Method for the automated movement of a locking element, vehicle control for this purpose, and motor vehicle

Abstract

The invention relates to a method for automatically moving a locking element (2) which is movably arranged on a motor vehicle (1) and which is moved between an open position and a closed position by means of a drive unit (3), wherein in the open position access to an interior space (4) is provided, wherein at least two UWB sensor units (7, 8) are arranged in a vehicle area (5) of the motor vehicle in which the locking element is located, by means of which at least one position or movement of a user of the motor vehicle is detected outside the motor vehicle in front of the vehicle area (5), wherein a gesture (10) of the user located outside the motor vehicle is determined by means of a vehicle control unit (9) of the motor vehicle, and the vehicle control unit sends an opening signal to the drive unit at least depending on the determined gesture.to move the locking element into the open position, wherein the gesture is detected by means of an ultrasonic sensor (11), at least depending on the detected position or movement.

Description

[0001] The invention relates to a method for automatically moving a locking element that is movably arranged on a motor vehicle and that is moved between an open position and a closed position by means of a drive unit, wherein in the open position access to an interior of the motor vehicle is provided. The invention further relates to a vehicle control system for automatically moving a locking element that is movably arranged on a motor vehicle and that is movable between an open position and a closed position by means of a drive unit, wherein in the open position access to an interior of the motor vehicle is provided.Finally, the invention also relates to a motor vehicle with a locking element movably arranged on the motor vehicle, which can be moved between an open position and a closed position by means of a drive unit of the motor vehicle, wherein in the open position access to an interior of the motor vehicle is provided.

[0002] Generic methods, vehicle control systems, and motor vehicles are extensively known in the prior art. These are used, among other things, to automatically open, for example, a vehicle's trunk lid or tailgate, such as when a vehicle user moves a leg or foot within a designated target area in a predefined environment of the vehicle. Capacitive vehicle sensors are frequently used to detect the movement or position of the leg or foot, enabling the detection of its presence in the target area. The vehicle control system is connected to these sensors, evaluates the sensor signal, and determines the presence of the leg or foot.Depending on this setting, the vehicle control unit then sends an opening signal to a drive unit, which moves the locking element to the desired open position. This grants access to the vehicle's interior. The user therefore does not need to make any manual interventions to gain access to the interior. This is particularly advantageous if manually operating the locking element would require considerable effort, for example, if the user is holding an object with both hands that they wish to place inside the vehicle.

[0003] Overall, the use of capacitive sensors has proven disadvantageous, as they function relatively unspecifically. This results in the occasional false positive detection, for example, when another object enters the target area without the user intending to automatically open the tailgate or trunk lid. To counteract this disadvantage, one known approach is to define the target area as small, thus reducing the probability of false positive detection. However, this impairs user-friendliness.If the user wishes to trigger an automated opening of the tailgate or trunk lid, they must be able to reach the small specified target area precisely, which in turn limits the reliability of recognizing the user's positive opening request.

[0004] Furthermore, DE 10 2022 117 274 A1 discloses a calibration of a gesture recognition algorithm for gesture-controlled opening of an area of ​​a vehicle closed by a movable component. DE 10 2022 117 274 A1 aims to implement gesture recognition in order to improve the reliability of recognizing the user's gesture.

[0005] Even though this state of the art has proven its worth, disadvantages remain. Gesture recognition functionality cannot prevent unauthorized access to the vehicle's interior. Furthermore, it has proven problematic that gestures made away from the locking mechanism can unintentionally open it.

[0006] The invention is based on the objective of improving a generic method, a generic vehicle control system and a generic motor vehicle with regard to the reliability of recognizing a user's desire to open the vehicle with respect to the locking element.

[0007] The invention proposes a method, a vehicle control system and a motor vehicle according to the independent claims as a solution.

[0008] Advantageous further training opportunities arise from the characteristics of the dependent requirements.

[0009] With regard to a generic method, the invention particularly proposes that at least two UWB sensor units are arranged in a vehicle area of ​​the motor vehicle in which the locking element is located, by means of which at least one position or movement of a user of the motor vehicle is detected outside the motor vehicle in front of the vehicle area, wherein a gesture of the user located outside the motor vehicle is determined by means of a vehicle control unit of the motor vehicle, the vehicle control unit sends an opening signal to the drive unit at least depending on the determined gesture in order to move the locking element into the open position, wherein the gesture of the user is detected by means of an ultrasonic sensor at least depending on the detected position or movement of the user.

