, particularly when the transmitted signal is a pulsed signal comprising a carrier wave modulated by a pulse sequence. These examples of data processing are given by way of example and are by no means limiting.

[0027] Step (c) may include the following sub-steps: (c1) A signal I(t) related to the in-phase component of the returned signal is generated by mixing the returned signal with the in-phase signal at the frequency of the transmitted signal, and a signal Q(t) related to the quadrature phase component of the returned signal is generated by mixing the returned signal with the quadrature phase component at the frequency of the transmitted signal. The signals I(t) and Q(t) define the two components of the demodulated returned signal. (c2) Obtain the sampling data I(t) corresponding to the time sampling of the signal I(t) and the signal Q(t). i ) and Q(t i ), (c3) From the sampled data I(t) i ) and Q(t i Extract data relating only to the following portions of the returned signal: for these portions, the time difference between receiving each portion of the returned signal and the corresponding pulse that transmitted the signal is between or equal to a plurality of thresholds. (c4) For each sampling time t i Calculate the extracted data I(t) i ) and Q(t i The modulus of the demodulated return signal is equal to the amplitude A1(t). i ), and its value is equal to I²(t) i )+Q²(t i The square root of ).

[0028] (c5) From the calculated amplitude A1(t) i For each pulse of the transmitted signal, a search is performed successively for values ​​greater than or equal to a predetermined threshold A. 阈值The presence of an amplitude peak, the first detection of such a peak corresponding to the start of the identified movement of the target, and the time t associated with this peak are recorded. j Furthermore, the pulse with index k of the transmitted signal is associated with the first detection of this peak value, where k is a positive integer. (c6) Use the following formula, with the time t of the peak value as the reference. j The associated values ​​I and Q are used to calculate the phase φ1(k) of the demodulated return signal: -If I(t) j If ) > 0, then φ1(k) = arctan (Q(t) j ) / I(t j )); -If I(t) j ) < 0 and if Q(t) j If ) < 0, then φ1(k) = arctan (Q(t) j ) / I(t j )) - π; and -If I(t) j ) < 0 and if Q(t) j If ) > 0, then φ1(k) = arctan (Q(t) j ) / I(t j )) + π, (c7) Calculate the change in the value of phase φ1 for the subsequent pulse with index k+n of the transmitted signal, where n is a positive integer.

[0029] Step (d) includes the following sub-steps: (d1) Using the following formula, by using the time t of the peak value... j and t j-1 The reconstructed phase φ2(k) of the demodulated return signal is calculated using the associated values ​​I and Q, as well as the phase φ1 of the pulses indexed k and k-1: -If Q(t) j-1 ) < 0, Q(t j If φ1(k) > 0 and φ1(k-1) > π, then φ2(k) = φ1(k) - 2 π; -If Q(t) j-1 ) > 0, Q(t j If φ1(k) < 0 and φ1(k-1) ≤ -π, then φ2(k) = φ1(k) + 2 π; and - If the above conditions are not met, then φ2(k) = φ1(k). (d2) Calculate the change in the value of the reconstructed phase φ2 for the subsequent pulse with index k+n of the transmitted signal.

[0030] In other words, the reconstructed phase φ2(k) of the demodulated return signal can be calculated using the following conditions: -in coordinate system In the middle, if t j-1 The signal at point t j The movement of the signal at that point means that the rotation passes through the jump line from the lower quadrant to the upper quadrant (i.e., the phase jump in the inverse triangle direction), then the reconstructed phase φ2 is equal to the phase φ1 minus 360°. -in coordinate system In the middle, if t j-1 The signal at point t j The movement of the signal at the point means that the rotation passes through the jump line from the upper quadrant to the lower quadrant (i.e., the phase jump in the triangular direction), then the reconstructed phase φ2 is equal to the phase φ1 plus 360°; Otherwise, the reconstructed phase φ2 is equal to the phase φ1.

[0031] Rotation should be understood as meaning along t j-1 The signal at t j An angular movement is made in the direction that results in the smallest angle between the signals at a given location; the angle formed must be the smallest.

[0032] The reconstructed phase φ2 calculated in this way allows phase jumps to be considered. The reconstructed phase φ2 exhibits a smooth profile change on the pulse at index k (and therefore over time), unlike phase φ1, which exhibits a profile change with abrupt ("sawtooth") changes between two consecutive pulses corresponding to the angle change across the jump line.

