Method for operating a motor-driven flap assembly of a motor vehicle by means of operator gestures

Abstract

The invention relates to a method for operating a motor-driven flap assembly (1) of a motor vehicle (2) using a sensor system (6) comprising multiple radar modules (7) which are arranged on the motor vehicle (2) in a mutually spaced manner and each of which has a sensor controller (8). Respective radar sensor values relating to an operator (10) which can be found outside of the motor vehicle (2) are ascertained by each of the radar modules (7) by transmitting and receiving radar signals, wherein the radar sensor values ascertained by each radar module (7) are checked for the presence of a possible operator gesture by means of the sensor controllers (8) using specified operator gesture criteria, and a detection quality measurement is assigned to the possible operator gesture by means of the sensor controllers (8) as part of the checking process using the radar sensor values ascertained by each radar module (7). Each detection quality measurement ascertained by the sensor controllers (8) is transmitted to a control device (13) of the sensor system (6), and the possible operator gesture is qualified as a valid operator gesture or is rejected as an invalid operator gesture by means of the control device (13) according to a specified analysis rule using a synopsis of the detection quality measurement. In response to the presence of a valid operator gesture, the control device (13) triggers the control of the motor-driven flap assembly (1).

Description

[0001] - 1 -

[0002] METHOD FOR OPERATING A MOTOR-DRIVE FLAP ARRANGEMENT OF A MOTOR VEHICLE

[0003] USING OPERATOR GESTURES

[0004] The present invention relates to a method for operating a motorized flap arrangement of a motor vehicle according to claim 1, a control device for a sensor system for operating a motorized flap arrangement of a motor vehicle according to claim 11, a sensor system with such a control device according to claim 12 and a motor vehicle for carrying out the proposed method according to claim 13.

[0005] The motorized flap assembly in question is intended for adjusting a closure element of a motor vehicle using an electric drive. The term "closure element" is to be understood broadly in this context and includes, for example, a tailgate, a trunk lid, a hood, a side door, a cargo area flap, a window pane, a pop-up roof, or the like of a motor vehicle. The closure element can be pivotably and / or longitudinally displaceably mounted on the vehicle body. The following focuses on the area of ​​application of adjusting tailgates and side doors.

[0006] The known prior art (DE 10 2016 125 371 A1), on which the invention is based, relates to a method for operating a motorized flap assembly, wherein the motorized adjustment is triggered via a predetermined operator gesture. The operator gesture is, for example, a predetermined foot movement by the operator. Movements performed by an operator are detected by a radar module and evaluated by a control unit.

[0007] The sensor systems used for such applications can include radar modules based on ultra-wideband ("UWB") technology. In addition to radar operation, UWB radar modules are also configured for UWB communication with the operator's mobile device, such as an electronic key for authentication. In many cases, however, this dual function also results in limited resolution for detecting the operator's gesture. In principle, several radar modules can be provided, distributed around the perimeter of the vehicle, which, among other things, optimizes the reception and transmission range of the sensor system.

[0008] The radar modules are equipped with respective sensor controllers that evaluate the radar sensor values ​​determined by the respective radar module and, for example, detect a valid operator gesture based on predefined operator gesture criteria. If a valid operator gesture is present, the respective sensor controller reports the presence of an actuation request to the control unit, which in turn triggers the activation of the motorized flap assembly, for example, opening the tailgate.

[0009] It is a challenge to improve the reliability of the recognition of valid operator gestures, while at the same time minimizing the probability of incorrect control due to a movement that is incorrectly qualified as a valid operator gesture.

[0010] The invention is based on the problem of designing and developing the known method in such a way that further optimization is achieved with regard to the challenge mentioned.

[0011] The above problem is solved by the features of claim 1.

[0012] The invention is based on the realization that valid operator gestures are, in certain cases, executed in such a way that detection by the respective individual radar modules may be hampered due to a low triggering level. An example of this is the execution of an operator gesture between two spaced-apart radar modules with only a slight sweep over the respective detection areas.

[0013] The fundamental idea is to achieve more reliable recognition of the operator gesture by specifically combining the results provided by the individual radar modules, taking all radar modules into account. The sensor controllers of the radar modules are each expected to check predefined operator gesture criteria based on the radar sensor values ​​determined by the respective radar module. The radar modules thus each assess whether a possible operator gesture is present. The sensor controllers assign a recognition quality measure to each possible operator gesture, which is generally related to the probability that a valid operator gesture was detected.