[0010] With regard to a generic vehicle control system, the invention particularly proposes that the vehicle control system be signal-connectable to at least two UWB sensor units arranged in a vehicle area of ​​the motor vehicle in which the locking element is located, by means of which at least one position or movement of the user of the motor vehicle can be detected outside the motor vehicle in front of the vehicle area, wherein the vehicle control system is configured to determine a gesture of the user located outside the motor vehicle and to send an opening signal to the drive unit, at least depending on the determined gesture, in order to move the locking element into the open position, wherein the vehicle control system is signal-connectable to an ultrasonic sensor, wherein the vehicle control system is configuredto cause the ultrasonic sensor to detect the user's gesture, at least depending on the detected position or movement of the user.

[0011] With regard to a motor vehicle of the generic type, the invention particularly proposes that the motor vehicle comprise at least two UWB sensor units arranged in a vehicle area of ​​the motor vehicle in which the locking element is located, by means of which at least one position or movement of a user of the motor vehicle can be detected outside the motor vehicle in front of the vehicle area, as well as a vehicle control unit coupled to the at least two UWB sensor units and the drive unit via signal technology, wherein the vehicle control unit is configured to determine a gesture of the user located outside the motor vehicle and to send an opening signal to the drive unit at least depending on the determined gesture in order to move the locking element into the open position, and comprises an ultrasonic sensor coupled to the vehicle control unit via signal technology for detecting the gesture of the user.wherein the vehicle control system is designed according to the invention.

[0012] The invention is based, among other things, on the idea that improving functionality is achieved not only by detecting the user's gesture using an ultrasonic sensor, but also by knowing the user's position or movement relative to the vehicle using UWB sensor units. For this purpose, it has proven particularly advantageous to have at least two UWB sensor units with which the user's position or movement can be reliably detected. The UWB sensor units can, for example, use radar, and in particular ultra-wideband (UWB) signals, to determine the user's position or movement relative to the vehicle with high accuracy. This makes it possible to determine the user's position or movement relative to the locking element.If a movement is made towards the locking element, or if the user is in close proximity to the locking element, the vehicle control system can activate the ultrasonic sensor to preferably detect the user's gesture only at this point. This enables precise functionality for the automated movement of the locking element into the open position, even when a large target area is required for gesture detection. The reliability problems frequently encountered in prior art can thus be at least reduced, if not completely avoided.

[0013] The invention thus makes it possible to combine the reliable detection of a gesture using an ultrasonic sensor with good position and / or motion detection using UWB sensor units, thereby achieving the inventive bonus effect, namely improving the reliability of determining the user's intention regarding moving the locking element to the open position. Determining the user's gesture can be implemented, for example, according to DE 10 2022 117 274 A1 or similar.

[0014] According to the invention, at least one ultrasonic sensor is used. However, the invention is not limited to this. Two or more ultrasonic sensors can also be used, which, for example, can be part of an ultrasonic sensor system of the motor vehicle. The additional ultrasonic sensors can also be at least partially coupled to the vehicle control system via signal technology. It can be provided that the vehicle control system additionally considers at least the sensor signals of another ultrasonic sensor in order to provide the opening signal.

[0015] This principle also applies to at least two UWB sensor units. Of course, three or more UWB sensor units can be used to determine the user's position or movement. The UWB sensor units can be positioned at essentially the same height on the vehicle relative to a moving platform. However, it is also possible, particularly when more than two UWB sensor units are used, for at least one of the UWB sensor units to be positioned at a different height than the other two. This allows the user's position or movement to be determined with respect to a spatial component. In this context, UWB refers specifically to Ultra-Wideband technology.UWB describes an approach to short-range radio communication, utilizing signals with a wide frequency range or bandwidth. UWB is covered by standards such as IEEE 802.15.4A. A UWB sensor unit is characterized, among other things, by having a transmitter capable of transmitting the corresponding UWB signal. Furthermore, the UWB sensor unit includes a receiver capable of receiving the UWB signal after it has been reflected by an object. Preferably, the UWB sensor unit is configured to determine the distance, direction of movement, or speed of the object reflecting the UWB signal.The UWB signal is preferably a radio signal, particularly preferably in a frequency range that is generally also suitable for the application of radar.

