Method for operating a motorized flap arrangement of a motor vehicle

Abstract

The invention relates to a method for operating a motorized flap arrangement (1) of a motor vehicle (2), wherein the flap arrangement (1) has a drive arrangement (3), a sensor arrangement (6) and a control arrangement (7), wherein sensor values ​​relating to an operator action performed by an operator (8) outside the motor vehicle (2) are detected by means of the sensor arrangement (6), wherein the sensor values ​​are checked by means of the control arrangement (7) in a test routine in which the operator action detected via the sensor values ​​is checked for compliance with an operator action specification, wherein the operator action specification relates to an operator gesture with a movement of the operator (8) relative to the sensor arrangement (6) along a preferred direction (10) of the sensor arrangement (6),and in which the operator action detected via the sensor values ​​is qualified as a valid operator action or rejected as an invalid operator action depending on the match. It is proposed that, in the test routine, an averaged lateral speed of the detected operator action relative to the preferred direction (10) is calculated by means of the control arrangement (7), and that the operator action detected via the sensor values ​​is qualified as a valid operator action or rejected as an invalid operator action depending on the averaged lateral speed.

Description

The present invention relates to a method for operating a motor vehicle's engine flap assembly according to the preamble of claim 1, a control assembly for a motor vehicle's engine flap assembly according to the preamble of claim 10 and a motor vehicle flap assembly according to claim 11.The flap arrangement in question has a flap which can be adjusted by motor. The flap can be any closure element of a motor vehicle. These include tailgates, rear covers, front hoods, in particular engine hoods, doors, in particular side or rear doors, or the like. The flap can be arranged pivotably or longitudinally displaceably on the motor vehicle body.In the known prior art (DE 10 2017 129 151 A1) on which the invention starts out, the operation of the flap is provided via a predefined operator action, which can be formed by a foot movement of the operator. An actuation detected as a valid operator action in a test routine for sensor values ascertained via a sensor arrangement leads to an actuation of the motorized flap arrangement, so that the operator can open or close the flap in particular without contact.In this case, it is a challenge that, in order to increase comfort, the detection of operator actions should in principle be ensured with high reliability, while at the same time an undesired triggering of the motor adjustment by movements which are incorrectly qualified as valid operator actions is to be prevented.The invention is based on the problem of configuring and developing the known method in such a way that a further optimization is achieved with regard to the aforementioned challenge.The above problem is solved by the features of the characterizing part of claim 1.An operator gesture with a movement of the operator along a preferred direction is provided as a valid operator action, which corresponds, for example, to a back and forth movement of the operator's foot relative to the motor vehicle. Such operator gestures can be characterized in the sensor values in particular on the basis of the distance profile and / or speed profile of the operator detected as a sensor target.The invention is based on the finding that movements of the operator directed laterally with respect to the sensor arrangement represent a source of error in the test routine. In particular, due to the local detection of the operator via the sensor arrangement, laterally directed movements such as a passing by of the operator or activities during the loading of the motor vehicle can have a distance profile and speed profile, which show a high similarity to a valid operator action. The fundamental consideration is to take into account a lateral component of the movement in the test routine.However, in order to reduce the requirements for the required triggering of the sensor arrangement, the lateral component per se is not necessarily used, but a time-averaged lateral speed formed from it is used as a criterion. The proposed solution can therefore also be implemented with simple distance sensors such as radar sensors, which only have a low resolution capability of the detected angle.In detail, it is proposed that in the checking routine, an averaged lateral speed of the detected operator action with respect to the preferred direction is calculated by means of the control arrangement, and that the operator action detected via the sensor values is qualified as a valid operator action or is discarded as an invalid operator action as a function of the averaged lateral speed.This solution is particularly advantageous in the case of the aforementioned back and forth movement as a valid operator gesture according to claim 2.The lateral velocity can be calculated, inter alia, on the basis of angle values in a reference system with polar coordinates or else via a component perpendicular to the preferred direction, which is specified further in claim 3. A particularly simple evaluation can be achieved here by determining a best-fit line. For the