[0014] The control unit is superordinate to the sensor controllers and preferably does not directly evaluate the respective radar sensor data. Instead, the respective detection quality measures are transmitted to the control unit and evaluated in a summary according to an evaluation rule.

[0015] Accordingly, for example, a low recognition quality for a gesture that is detected by multiple radar modules can lead to a successful triggering of the motorized adjustment, for example, if the operator gesture is performed between two spaced-apart radar modules. However, since the requirements in the operator gesture criteria to be checked by the individual sensor controllers do not necessarily need to be reduced, the probability of false triggering can still be reduced.

[0016] Particularly preferred are also the embodiments according to claims 2 to 5, according to which the sensor controllers assign respective operator gesture parameters derived from the radar sensor values ​​to the possible operator gesture and take them into account in the evaluation specification. Accordingly, further characteristics of the detected, possible operator gesture can be incorporated into the evaluation via a synopsis.

[0017] The embodiment according to claim 3 specifies a temporal aspect of the possible operator gesture, such as a duration, as an operator gesture parameter, whereby a valid operator gesture can be particularly reliably validated by multiple radar modules. In the embodiment according to claim 4, a speed value, which can be derived, for example, from Doppler information of the radar sensor values, is specified as an operator gesture parameter. The speed value, in turn, serves as a characteristic feature of the operator gesture and, in particular, improves security against false triggering.

[0018] Claim 5 also specifies refinements of the operator gesture parameter that relate to the position of the operator gesture and, in particular, radar targets associated with the operator gesture. This also allows the advantages of using radar for gesture recognition to be utilized in a targeted manner.

[0019] The further preferred embodiment of claim 6 relates to the use of the radar modules for UWB communication with a mobile device, for example an electronic key, which can be used here in addition to authentication to further improve gesture recognition.

[0020] Particularly interesting is the embodiment according to claim 7, according to which the radar modules are also used to detect operator approach. For example, operator approach criteria are specified for this purpose, which represent the probability of the operator deliberately approaching the flap assembly with a desire to actuate it. By combining the recognition quality measures with the detected operator approach, gesture recognition can be further optimized. For example, a low recognition quality measure determined by one or more radar modules may be sufficient for triggering if another radar module has detected such an operator approach with a high probability.

[0021] Advantageous embodiments with regard to the evaluation rule and its preparation are specified in claims 8 and 9.

[0022] The proposed method requires a comparatively small amount of data to be exchanged between the sensor controllers and the control unit. Accordingly, the motor vehicle's communications network, a LIN bus or CAN bus in the embodiments according to claim 10, is only minimally loaded. According to a further teaching according to claim 11, which has independent significance, a control unit for a sensor system for operating a motorized flap assembly of a motor vehicle is claimed.The control unit is configured to receive respective recognition quality measures from several radar modules of the sensor system for a possible operator gesture detected by the radar modules based on radar sensor values. The control unit, according to a predefined evaluation rule and based on a synopsis of the recognition quality measures, qualifies the possible operator gesture as a valid operator gesture or rejects it as an invalid operator gesture. Upon detection of a valid operator gesture, the control unit initiates activation of the motorized flap assembly. Reference is made to all explanations of the proposed method.

[0023] According to a further teaching according to claim 12, which also has independent significance, a sensor arrangement for a motorized flap arrangement of a motor vehicle is claimed. The sensor system has a plurality of radar modules which are arranged at a distance from one another on the motor vehicle and have respective sensor controllers, wherein the radar modules determine respective radar sensor values ​​relating to an operator located outside the motor vehicle by transmitting and receiving radar signals. The sensor controllers check the radar sensor values ​​determined by the respective radar module for the presence of a possible operator gesture based on predetermined operator gesture criteria. The sensor controllers, as part of the check, assign a recognition quality measure to the possible operator gesture based on the radar sensor values ​​determined by the respective radar module.

[0024] The sensor system also includes a proposed control unit. Reference may be made to all statements regarding the proposed method and the proposed control unit.

[0025] According to a further teaching according to claim 13, which also has independent significance, a motor vehicle for implementing the proposed method is claimed. Reference is made to all statements regarding the proposed method, control unit, and sensor system.

[0026] In the following, the invention is explained in more detail with reference to a drawing which merely illustrates exemplary embodiments. In the drawing,

[0027] Fig. 1 is a perspective view of a rear area of ​​a motor vehicle for carrying out the proposed method with a proposed sensor arrangement,

[0028] Fig. 2 a) to d) various examples of a possible operator gesture in a plan view of the rear area of ​​the motor vehicle from Fig. 1 and

[0029] Fig. 3 is a flowchart of the proposed method.