[0033] In other words, reconstructing the phase φ2 allows us to overcome the gradient associated with the phase having undergone a full rotation (a rotation of 2π radians). Specifically, the phase φ1 is calculated using modulo 2π radian congruence; therefore, due to this congruence, the phase has only values ​​between -π and +π radians (i.e., between -180° and +180°).

[0034] Because the phase of the returned signal is proportional to the target's movement, calculating the reconstructed phase φ2 particularly allows for a simpler and more faithful analysis of the target's movement.

[0035] For example, a sudden change in phase φ1 makes it impossible to calculate the derivative of phase φ1, which is different from the change in the smooth profile of the reconstructed phase φ2, which makes it possible to correctly calculate the derivative of the reconstructed phase φ2 and thus derive the velocity and / or acceleration of the movement.

[0036] In addition, phase reconstruction is suitable for long-duration movements, such as movements that last longer than the duration of a phase transition or longer than the period between two consecutive phase transitions.

[0037] The predetermined threshold A in step (c5) 阈值 It can be equal to 20, 50 or 200.

[0038] When the target is stationary, phase φ1 has significant noise. Moreover, it can be specified that useful pulses related to the phase are pre-selected, that is, there exists a pulse with index k of the target movement.

[0039] Since the amplitude A1 has no noise when the target is stationary and changes when the target moves, the sampling time t in which the target movement occurs can be selected. j And therefore choose to be with these moments t j The associated pulse is index k. Then these sampling times t are used. j To calculate the phase φ1.

[0040] In other words, phase noise can be suppressed by selecting the value of phase φ1 based on the window obtained on amplitude A1.

[0041] Step (c5) can be performed by setting a threshold for amplitude A1.

[0042] In this way, by distinguishing the sampling time t with smaller amplitudes... i The window is defined by (where i ≠ j) (i.e., where there are no or almost no moving sampling moments).

[0043] For example, the direction of movement of the opening element can depend on the direction of movement of the target, or on the trajectory of the target.

[0044] This document also relates to a computer intended for installation in a motor vehicle, the computer including at least one processor and at least one memory, the processor being able to access the memory to read steps stored in the memory, the computer being characterized in that it is configured to implement each step of the method of the type described above.

[0045] This document also relates to a system intended for installation in a motor vehicle for managing opening elements, characterized in that the system comprises: - At least one antenna, which is designed to transmit a signal and receive a return signal, and - Electronic management module, which includes a computer of the type described above.

[0046] The management system may be a system for locking or unlocking an opening element, a system for opening or closing an opening element, and / or a system for moving a handle flush with the opening element from a rest position to a gripping position.

[0047] This document also relates to a motor vehicle equipped with a movable opening element, characterized in that the motor vehicle includes a system of the type described above for managing the opening element.

[0048] The disclosed features may be implemented either independently or in combination with each other. Attached Figure Description

[0049] Other features, details, and advantages will become apparent by reading the following detailed description and reviewing the accompanying figures, which include various illustrations: [ Figure 1 [This is a schematic diagram of a motor vehicle based on this document.] [ Figure 2 This document illustrates the steps involved in the method described herein. [ Figure 3 This is a graphical representation of the signal in the orthogonal coordinate system according to this document. [ Figure 4 The graph represents the change of amplitude A1 over time t, based on the information in this document. [ Figure 5 This is a graphical representation of the phase φ1 changing with time t, based on the information in this document. [ Figure 6 The phase φ is obtained after windowing based on this document. s A graphical representation of how it changes over time t. [ Figure 7 This is a graphical representation of the positive phase transition according to this document. [ Figure 8 This is a graphical representation of the negative phase transition based on this document. [ Figure 9 The image is a graphical representation of the reconstructed phase φ2 as a function of time t, based on this document. Detailed Implementation

[0050] Figure 1 A motor vehicle 1 is schematically shown, which includes a movable opening element 2 that can be controlled by a system for managing the opening element 2.

[0051] In the example shown, opening element 2 is the trunk of motor vehicle 1.

[0052] The management system includes: - At least one antenna 4 designed to transmit and receive pulsed radio frequency signals, and - Includes the computer's electronic management module.

[0053] The computer includes a processor and at least one memory, and is configured to implement each step of the method for managing the opening of the opening element 2 as described below.

[0054] The computer is able to generate an output signal that allows control to open element 2.

[0055] The following text is for reference only. Figure 2 A method for managing the opening of open element 2 is described.

[0056] This method allows the opening element 2 to be controlled by detecting the movement of the target 5, such as a part of the user's body or a transceiver device.