[0016] The at least two UWB sensor units are preferably arranged in the vehicle area where the locking element is also located. The UWB sensor units can, for example, be positioned adjacent to spaced-apart edges of the locking element or the opening to the interior that can be closed by the locking element. This makes it possible to accurately determine the user's position and / or movement relative to the locking element using the at least two UWB sensor units. The UWB signal is preferably a radio signal with a suitable configuration. Preferably, the UWB signal is characterized in such a way that it can be assigned to each of the UWB sensor units. For this purpose, the UWB signal can, for example, contain an individual identifier, which may be in the form of data within the UWB signal.

[0017] The ultrasonic sensor can, for example, include an ultrasonic transmitter and an ultrasonic detector. This allows the ultrasonic sensor to emit predefined ultrasonic signals and receive reflected ultrasonic signals. The ultrasonic sensor can also include at least partial signal processing functionality. However, it is also possible that the processing functionality for the ultrasonic signals is implemented, at least partially, by the vehicle's control system.

[0018] The drive unit can be electric, hydraulic, or pneumatic, and can be activated as desired by the vehicle control unit based on a suitable control signal, particularly an opening signal. For example, the drive unit can be activated to open the locking element by the vehicle control unit transmitting the opening signal to the drive unit. The opening signal can be provided in a manner adapted to the drive unit, for example, as an electrical signal, a pneumatic signal, a hydraulic signal, or the like. To move the locking element into the closed position, the vehicle control unit can, for example, transmit a corresponding closing signal as a control signal to the drive unit.The drive unit can be coupled to a gearbox, or at least partially incorporate one, in order to transmit a drive movement from the drive unit to the locking element in a predetermined manner. The locking element can be mounted, at least partially, on a vehicle body or outer skin in a pivotable or sliding manner, or it can form part of the vehicle's outer skin.

[0019] Preferably, the locking element is formed by at least one door, a tailgate, or a trunk lid. It can be provided that each of the locking elements has its own functionality according to the invention. The functionality according to the invention is provided for at least one of several locking elements of the motor vehicle. However, it can also be provided that only some of the locking elements can be operated with the functionality according to the invention.

[0020] According to a further development, it is proposed that at least the ultrasonic sensor be arranged in an edge area of ​​the vehicle's floor panel. This makes it possible to reliably detect gestures, particularly those made with the user's leg or foot. This proves especially advantageous when the locking element is a tailgate or trunk lid, particularly when the user does not have a free hand to perform manual operation or a manual gesture. This can occur, for example, when the user intends to access a storage compartment or trunk of the vehicle.

[0021] Preferably, the at least two UWB sensor units are spaced apart from each other across the width of the locking element. This allows the position relative to the locking element, or any movement relative to the user's locking element, to be detected particularly well, and enables a particularly reliable evaluation by the vehicle control system.

[0022] According to a training course, it is proposed that at least a kicking gesture or a manual opening gesture by the user be detected. For this purpose, the vehicle control unit can be equipped with an evaluation unit that is appropriately trained or qualified to reliably determine the user gesture. This evaluation unit can analyze corresponding sensor signals from the ultrasonic sensor.

[0023] The vehicle control system is further configured to activate at least the ultrasonic sensor based on an evaluation of sensor signals from the UWB sensor units. For this purpose, the vehicle control system may receive corresponding sensor signals from the UWB sensor units, enabling it to determine the user's position or movement. Activation may also include switching the ultrasonic sensor's functionality from general detection of the vehicle's surroundings to detection of user gestures. For example, this can be achieved by switching the evaluation of sensor signals from the ultrasonic sensor. Once this determination has been made, an activation signal can be sent to the ultrasonic sensor unit, activating it to detect the user's specific gesture.Unlike DE 10 2022 117 274 A1, a narrow target area does not need to be specified. The vehicle control system can evaluate the ultrasonic sensor signals based on the user's position and movement, thus reliably determining the user's gesture.