calculation, a check time window according to claim 5 is preferably used, which is defined by trigger criteria.In a particularly preferred embodiment according to claim 4, the averaged lateral speed is used for plausibility checking of the detected operator action, wherein the operator action is discarded as invalid, in particular at an excessively high lateral speed, which is in particular an indication of the operator passing by the motor vehicle in delimiting from an intentional operator gesture. The lateral speed can be taken into account in the test routine in a particularly simple manner.A further increase in the reliability of the test routine is achieved by means of the embodiments according to claims 6 and 7. In this way, in particular, additional criteria can be placed on the best fit line, which can be a prerequisite for discarding the operator action.According to a further teaching according to claim 10, which is of independent significance, a control arrangement for an engine flap arrangement of a motor vehicle is claimed. It is essential that the control arrangement calculates an averaged lateral speed of the detected operator action relative to the preferred direction in the test routine, and that the control arrangement qualifies the operator action detected via the sensor values as a valid operator action or discards it as an invalid operator action as a function of the averaged lateral speed. Reference may be made to all explanations relating to the proposed method.According to a further teaching according to claim 11, which is likewise of independent significance, a flap arrangement for a motor vehicle is claimed for carrying out the method according to the proposal. Reference may be made to all explanations regarding the proposed method and the proposed control arrangement.The invention is explained in more detail below with reference to a drawing which merely represents exemplary embodiments. The drawing shows FIG. 1 shows a rear region of a motor vehicle having a flap arrangement according to the proposal for carrying out the method according to the proposal, FIG. 2 is a top view of the motor vehicle when an operator action is carried out; and FIG. 3 shows exemplary sensor values with a) speed values, b) distance values and c) angle values when carrying out the operator action.The exemplary embodiment illustrated in the figures and thus preferred relates to a method for operating a motorized flap arrangement 1 of a motor vehicle 2. the flap arrangement 1 has a drive arrangement 3 with at least one drive 5 assigned to a flap 4.In the exemplary embodiment shown and thus preferred, the drive arrangement 3 is provided for transferring the flap 4 of the flap arrangement 1 from a closed position to the open position shown in FIG. 1 with dashed line. A transfer of the flap 4 from an open position into a closed position can likewise be provided. In principle, the drive arrangement 3 can also bring about other motor-driven adjustment functions of the flap arrangement 1, for example unlocking and / or opening a motor vehicle lock assigned to the flap 4. With regard to possible embodiments of the flap 4, reference is made to the introductory explanations, wherein the flap 4 according to the preferred embodiment from FIG. 1 is provided here as a tailgate. The drive 5 can be designed, for example, as a spindle drive for the flap 4.The flap arrangement 1 has a sensor arrangement 6 and a control arrangement 7, wherein sensor values relating to an operator action carried out by an operator 8 outside the motor vehicle 2 are detected by means of the sensor arrangement 6. The control arrangement 7 is illustrated in FIG. 1 by way of example as a component which is separate from the sensor arrangement 6 and drive arrangement 3 and is in particular designed as a flap control unit or door control unit. In preferred embodiments, the control arrangement 7 can be at least partially integrated into the sensor arrangement 6 and / or the drive arrangement 3.An operator action is to be understood as a time-dependent action of the operator 8, in particular a movement pattern of a body part of the operator 8, such as an operator gesture. Here and preferably, the sensor arrangement 6 has at least one radar sensor with an antenna arrangement. The antenna arrangement preferably enables an angular resolution of radar signals. The radar sensor here preferably implements a continuous, more preferably frequency-modulated, distance measurement, speed measurement and angle measurement, for example as an FMCW radar sensor. The radar sensor is preferably configured for operation with radar radiation in the frequency band around 24 GHz and / or 77 GHz. UWB operation of the radar sensor, for example in the frequency range from 3.1 GHz to 10.6 GHz, may likewise be provided.Particularly preferably, the sensor values represent distance values, speed values and angle values of detected objects. As is shown in FIG. 2, the operator 8 is detected, for example, via radar targets 9 by means of the sensor arrangement 6. A distance value r for the amount of the distance from the sensor arrangement 6, a speed value v for the amount of the speed relative to the sensor arrangement 6, which corresponds to a Doppler value, for example, and an angle value φ relative to a predefined preferred direction 10 of the sensor arrangement 6, can be assigned to the radar target 9. By means of the control arrangement 