[0057] The method comprises the following sequential steps.

[0058] In step (a), an antenna is used to transmit a signal intended to interact with the target. The signal is an ultra-wideband pulse signal, which consists of a carrier wave modulated by a pulse sequence and is characterized by very short pulses (e.g., about a few nanoseconds) and a very wide bandwidth (e.g., greater than 500 MHz, or even greater than 1 GHz) over time.

[0059] In step (b), the signal reflected from the target returns and is picked up by the antenna; this signal is called the return signal.

[0060] Figure 3 It is an orthogonal coordinate system The representation of any signal S in vector form ).

[0061] Along the vector The axis corresponds to the in-phase component I of the signal S, and along the vector The axis corresponds to the quadrature phase component Q of the signal S.

[0062] Signal Defined by the magnitude (amplitude) A and the phase (phase) φ.

[0063] The half-line corresponding to Q = 0 and I < 0 corresponds to phase transition line 30, which will change the coordinate system. The left half of the plane 32 is divided into two quadrants: the upper quadrant 32a and the lower quadrant 32b.

[0064] exist Figure 2 In step (c), the amplitude A1 and phase φ1 of the returned signal are calculated over time.

[0065] Optionally, in sub-step (c1), the following items are generated: -A signal I(t) related to the in-phase component of the returned signal is generated by mixing the returned signal with a signal at the same frequency as the transmitted signal in phase. - A signal Q(t) related to the quadrature phase component of the returned signal is generated by orthogonally phase mixing the returned signal with the signal at the frequency of the transmitted signal.

[0066] This is equivalent to demodulating the returned signal.

[0067] Then, in sub-step (c2), the sampled data I(t) corresponding to the time sampling of signals I(t) and Q(t) is obtained. i ) and Q(t i Sub-step (c22) can be implemented using an analog-to-digital converter. This time sampling can be performed downstream of the generation of signals I(t) and Q(t). The sampling step size can be between 0.8 ns and 2 ns, for example, equal to 1 ns.

[0068] Next, in sub-step (c3), from the sampled data I(t) i ) and Q(t i Extract data relating only to the following portions of the returned signal: for these portions, the time difference between receiving the returned signal portion and the corresponding pulse that transmitted the signal is between or equal to a plurality of thresholds.

[0069] In this sub-step (c3), for each pulse of the transmitted signal, data related to a portion of the corresponding pulse of the transmitted signal is extracted, that is, a portion of the difference between the time when the pulse of the transmitted signal is transmitted and the time when the corresponding portion of the returned signal is received is within a threshold.

[0070] Then, in sub-step (c4), for each sampling time t i Calculate the extracted data I(t) i ) and Q(t i The modulus of the demodulated return signal is equal to the amplitude A1(t). i ), and its value is equal to I²(t) i )+Q²(t i The square root of ).

[0071] In sub-step (c5), the calculated amplitude A1(t) is used... i For each pulse of the transmitted signal, a search is performed successively for values ​​greater than or equal to a predetermined threshold A. 阈值 The presence of amplitude peaks, which correspond to the start of posture detection, and the recording of the time t associated with these peaks. jAnd the pulse with index k of the transmitted signal is associated with the peak value.

[0072] Then, a condition was defined where A1 is greater than A. 阈值 Sampling time t j The corresponding time interval is 40.

[0073] Next, in Figure 2 In sub-step (c6), the following formula is used, by using the time t with the peak value. j The associated values ​​I and Q are used to calculate the phase φ1(k) of the demodulated return signal: -If I(t) j If ) > 0, then φ1(k) = arctan (Q(t) j ) / I(t j )); -If I(t) j ) < 0 and if Q(t) j If ) < 0, then φ1(k) = arctan (Q(t) j ) / I(t j ))- π; and -If I(t) j ) < 0 and if Q(t) j If ) > 0, then φ1(k) = arctan (Q(t) j ) / I(t j )) + π.

[0074] Then, in sub-step (c7), the change in the value of phase φ1 is calculated for the subsequent pulse with index k+n of the transmitted signal.

[0075] Figures 4 to 6 The benefits of the time interval for sub-step (c5) are demonstrated.

[0076] Figure 4 and Figure 5 It is a graphical representation of the change of the amplitude A1 and the original phase φ0 of the returned signal with time t.

[0077] The time interval 40 is defined by a lower limit 40a and an upper limit 40b, and includes A1 being greater than zero. 阈值 All sampling times t of the value i .