[0024] It is further proposed that the user's communication device receive a confirmation request signal from the vehicle control unit before the drive unit is activated. This informs the user that the movement of the locking element to the open position is about to be activated. This allows the user, for example, to step out of the locking element's swing area to avoid injury.

[0025] Furthermore, it is proposed that the vehicle control unit additionally transmits the opening signal contingent upon receiving a release signal from the communication terminal in response to the confirmation request signal. This allows the user to authorize the movement of the locking element to the open position. This further enhances safety, as the user can, for example, check the immediate vicinity of the vehicle in the area of ​​the locking element before activating the drive unit with the opening signal. This makes it possible to anticipate and account for sudden obstacles, such as a pet suddenly appearing.

[0026] It is further proposed that gesture detection by the ultrasonic sensor be contingent on the distance between the user and the locking element being less than a predefined reference distance. This ensures that user movements, which could be interpreted as gestures, are only considered when the distance between the user and the locking element is less than the reference distance. This further improves reliability. The reference distance can be, for example, 1.5 m or less. Preferably, the reference distance can be less than approximately 1 m, and more preferably less than approximately 0.75 m. Furthermore, it is proposed that gesture detection by the ultrasonic sensor be contingent on the detection of user movement towards the locking element.This training process begins by evaluating the sensor signals from the UWB sensor units to determine the user's direction of movement. If the user moves towards the locking element, this can be interpreted as the user's desire to move the locking element to the open position. This allows for further improvements to the functionality.

[0027] It is also possible to combine this functionality with the aforementioned reference distance, taking the user's direction of movement into account only when the distance between the user and the locking element is less than the specified reference distance. Alternatively, the reference distance can be adjusted depending on the direction of movement and / or the user's speed, for example, by increasing the reference distance. In this way, the reference distance could be, for example, 2.5 m or 1.5 m. It is also possible to continuously adjust the reference distance based on the user's speed.

[0028] Furthermore, it is proposed that the UWB sensor units be used to query the identification of a user device, in particular the communication device. The user device could be, for example, a key fob for a motor vehicle or the like. It could also be a communication device, such as a mobile phone, especially a smartphone, or the like. This makes it possible to activate the functionality of the invention only for the authorized user. The vehicle control unit can receive a corresponding identification signal from at least one of the UWB sensor units and compare it with a predefined identification to determine the validity of the identification. The unlock signal can then be issued depending on whether the identification is valid.

[0029] In particular, it is proposed that the vehicle control unit activate at least the ultrasonic sensor for gesture detection depending on the validity of the identification. This allows the ultrasonic sensor to be deactivated when the identification is not valid, thus saving energy, for example. Preferably, the vehicle control unit also outputs the unlock signal depending on a valid user identification.

[0030] Furthermore, it is proposed that the procedure be carried out only while the vehicle is stationary. The stationary state of the vehicle preferably includes a parked state outside of its intended driving operation. However, it is also possible for the stationary state of the vehicle to include a stop while it is in normal operation. This is advantageous, for example, if the user is a passenger being picked up at a specific location by the vehicle and wishes to place a corresponding item into the vehicle's interior.

[0031] The advantages and effects described for the method of the invention apply equally to the vehicle control system and the motor vehicle according to the invention, and vice versa. Method features can therefore also be formulated as device features and vice versa.

[0032] Further features of the invention are evident from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as those subsequently mentioned in the description of the figures and / or shown in the figures alone, are not only usable in the combinations specified, but also in other combinations without departing from the scope of the invention. Thus, embodiments that are not explicitly shown and explained in the figures, but which can be derived and generated from the explained embodiments by separate combinations of features, are also to be considered as encompassed and disclosed by the invention. Embodiments and combinations of features that do not exhibit all the features of an originally formulated independent claim are also to be considered disclosed.Furthermore, embodiments and combinations of features, in particular those set out above, are to be considered disclosed which go beyond or deviate from the combinations of features set out in the cross-references of the claims.

[0033] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and / or a request for user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0034] This shows: Fig. 1. A schematic side view of a motor vehicle with an automatically moving trunk lid.