7, a time profile of the sensor values is recorded, for example continuously in a ring memory. The sensor values are checked by means of the control arrangement 7 in a checking routine. The checking routine serves to recognize a valid operator action in the dynamics of the detected objects.In the checking routine, the operator action detected via the sensor values is checked for a match with an operator action specification, wherein the operator action specification relates to an operator gesture with a movement of the operator 8 relative to the sensor arrangement 6 along the preferred direction 10 of the sensor arrangement 6. Examples of an operator's gesture are a foot movement as shown in FIG. 2 and a hand movement. The preferred direction 10 is defined for the operator gesture, wherein the operator gesture is to be executed at least partially, preferably predominantly along the preferred direction 10. The operator gesture can comprise a forward movement (directed toward the motor vehicle 2), a return movement (directed away from the motor vehicle 2) along the preferred direction 10 or else a combination thereof. The preferred direction 10 can be freely defined. In a preferred embodiment, however, the preferred direction 10 is a main detection direction of the sensor arrangement 6, in which the sensor arrangement 6 has the greatest sensitivity.In the checking routine, the operator action detected via the sensor values is qualified as a valid operator action or discarded as an invalid operator action depending on the match. For example, a recognition value of the sensor values is calculated, which is formed, for example, by a single numerical value and indicates a quantitative measure of the degree of agreement with the operator action specification. The recognition value is preferably matched to a recognition threshold and the detected operator action is classified as valid when the recognition threshold is exceeded and otherwise discarded as invalid.When a valid operator action is present, the drive arrangement 3 is caused to be adjusted by motor by means of the control arrangement 7. If, on the other hand, the operator action is discarded as invalid, no actuation of the drive arrangement 3 takes place.Besides the presence of the valid operator action, the performance of the motorized adjustment can be linked to further conditions, for example to a closed state of the flap arrangement 1 (locked / unlocked) and / or the recognition of an electronic key. Corresponding conditions can in turn be checked by the control arrangement 7 or by further control components coupled to the flap arrangement 1, such as a flap control device or the like. Furthermore, the motor adjustment can be controlled by a drive controller of the drive arrangement 3.It is now essential that in the checking routine, an averaged lateral speed of the detected operator action relative to the preferred direction 10 is calculated by means of the control arrangement 7, and that the operator action detected via the sensor values is qualified as a valid operator action or is discarded as an invalid operator action as a function of the averaged lateral speed.The lateral speed is a measure of a speed of a detected object, for example a radar target 9, sideways to the preferred direction 10. Different statistical methods can be used to calculate the temporal mean.Particularly preferably, the operator action specification relates to an operator gesture with a forward movement and a backward movement between the operator 8 and the sensor arrangement 6 along the preferred direction 10 of the sensor arrangement 6. However, a hand movement, for example an approach and subsequent pulling away of the hand from the motor vehicle 2, is also conceivable.FIGS. 3 a) and b) show exemplary time profiles of speed values v and distance values r of such an operator action between the times t 1 and t 2. With the forward movement, the distance value r is first reduced at negative speed values v, which here stand for an approach of the radar target 9 to the sensor arrangement 6. Upon completion of the forward movement, the distance values r pass through a minimum at speed values v close to zero before the distance values r again increase with positive speed values v over the forward movement.One challenge here is the differentiation from other movements of the operator 8, which are not directed at an actuation of the flap arrangement 1. An example of this is a passing of the operator 8 by the motor vehicle 2 and the sensor arrangement 6, as a result of which a similar time profile of the speed values v and distance values r can occur. This can be seen in particular from FIG. 2, in which a trajectory 11 of the operator 8 when passing is shown as a dashed line. Here, too, an approach with decreasing distance values r up to a minimum distance value r takes place first and a subsequent removal of the operator 8 with increasing distance values r. Here and preferably, the averaged lateral speed of the detected operator action can be used to distinguish this scenario from a valid operator action carried out in a targeted manner.Here and preferably, it is provided that the averaged lateral speed is calculated from a time dependence of angle values of the sensor values. As shown in FIG. 2, the angle value φ is, for example, the azimuth of an object, such as a radar target 9, relative to the sensor arrangement 6 in