[0078] The time interval 40 represents the moment t during which the target is moving. i And includes sampling time t j .

[0079] exist Figure 5As can be seen, the original phase φ0 has significant noise outside the time interval. To suppress this noise, only at sampling time t... j The phase φ1 is calculated during time interval 40 (i.e., after windowing in step (c5)). Figure 6 It is shown in the middle.

[0080] Despite the noise being filtered, phase φ1 is still difficult to use because it has abrupt changes when the phase reaches ±180°; the calculation of φ1 has modulo 2π radian congruence.

[0081] These sudden changes are due to Figure 7 and Figure 8 The phase jump shown in the figure.

[0082] Figure 7 This demonstrates the first case of a phase transition, known as a positive phase transition.

[0083] Consider the first point M of the signal corresponding to the pulse with index k and the second point N of the signal corresponding to the pulse with index k+1.

[0084] In this case, the phase difference between point M and point N means a rotation ω p Cross the phase jump line 30 along the triangular direction, that is, from the upper quadrant 32a to the lower quadrant 32b.

[0085] In this document, rotation is defined as angular movement along the direction that results in the smallest angle.

[0086] This positive phase transition is in Figure 6 This corresponds to the sudden change from a high peak (phase φ1 is approximately equal to +180°, e.g., point 60) to a low peak (phase φ1 is approximately equal to -180°, e.g., point 62).

[0087] Figure 8 This demonstrates a second case of phase transition, known as a negative phase transition.

[0088] Consider the first point V of the signal corresponding to the pulse with index k and the second point W of the signal corresponding to the pulse with index k+1.

[0089] In this case, the phase difference between point V and point W means a rotation ω n Cross the phase jump line 30 along the inverse triangle direction, that is, from the lower quadrant 32b to the upper quadrant 32a.

[0090] This negative phase transition is in Figure 6This corresponds to the sudden change from a low peak value (phase φ1 is approximately equal to -180°, e.g., point 63) to a high peak value (phase φ1 is approximately equal to +180°, e.g., point 64).

[0091] To account for these positive and negative phase transitions, in Figure 2 In step (d), the reconstructed phase φ2 of the returned signal can be calculated, which corresponds to the phase φ1 that is corrected for the phase jump related to the congruence property of the time change of phase φ1.

[0092] In sub-step (d1), the following formula is used, by using the time t with the peak value. j and t j-1 The reconstructed phase φ2(k) of the demodulated return signal is calculated using the associated values ​​I and Q, as well as the phase values ​​of the pulses indexed k and k-1: -If Q(t) j-1 ) < 0, Q(t j If φ1(k) > 0 and φ1(k-1) > π, then φ2(k) = φ1(k) - 2 π; -If Q(t) j-1 ) > 0, Q(t j If φ1(k) < 0 and φ1(k-1) ≤ -π, then φ2(k) = φ1(k) + 2 π; and - If the above conditions are not met, then φ2(k) = φ1(k).

[0093] Then, in sub-step (d2), the change in the value of the reconstructed phase φ2 is calculated for the subsequent pulse with index k+n of the transmitted signal.

[0094] Figure 9 The change of the reconstructed phase φ2 with time t is shown.

[0095] and Figure 6 Unlike the phase φ1 in the original model, the reconstructed phase φ2 has a smooth profile: sudden changes from high peak to low peak or from low peak to high peak (in other words, positive phase jumps and negative phase jumps) have been suppressed.

[0096] In this way, it is easier to analyze the characteristics of the target by using the reconstructed phase φ2.

[0097] exist Figure 2In step (e), based on amplitude A1 and based on reconstructed phase φ2, control the locking or unlocking of the opening element, or the opening or closing of the opening element, or the displacement of the handle flush with the opening element from the rest position to the gripping position.