[0035] Fig.Figure 1 shows a schematic side view of a motor vehicle with a trunk lid 2 movably mounted on the motor vehicle 1, which can be moved between an open and a closed position by means of an electric drive unit 3 of the motor vehicle 1. The movement of the trunk lid 2 is indicated here by a double arrow 14. In the open position, the trunk lid 2 allows access to the trunk 4 as the interior of the motor vehicle 1.

[0036] In a vehicle area 5 of the motor vehicle 1, where the trunk lid 2 is located, two UWB sensor units 7, 8 are arranged. The UWB sensor units 7, 8 can detect the position or movement of a user 6 of the motor vehicle 1 who is located outside the motor vehicle 1. The two UWB sensor units 7, 8 are arranged horizontally spaced apart from each other across the width of the trunk 4 of the motor vehicle 1.

[0037] The vehicle 1 also has a vehicle control unit 9 which is signal-technically coupled to the two UWB sensor units 7, 8 and the drive unit 3. The vehicle control unit 9 is configured to determine the position, movement, and gesture 10 of the user 6 located outside the vehicle 1. Depending on the determined gesture 10, the vehicle control unit 9 sends an opening signal to the drive unit 3 to pivot the trunk lid 2 into the open position.

[0038] The vehicle control unit 9 is also coupled via signal technology to an ultrasonic sensor 11, which serves to detect the gesture 10 of the user 6. The vehicle control unit 9 is configured to cause the ultrasonic sensor 11 to detect the gesture 10 of the user 6, at least depending on the detected position or movement of the user 6. The vehicle control unit 9 thus determines the activity of the ultrasonic sensor 11.

[0039] The vehicle control unit 9 has an evaluation unit 15, which includes, among other things, a computer unit that uses machine learning to determine the gesture 10 from the sensor signals of the ultrasonic sensor 11. In this case, gesture 10 is a kicking gesture by the user 6, which he performs with an unlabeled foot. This allows the user 6 to initiate the opening of the trunk of the vehicle 1 without having to perform any manual action.

[0040] Furthermore, the vehicle control unit 9 is configured to initiate the detection of the gesture 10 by means of the ultrasonic sensor 11, depending on whether the distance between the user 6 and the trunk lid 2 is less than a predefined reference distance of approximately 1 m. The distance of the user 6 from the trunk lid 2 can be determined using the UWB sensor units 7, 8 by the vehicle control unit 9 evaluating the corresponding sensor signals.

[0041] To improve safety, the present embodiment further provides that the user 6 carries a communication terminal 12. The communication terminal 12 has an identification number that can be queried by the UWB sensor units 7, 8. The UWB sensor units 7, 8 deliver a corresponding identification signal to the vehicle control unit 9, which compares this signal with a stored identification number. If a match is found, the identification number recorded by the communication terminal 12 is considered valid. The vehicle control unit 9 is now configured to additionally output the unlock signal depending on the validity of the identification number of the communication terminal 12.

[0042] The vehicle control unit 9 is further designed such that the method according to the invention is only carried out when the motor vehicle 1 is stationary. This functionality is therefore deactivated during normal driving operation of the motor vehicle 1.

[0043] The exemplary embodiment serves solely to illustrate the invention and is not intended to limit it. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2022 117 274 A1 [0004, 0013, 0023]