polar coordinates. The preferred direction 10 can be provided here as reference angle φ=0.The averaged lateral speed can likewise be calculated from a time dependence of a component of the sensor values perpendicular to the preferred direction 10. For example, detected objects are mapped in a Cartesian coordinate system, wherein one of the axes of the coordinate system can correspond to the preferred direction 10.In a preferred embodiment, the averaged lateral speed is calculated as the gradient of a straight compensation line 12 of the angle values and / or of the perpendicular component. FIG. 3 c ) shows, by way of example, a best-fit line 12 for angle values φ between the points in time t 1 and t 2. The slope of the best fit line 12 is used here as the averaged lateral speed. As FIG. 3 c ) illustrates, particularly in the case of radar sensors, a high scatter of the angle values φ can occur, which can follow the determination of the angle values φ, for example, from ambiguousities. By contrast, a reliable measure for the lateral contribution to the detected operator action can be obtained via the compensation straight line 12.Furthermore, it is provided here and preferably that, if a threshold value is exceeded by the averaged lateral speed, the operator action detected via the sensor values is discarded as an invalid operator action. Accordingly, the averaged lateral speed can be used as an exclusion criterion for a valid operator action. If the averaged lateral speed, for example the slope of the compensation straight line 12 addressed, is too high, an invalid operator action is assumed, for example caused by the operator 8 passing by.In a further embodiment, the check for agreement with the operator action specification can be modified as a function of the averaged lateral speed in such a way that, at a higher average lateral speed, a higher agreement with the operator action specification is provided for qualification as a valid operator action. Thus, at a higher lateral speed, higher requirements are placed on the execution of a valid operator action. For example, the recognition threshold of the recognition value is specified as a (rising) function of the averaged lateral speed.Furthermore, it is provided here and preferably that a test time window is defined in the sensor values by means of the control arrangement 7 on the basis of a trigger criterion, and that the sensor values detected in the test time period are subjected to the test routine, preferably that the averaged lateral speed is calculated over at least one time period, in particular over the entire test time window.The trigger criterion is representative of a time sequence of sensor values being considered for a valid operator action. By defining the test time window, a continuously carried out test routine is not absolutely necessary for all sensor values. Rather, the checking routine is carried out only when necessary and when the trigger criterion is fulfilled. In the present case, the sensor values assigned to the test time window are fed from the ring memory to the further test routine. In FIG. 3, the test time window is provided by way of example between the times t 1 and t 2.In a preferred embodiment, the trigger criterion contains a plurality of threshold values which are to be exceeded and / or undershot in a temporal sequence, for example in the manner of a Schmitt trigger. The test time window does not necessarily have to relate to temporally contiguous sensor values.Furthermore, it is provided here and preferably that the operator action detected via the sensor values is qualified as a valid operator action or is discarded as an invalid operator action as a function of the presence of a sign change of the angle values and / or the perpendicular component relative to the preferred direction 10 from a starting section 13 of the test time window to an end section 14 of the test time window. For example, a mean of a predefined number of angle values at the beginning of the test time window (for example the first n angle values φ from the time t 1) is compared with a mean of the predefined number of angle values at the end of the test time window (for example the last n angle values φ before the time t 2) and it is checked whether a sign change is present. A sign change is an indication that a movement of the operator 8 has taken place from one side of the sensor arrangement 6 to the other side of the sensor arrangement 6, in relation to the preferred direction 10, which can be the case, for example, when passing.The presence of a sign change can be provided as a criterion for checking the detected operator action. Preferably, however, the averaged lateral speed is taken into account only when a sign change is present in the test routine. If there is no sign change, it can rather be assumed that, for example, the operator gesture was carried out with a lateral component. However, in many cases, no sign change occurs during a back and forth movement, since the body part returns to the same side relative to the preferred direction 10.Furthermore, it is provided here and preferably that the operator action detected via the sensor values is qualified as a valid operator action or is discarded as an invalid operator action as a function of the time t 3 of a zero crossing of the best-fit straight line 12 of the angle values and / or of the perpendicular component relative to the preferred