Claims

1. A method for controlling an opening element (2) of a motor vehicle (1) by detecting movement of a target, such as a part of a user's body or a transceiver device, the method comprising the steps of: (a) Using at least one transmitter, a radio frequency signal intended to be reflected at least partially from the target (5) is transmitted, referred to as the transmitted signal. (b) Using at least one receiver, a radio frequency signal originating from the transmitted signal reflected from the target (5) is received; this radio frequency signal is referred to as the return signal. (c) Based on the transmitted signal and the returned signal, calculate the amplitude A1 and phase φ1 of the returned signal as a function of time. (d) Calculate the reconstructed phase φ2 of the returned signal, which corresponds to the phase φ1 corrected for the phase jump associated with the congruence property of the time variation of the phase φ1. (e) Based on the amplitude A1 and the reconstructed phase φ2, control the locking or unlocking of the opening element (2), or the opening or closing of the opening element (2), or the displacement of the handle flush with the opening element (2) from the rest position to the gripping position. Step (d) includes the following sub-steps: (d1) Using the following formula, by using the time t of the peak value. j and t j-1 The reconstructed phase φ2(k) of the demodulated return signal is calculated using the associated values ​​I and Q, as well as the phase φ1 of the pulses indexed k and k-1: -If Q(t) j-1 ) < 0, Q(t j If φ₁(k) > 0 and φ₁(k-1) > π, then φ₂(k) = φ₁(k) - 2 π; -If Q(t) j-1 ) > 0, Q(t j If φ1(k) < 0 and φ1(k-1) ≤ -π, then φ2(k) = φ1(k) + 2 π; and - If the above conditions are not met, then φ2(k) = φ1(k). (d2) Calculate the change in the value of the reconstructed phase φ2 for the subsequent pulse with index k+n of the transmitted signal. The method as described in the preceding claim, wherein the transmitted signal is a pulse signal comprising a carrier modulated by a pulse sequence.

2. The method as described in the preceding claim, wherein, The transmitted signal is an ultra-wideband signal.

3. The method as described in any one of claims 2 and 3, wherein, Step (c) includes the following sub-steps: (c1) A signal I(t) related to the in-phase component of the returned signal is generated by mixing the returned signal with the in-phase signal at the frequency of the transmitted signal, and a signal Q(t) related to the quadrature phase component of the returned signal is generated by mixing the returned signal with the quadrature phase component at the frequency of the transmitted signal. The signals I(t) and Q(t) define the two components of the demodulated returned signal. (c2) Obtain the sampling data I(t) corresponding to the time sampling of the signal I(t) and the signal Q(t). i ) and Q(t i ), (c3) From the sampled data I(t) i ) and Q(t i Extract data relating only to the following portions of the returned signal: for these portions, the time difference between receiving each portion of the returned signal and the corresponding pulse that transmitted the signal is between or equal to a plurality of thresholds. (c4) For each sampling time t i Calculate the extracted data I(t) i ) and Q(t i The modulus of the demodulated return signal is equal to the amplitude A1(t). i ), and its value is equal to I²(t) i )+Q²(t i The square root of ) (c5) From the calculated amplitude A1(t) i For each pulse of the transmitted signal, a search is performed successively for values ​​greater than or equal to a predetermined threshold A. 阈值 The presence of an amplitude peak, the first detection of such a peak corresponding to the start of the identified movement of the target, and the time t associated with this peak are recorded. j Furthermore, the pulse with index k of the transmitted signal is associated with the first detection of this peak value, where k is a positive integer. (c6) Use the following formula, with the time t of the peak value as the reference. j The associated values ​​I and Q are used to calculate the phase φ1(k) of the demodulated return signal: -If I(t) j If ) > 0, then φ1(k) = arctan (Q(t) j ) / I(t j )); -If I(t) j ) < 0 and if Q(t) j If ) < 0, then φ1(k) = arctan (Q(t) j ) / I(t j )) - π; and -If I(t) j ) < 0 and if Q(t) j If ) > 0, then φ1(k) = arctan (Q(t) j ) / I(t j )) + π, (c7) Calculate the change in the value of phase φ1 for the subsequent pulse with index k+n of the transmitted signal, where n is a positive integer.

4. The control method as described in claim 4, wherein, The predetermined threshold A in step (c5) 阈值 It equals 20, 50, or 200.

5. The control method as described in any one of claims 4 and 5, wherein, Step (c5) is performed by setting a threshold for the amplitude A1.

6. A computer intended to be installed in a motor vehicle (1), the computer comprising at least one processor and at least one memory, the processor being able to access the memory to read steps stored in the memory, the computer being characterized in that the computer is configured to perform each step of the method as described in any one of the preceding claims.

7. A system for managing an opening element (2) intended to be installed in a motor vehicle (1), characterized in that, The system includes: - At least one antenna (4), which is designed to transmit a signal and receive a return signal, and - An electronic management module, which includes a computer as described in the preceding claim.

8. A motor vehicle (1) equipped with a movable opening element (2), characterized in that, The vehicle includes a system for managing the opening element (2) as described in the preceding claim.

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