[0030] The proposed method relates to the operation of a motorized flap assembly 1 of a motor vehicle 2. In the illustrated and, in this respect, preferred embodiment, the flap assembly 1 is provided for transferring the closure element of the flap assembly 1 from a closed position to an open position. A transfer from an open position to a closed position can also be provided. Here, and preferably, drives 3 of a drive assembly 4 are provided, designed as spindle drives, and are arranged on opposite sides of the closure element.

[0031] In principle, other motorized adjustment functions of the flap assembly 1 can also be provided, for example, unlocking and / or opening a motor vehicle lock associated with the closure element. For possible configurations of the closure element, reference is made to the introductory explanations, with the closure element being illustrated as a tailgate 5 by way of example in Figs. 1 and 2.

[0032] A sensor system 6 with multiple radar modules 7 is provided, which is used within the context of gesture recognition to trigger the motorized adjustment of the flap assembly 1. The radar modules 7 are arranged at a distance on the motor vehicle 2, whereby the sensor system 6 can access multiple, spatially distributed radar modules 7 during operation. The spaced arrangement allows an extended detection and transmission range of the sensor system 6 to be covered. Furthermore, the spaced arrangement of the radar modules 7 can be used for improved positioning, for example, within the context of triangulation or taking into account the redundancy of the radar modules 7.

[0033] The radar modules 7 are preferably configured as UWB modules for operation with UWB technology and in particular for communication in the frequency range from 3.1 GHz to 10.6 GHz. The UWB signals are preferably pulses with a bandwidth of at least 500 MHz, more preferably with a duration in the order of nanoseconds. The radar modules 7 have respective sensor controllers 8, wherein the radar modules 7 are particularly preferably configured as integrated modules with an antenna arrangement and the sensor controller 8, configured, for example, as a microcontroller, in a single unit.

[0034] Fig. 3 shows an exemplary flowchart of the proposed method. In action 9, the radar modules 7 transmit and receive radar signals to determine respective radar sensor values ​​relating to an operator 10 located outside the motor vehicle 2. Action 9 here comprises several sub-actions 9i, 92, ..., 9n executed by the respective radar modules 7, which can be performed simultaneously and / or at different times.

[0035] The radar sensor values ​​are indicative of distance information of at least one body part of the operator 10 from the respective radar module 7. In particular, the radar sensor values ​​are also indicative of directional information and, more preferably, speed information of the operator 10. Preferably, the radar modules 7 are each equipped with an antenna arrangement comprising antennas arranged at a predetermined angular position relative to one another, preferably precisely two antennas, in order to enable angular resolution of the radar signals. The sensor controller 8 controls the respective antenna arrangement to transmit the radar signals. Received radar signals are evaluated by the sensor controller 8, and based on these, the radar sensor values ​​are determined by the sensor controller 8.

[0036] In action 11, here with the sub-actions 111, 112, 11n, the radar sensor values ​​determined by the respective radar module 7 are checked for the presence of a possible operator gesture using predefined operator gesture criteria by means of the sensor controllers 8. The operator gesture criteria can relate to predetermined characteristics of the operator gesture to be performed, for example the position, speed, acceleration of a body part or the like. The detected radar sensor values ​​can be checked for compliance with the predefined characteristics and respective degrees of similarity can be determined, which are indicative of the extent to which the radar sensor values ​​are representative of an operator gesture with the respective characteristic. The degrees of similarity of the individual characteristics could be combined to form an overall degree of similarity, for example using predefined functional relationships such as coefficients or the like.

[0037] In action 12, here with the sub-actions 12i, 122, ... , 12 n , a recognition quality measure is assigned to the possible operator gesture by means of the sensor controls 8 as part of the testing of the operator gesture criteria based on the radar sensor values ​​determined by the respective radar module 7. The recognition quality measure is generally representative of the probability with which pi , p2, ..., p n a valid operator gesture was detected by the individual radar module 7. In a simple embodiment, the recognition quality measure can relate to the overall similarity level already mentioned. Likewise, the recognition quality measure can be determined by multiple values, for example, by the similarity levels of several of the tested characteristics.

[0038] By checking the operator gesture criteria and assigning the recognition quality measure by the respective sensor control 8, the direct evaluation of the radar sensor values ​​is implemented by the respective radar modules 7 themselves.