direction 10. In this case, it is preferably the case that the averaged lateral speed is taken into account in the test routine only when a zero crossing of the compensation straight line 12 is present in a predefined middle section 15 of the test period. This also reliably prevents, for example, a high averaged lateral speed from being caused by scattering of the angle measurement.Furthermore, it is provided here and preferably that the agreement with the operator action specification is checked on the basis of predefined distance criteria and / or speed criteria for the sensor values. Statistical characteristic values are preferably determined for the distance values r and / or the speed values v over the test time window. At least one of the maximum value, the minimum value, the time of the maximum value, the time of the minimum value, the mean value, the variance, the skewness, and / or the curvature can be used as characteristic values. The characteristic values can also be determined via a correlation of speed values v and distance values r. The recognition value is calculated via the characteristic values determined on the basis of predetermined weighting parameters, which recognition value is matched to the recognition threshold, for example. If the recognition value is above the recognition threshold, the operator action can be classified as valid.The averaged lateral speed here and preferably serves as an additional criterion for classification as a valid operator action. In this case, the requirements for the averaged lateral speed can first be checked and the distance criteria and / or speed criteria can only be checked if the averaged lateral speed is considered to be permissible. Likewise, an operator action which is qualified as valid via distance criteria and / or speed criteria can be validated on the basis of the averaged lateral speed.As is illustrated in FIG. 2, the preferred direction 10 can be directed along a main direction of the motor vehicle 2. The main direction is to be understood as meaning, in particular, the direction of travel and the transverse direction perpendicular to the direction of travel. Particularly preferably, the sensor arrangement 6 is provided on a bumper of the motor vehicle 2. The preferred direction 10 can be directed in the direction of travel, for example in the case of a flap 4 designed as a chunk, or counter to the direction of travel in the case of a flap 4 designed as a tailgate.According to a further teaching, a control arrangement 7 for an engine flap arrangement 1 of a motor vehicle 2 is proposed. The control arrangement 7 is coupled in the mounted state to a sensor arrangement 6, which detects sensor values with respect to an operator action carried out outside the motor vehicle 2 by an operator 8. The control arrangement 7 checks the sensor values in a checking routine in which the operator action detected via the sensor values is checked for a match with an operator action specification, wherein the operator action specification relates to an operator gesture with a relative movement between the operator 8 and the sensor arrangement 6 along a preferred direction 10 of the sensor arrangement 6, and in which the operator action detected via the sensor values is qualified as a valid operator action or is discarded as an invalid operator action depending on the check. When a valid operator action is present, the control arrangement 7 causes the drive arrangement 3 to be adjusted by motor.It is essential according to this further teaching that the control arrangement 7 calculates an averaged lateral speed of the detected operator action relative to the preferred direction 10 in the test routine, and that the control arrangement 7 qualifies the operator action detected via the sensor values as a valid operator action or discards it as an invalid operator action as a function of the averaged lateral speed. Reference may be made to all explanations relating to the proposed method.According to a further teaching, a flap arrangement 1 for a motor vehicle 2 is proposed, wherein the flap arrangement 1 is configured to carry out the proposed method. Reference may be made to all explanations regarding the proposed method and the proposed control arrangement 7.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 10 2017 129 151 A1

[0003]

Claims

Method for operating a motorized flap arrangement (1) of a motor vehicle (2), wherein the flap arrangement (1) has a drive arrangement (3) with at least one drive (5) assigned to a flap (4), a sensor arrangement (6) and a control arrangement (7), wherein sensor values relating to an operator action carried out by an operator (8) outside the motor vehicle (2) are detected by means of the sensor arrangement (6), wherein the sensor values are checked by means of the control arrangement (7) in a checking routine in which the operator action detected by means of the sensor values is checked for a match with an operator action specification, wherein the operator action specification relates to an operator gesture with a movement of the operator (8) relative to the sensor arrangement (6) along a preferred direction (10) of the sensor arrangement (6), Operator action detected via the sensor values is qualified as a valid operator action or discarded as an invalid operator action as a function of the agreement, wherein, if a valid operator action is present, the drive