Claims

[1] Method for automatically moving a locking element (2) which is movably arranged on a motor vehicle (1) and which is moved between an open position and a closed position by means of a drive unit (3), wherein in the open position access to an interior (4) of the motor vehicle (1) is enabled, wherein at least two UWB sensor units (7, 8) are arranged in a vehicle area (5) of the motor vehicle (1) in which the locking element (2) is located, by means of which at least one position or movement of a user (6) of the motor vehicle (1) is detected outside the motor vehicle (1) in front of the vehicle area (5), wherein a gesture (10) of the user (6) located outside the motor vehicle (1) is determined by means of a vehicle control unit (9) of the motor vehicle (1), and the vehicle control unit (9) sends an opening signal to the drive unit (3) at least depending on the determined gesture (10).to move the locking element (2) into the open position, wherein the gesture (10) of the user (6) is detected by means of an ultrasonic sensor (11), at least depending on the detected position or movement of the user (6). [2] Method according to claim 1, characterized by , that at least a user's stepping gesture (6) or a user's manual opening gesture (6) is recorded as a gesture (10). [3] Method according to any one of the preceding claims, characterized by , that a communication terminal (12) of the user (6) receives a confirmation request signal from the vehicle control unit (9) before activating the drive unit. [4] Method according to claim 3, characterized by , that the opening signal is additionally issued by the vehicle control unit (9) depending on the receipt of a release signal from the communication terminal unit (12) as a reaction to the confirmation request signal. [5] Method according to any one of the preceding claims, characterized by , that the detection of the gesture (10) by means of the ultrasonic sensor (11) depends on the distance between the user (6) and the locking element (2) being less than a predetermined reference distance. [6] Method according to any one of the preceding claims, characterized by , that the detection of the gesture (10) by means of the ultrasonic sensor (11) depends on the detection of a movement of the user (6) towards the locking element (2). [7] Method according to any one of the preceding claims, characterized by , that the UWB sensor units (7, 8) are used to query the identification of a user terminal device, in particular the communication terminal device (12). [8] Method according to claim 7, characterized by , that the vehicle control (9) activates at least the ultrasonic sensor (11) to detect the gesture (10) depending on the validity of the identification. [9] Method according to any one of the preceding claims, characterized by , that the opening signal is additionally emitted by the vehicle control unit (9) depending on a valid identification of the communication terminal unit (12). [10] Method according to any one of the preceding claims, characterized by , that the procedure is carried out only while the motor vehicle (1) is stationary. [11] Vehicle control unit (9) for the automated movement of a locking element (2) which is movably arranged on a motor vehicle (1) and which can be moved between an open position and a closed position by means of a drive unit (3), wherein in the open position access to an interior (4) of the motor vehicle (1) is enabled, wherein the vehicle control unit (9) can be connected by signal technology to at least two UWB sensor units (7, 8) arranged in a vehicle area (5) of the motor vehicle (1) in which the locking element (2) is located, by means of which at least one position or movement of a user (6) of the motor vehicle (1) can be detected outside the motor vehicle (1) in front of the vehicle area (5), wherein the vehicle control unit (9) is configured to determine a gesture (10) of the user (6) located outside the motor vehicle (1),and, at least depending on the specific gesture (10), to send an opening signal to the drive unit (3) in order to move the locking element (2) into the open position, wherein the vehicle control unit (9) is commensurate with an ultrasonic sensor (11) and wherein the vehicle control unit (9) is configured to cause the ultrasonic sensor (11) to detect the gesture (10) of the user (6), at least depending on the detected position or movement of the user (6). [12] Motor vehicle (1) with a locking element (2) movably arranged on the motor vehicle (1), which can be moved between an open position and a closed position by means of a drive unit (3) of the motor vehicle (1), wherein in the open position access to an interior (4) of the motor vehicle (1) is granted, and with at least two UWB sensor units (7, 8) arranged in a vehicle area (5) of the motor vehicle (1) in which the locking element (2) is located, by means of which at least one position or movement of a user (6) of the motor vehicle (1) can be detected outside the motor vehicle (1) in front of the vehicle area (5), and with a vehicle control unit (9) coupled to the at least two UWB sensor units (7, 8) and the drive unit (3) by means of a signal, wherein the vehicle control unit (9) is configured to determine a gesture (10) of the user (6) located outside the motor vehicle (1),and, at least depending on the specific gesture (10), to send an opening signal to the drive unit (3) in order to move the locking element (2) into the open position, and with an ultrasonic sensor (11) coupled to the vehicle control unit (9) for detecting the gesture (10) of the user (6), wherein the vehicle control unit (9) is configured according to claim 11. [13] Motor vehicle according to claim 12, characterized by , that the locking element (2) is formed by at least one door, a tailgate or a trunk lid. [14] Motor vehicle according to claim 12 or 13, characterized by , that at least the ultrasonic sensor (11) is arranged in an edge area of ​​a base plate (13) of the motor vehicle (1). [15] Motor vehicle according to any one of claims 12 to 14, characterized by , that at least two of the UWB sensor units (7, 8) are spaced apart from each other over a width of the shutter element (2).

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