[0039] For further evaluation and consolidation of the gesture recognition performed by the radar modules 7, a control unit 13 of the sensor system 6 is provided, which here and preferably is superordinate to the sensor controllers 8. In action 14, the respective recognition quality measures determined by the sensor controllers 8 are transmitted to the control unit 13 of the sensor system 6, wherein here and preferably a communication network 15 of the motor vehicle 2, to be explained later, is used for transmission.

[0040] In action 16, the control unit 13 uses a predefined evaluation rule based on a synopsis of the recognition quality measures to qualify the possible operator gesture as a valid operator gesture or reject it as an invalid operator gesture. The evaluation rule is a (calculation) rule regarding how the individual recognition quality measures and preferably additional information transmitted by the sensor controllers 8 of the radar modules 7 can be used to assess whether a valid operator gesture is present or not. A "synopsis" of the recognition quality measures means that several of the transmitted recognition quality measures from individual radar sensor modules are used and correlated to check for the presence of a valid operator gesture.

[0041] It cannot be ruled out that in individual cases, a single, preferably sufficiently high, recognition quality measure may be sufficient to qualify as a valid operator gesture. An example of this is shown in Fig. 2a), where the operator 10 performs an operator gesture in an optimal area and / or in an optimal orientation for detection by one of the radar modules 7. In this case, the recognition quality measure assigned to the possible operator gesture by the sensor controller 8 of the respective radar module 7 may already be sufficiently high. In such a case, a single radar module 7 may thus be sufficient for reliable gesture recognition.

[0042] In Fig. 2b), however, an example situation is shown in which the operator 10 performs the operator gesture between two radar modules 7 and thus in an edge region of the detection range of the radar modules 7. This can result in the operator gesture being detected by both radar modules 7, but the corresponding radar sensor values ​​being available only with a comparatively low resolution. Likewise, for example, in the case of an operator gesture defined as a back and forth movement, one radar module 7 can predominantly detect an outward movement, while the back movement is predominantly detected by another radar module 7. Accordingly, the operator gesture can then only partially be recorded in the radar sensor values ​​by individual radar modules 7. In the situation shown in Fig. 2b), this results in a comparatively low detection quality measure for both radar modules 7, which is transmitted to the control unit 13.

[0043] However, by combining the recognition quality measures, the executed operator gesture can be correctly qualified as a valid operator gesture. The evaluation rule can accordingly take into account circumstances such as the fact that a gesture recognition was just performed by neighboring radar modules 7.

[0044] In action 16, the control unit 13 initiates activation of the motorized flap assembly 1 upon the presence of a valid operator gesture. Here, and preferably, the sensor assembly transmits detection information to a door control unit 17 external to the sensor assembly. The door control unit 17 can, for example, initiate motorized adjustment depending on further conditions, such as the locked state of the motor vehicle 2 or the detection of an electronic key. Likewise, in deviation from Fig. 1, the control unit 13 can be integrated into a door control unit 17 and, for example, take over the activation of the motorized flap assembly 1 itself.

[0045] Furthermore, it is preferably provided here that by means of the sensor controls 8 at least one operator gesture parameter is derived from the radar sensor values ​​of the possible operator gesture determined by the respective radar module 7 and the operator gesture parameter is assigned to the possible operator gesture, that the recognition quality measures are transmitted to the control unit 13 with the assigned operator gesture parameters, and that the evaluation rule is dependent on the assigned operator gesture parameters.

[0046] The operator gesture parameter is derived from the radar sensor values ​​and consequently results from the sensory detection of the operator 10 using the radar signals. The operator gesture parameter refers to a sensor-determinable variable that is related to the possible operator gesture and is suitable for further characterizing the possible operator gesture. In addition to the aforementioned recognition quality measure, the at least one operator gesture parameter is determined by the sensor controllers 8 and in turn transmitted to the control unit 13. The fact that the evaluation rule depends on the assigned operator gesture parameters means that the result of the qualification as a valid or invalid operator gesture can be influenced by different values ​​of the operator gesture parameters.

[0047] In a preferred embodiment, it is provided that at least one operator gesture parameter has a temporal aspect ti , t2, ..., t n the possible operator gesture, preferably a time duration, a start time and / or an end time of the possible operator gesture.

[0048] The evaluation specification can accordingly map a comparison of the temporal aspects ti, t2, ..., tn, for example, the duration, detected by the respective radar modules 7. If, for example, the durations match within a specified accuracy, a valid operator gesture can be more likely. By comparing temporal aspects, false triggering due to other movements detected by the radar modules 7 can also be avoided.