arrangement (3) is caused to move by motor by means of the control arrangement (7), characterized in that an averaged lateral speed of the detected operator action relative to the preferred direction (10) is calculated in the checking routine by means of the control arrangement (7), and in that the operator action detected via the sensor values is qualified as a valid operator action or discarded as an invalid operator action as a function of the averaged lateral speed.Method according to Claim 1, characterized in that the operator action specification relates to an operator gesture with a forward movement and a backward movement between the operator (8) and the sensor arrangement (6) along the preferred direction (10) of the sensor arrangement (6).Method according to Claim 1 or 2, characterized in that the averaged lateral speed is calculated from a time dependence of angle values of the sensor values and / or of a component of the sensor values perpendicular to the preferred direction (10), preferably in that the averaged lateral speed is calculated as the gradient of a compensation straight line (12) of the angle values and / or of the perpendicular component.Method according to one of the preceding claims, characterized in that, if a threshold value is exceeded by the averaged lateral speed, the operator action detected via the sensor values is discarded as an invalid operator action; or in that the check for agreement with the operator action specification is modified in such a way that, at a higher average lateral speed, a higher agreement with the operator action specification is provided for qualification as a valid operator action.Method according to one of the preceding claims, characterized in that a test time window is defined in the sensor values by means of the control arrangement (7) on the basis of a trigger criterion, and in that the sensor values detected in the test time period are subjected to the test routine, preferably in that the averaged lateral speed is calculated over at least one time period, in particular over the entire test time window.Method according to Claim 5, characterized in that the operator action detected via the sensor values is qualified as a valid operator action or is discarded as an invalid operator action as a function of the presence of a sign change of the angle values and / or of the perpendicular component relative to the preferred direction (10) from a starting section (13) of the test time window to an end section (14) of the test time window, preferably in that the averaged lateral speed is taken into account in the test routine only when a sign change is present.Method according to one of the preceding claims, characterized in that the operator action detected via the sensor values is qualified as a valid operator action or is discarded as an invalid operator action as a function of the time of a zero crossing of the compensation straight lines (12) of the angle values and / or of the perpendicular component relative to the preferred direction (10), preferably in that the averaged lateral speed is taken into account in the test routine only when a zero crossing of the compensation straight lines (12) is present in a central section (15) of the test period.Method according to one of the preceding claims, characterized in that the agreement with the operator action specification is checked on the basis of predefined distance criteria and / or speed criteria for the sensor values.Method according to one of the preceding claims, characterized in that the preferred direction (10) is directed along a main direction of the motor vehicle (2), preferably in that the sensor arrangement (6) is provided on a bumper of the motor vehicle (2) and in that the preferred direction (10) is directed in the direction of travel or counter to the direction of travel.Control arrangement for an engine flap arrangement (1) of a motor vehicle (2), wherein the control arrangement (7) is coupled in the assembled state to a sensor arrangement (6) which detects sensor values with respect to an operator action carried out by an operator (8) outside the motor vehicle (2), wherein the control arrangement (7) checks the sensor values in a checking routine in which the operator action detected via the sensor values is checked for a match with an operator action specification, wherein the operator action specification relates to an operator gesture with a relative movement between the operator (8) and the sensor arrangement (6) along a preferred direction (10) of the sensor arrangement (6), and in which the operator action detected via the sensor values is qualified as a valid operator action or is discarded as an invalid operator action as a function of the check, wherein, in the presence of a valid operator action, the control arrangement (7) causes the drive arrangement (3) to be adjusted by motor, characterized in that the control arrangement (7) calculates an averaged lateral speed of the detected operator action relative to the preferred direction (10) in the test routine, and in that the control arrangement (7) qualifies the operator action detected via the sensor values as a valid operator action or discards it as an invalid operator action as a function of the averaged lateral speed.Flap arrangement for a motor vehicle (2), wherein the flap arrangement (1) is configured to carry out the method according to one of Claims 1 to 9.

Images