[0049] To determine the temporal aspect, preferably the duration, the start time, and / or the end time, predefined criteria can be used by means of the sensor controller 8. For example, the start time and end time are determined based on the speed values ​​of the operator gesture, for example, via threshold values ​​or the like. The duration can result from the time difference between the start times and end times determined in this way.

[0050] Furthermore, it is preferably provided that at least one operator gesture parameter has a speed value vi , V2, ..., v n , in particular a maximum speed, average speed and / or an acceleration value relating to possible operator gestures. The evaluation specification may also include a comparison of the speed values ​​vi, V2, v recorded by the respective radar modules 7. n The speed values ​​vi , V2, v nare preferably determined from Doppler information of the radar signals. An example of an evaluation rule dependent on the speed values ​​vi , V2, ..., Vn is that for a possible operator gesture with higher speed values ​​vi , V2, ..., v n lower requirements are placed on the synopsis of the recognition quality measures than for a possible operator gesture with low speed values ​​vi , V2, ..., Vn.

[0051] Furthermore, it is preferably provided that at least one operator gesture parameter has a geometric aspect xi , X2, ..., x n the possible operator gesture, in particular a position of the possible operator gesture relative to the motor vehicle 2.

[0052] The position can be provided as distance information and / or angle information between the possible operator gesture and the respective radar module 7. Taking the position into account is particularly advantageous when a possible operator gesture is detected by two or more neighboring radar modules 7, as also shown in Fig. 2b). In particular, comparing the positions can allow a conclusion to be drawn as to whether the low detection quality measures are due to the same movement detected by different radar modules 7.

[0053] By means of the respective sensor control 8, an association of radar targets with the possible operator gesture can be carried out on the basis of the radar sensor values, wherein at least one operator gesture parameter relates to the position, the number, the spatial distribution and / or a radar signal strength of the radar targets.

[0054] Preferably, a time-dependent association of the radar sensor values ​​with the operator 10 is performed in a target tracking routine using the sensor controllers 8. The radar targets are identified in the radar sensor values, in particular based on the intensity of the reflected radar signals and preferably based on whether a predetermined intensity threshold is exceeded. Individual radar targets are associated with the operator 10 in the target tracking routine, with the movement pattern of these radar targets being determined, in particular, in a chronological sequence of radar sensor values. The movement pattern of the radar targets can be used to check the operator gesture criteria.

[0055] The at least one operator gesture parameter can contain further information regarding such radar targets. The position, in turn, can refer to distance information and / or angle information from the respective radar module 7 to the radar target. In particular, several radar targets detected in the sensor values ​​are combined into a cluster target according to a cluster model and associated with the body part, wherein the operator gesture parameter can specify the number of combined radar targets. The spatial distribution can refer to the area spanned by the radar targets, the spanned volume, and / or the shape specified by the radar targets. The radar signal strength is determined in particular by the intensity of the reflected radar signals.

[0056] Furthermore, it is preferably provided here that UWB communication with a mobile device 18 of the operator 10 is carried out using at least one of the radar modules 7. The mobile device 18 can be configured, for example, as an electronic key, mobile phone, PDA, wearable, or the like. The mobile device 18 is configured for UWB communication with at least one of the radar modules 7, wherein, in addition to authenticating the operator 10, location can also be determined using the UWB communication.

[0057] It is particularly preferred that, by means of the sensor control 8 of the at least one radar module 7, which carries out the UWB communication, time information and / or position information regarding the mobile device 18 is determined and transmitted to the control unit 13. The evaluation rule can be dependent on the time information and / or position information.

[0058] The time information is provided, for example, by the time at which the UWB communication is established, such as the (first) time of successful authentication. The time difference between the authentication and a temporal aspect of the possible operator gesture can serve as a criterion for distinguishing between a valid and an invalid operator gesture. Position information, in turn, can be understood as distance information and / or angle information between the radar module 7 and the mobile device 18, which can also be used in addition to the recognition quality measures and, in particular, the operator gesture parameters.

[0059] Preferably, it is provided that at least one additional radar module 7 is activated when the UWB communication is established. Such waking of the additional radar modules 7 can be performed in particular by means of the control unit 13.

[0060] Furthermore, it is preferably provided here that the radar sensor values ​​determined by the respective radar module 7 are checked for the presence of a possible operator approach to the flap arrangement 1 using predetermined operator approach criteria by means of the sensor controls 8, and the presence of the possible operator approach is transmitted to the control unit 13, and that the evaluation rule is dependent on the presence of the possible operator approach.

[0061] The operator approach criteria can generally represent operator actions prior to the execution of the operator gesture and, in particular, a movement pattern directed toward the tailgate assembly 1 and traversed by the operator 10. An exemplary prior operator action is shown in Fig. 2c), wherein the operator 10 approaches the tailgate 5 in an approaching movement around the motor vehicle 2 and then executes an operator gesture. In this example, at least one of the radar modules 7 assigns only a low recognition quality measure to the possible operator gesture, for example, because the operator gesture is detected at the edge of the detection range with low resolution.

[0062] However, the upstream operator action can be detected via additional radar modules 7 and classified as a probable operator approach with an intention to actuate based on the operator approach criteria. For example, the requirements for qualification as a valid operator gesture for the recognition quality measures are then reduced. Likewise, the detection of upstream operator actions can be used to prevent false triggering. For example, if the operator 10 performs an operator action that, as shown in Fig. 2d), is more like walking past the motor vehicle 2, the examination of the operator approach criteria can reveal a low probability of an intention to actuate. Accordingly, the requirements for qualification as a valid operator gesture for the recognition quality measure are increased so that operator actions such as a walking movement of the operator 10 are not incorrectly qualified as a valid operator gesture.

[0063] The detected operator approach—like the possible operator gesture—can be assigned a recognition quality measure and, in particular, operator approach parameters analogous to the explained operator gesture parameters and transmitted to the control unit 13. The evaluation rule further depends on the recognition quality measure and, in particular, the operator approach parameters. The above statements regarding the synopsis of the characteristics of the operator gesture also apply accordingly to the operator approach.

[0064] The evaluation rule can be designed and generated in different ways. In a preferred embodiment, the evaluation rule is based on a trained machine learning model.

[0065] The trained machine learning model can preferably be trained in a training routine. A training data set can be created by simulating various operator actions—including valid and invalid operator gestures—on a sensor system 6, which is then annotated accordingly. In the training routine, a predefined machine learning model is trained using the training data set, and the trained machine learning model is stored in the control unit 13.

[0066] Particularly preferably, the training data set is generated with multiple operator gesture parameters, whereby different sets of operator gesture parameters can be used multiple times in the training routine. Based on the reliability of gesture recognition in the training routine, it can be determined which set of operator gesture parameters is optimal for the given sensor system 6.

[0067] Furthermore, it is preferably provided that the evaluation rule is based on fuzzy logic. In this case, fuzzy logic is particularly suitable for linking recognition quality measures available as "fuzzy sets." In particular, fuzzy logic can be used to establish rules for how individual probabilities from the recognition quality measures can be combined into an overall probability. The fuzzy logic can be created at least partially empirically.

[0068] The sensor controls 8 and the control unit 13 communicate via a, in particular wired, communication network 15 of the motor vehicle 2. It is preferably provided that the sensor controls 8 communicate with the control unit 13, in particular for transmitting the recognition quality measures, via a LIN bus or a CAN bus of the motor vehicle 2.

[0069] In particular, the proposed method requires only a small amount of data to be transmitted via the communication network 15, so that a LIN bus or CAN bus is subject to minimal load. In particular, the transmission of raw data such as sets of radar sensor values ​​to the control unit 13 can be dispensed with.

[0070] In a preferred embodiment, the data transmitted via the communication network 15 for the purpose of gesture recognition are limited to the recognition metrics, the operator gesture parameters and optionally to information on the possible operator approach.

[0071] According to a further teaching, a control unit 13 for a sensor system 6 for operating a motorized flap assembly 1 of a motor vehicle 2 is proposed, wherein the control unit 13 is configured to receive respective recognition quality measures from a plurality of radar modules 7 of the sensor system 6 for a possible operator gesture detected by the radar modules 7 on the basis of radar sensor values, wherein the control unit 13, in accordance with a predetermined evaluation rule and based on a synopsis of the recognition quality measures, qualifies the possible operator gesture as a valid operator gesture or rejects it as an invalid operator gesture, and wherein the control unit 13, upon the presence of a valid operator gesture, initiates control of the motorized flap assembly 1. Reference may be made to all explanations of the proposed method.

[0072] According to a further teaching, a sensor arrangement for a motorized flap arrangement 1 of a motor vehicle 2 is proposed, the sensor system 6 comprising a plurality of radar modules 7 which are arranged at a distance from one another on the motor vehicle 2 and have respective sensor controllers 8, wherein the radar modules 7 determine respective radar sensor values ​​with respect to an operator 10 located outside the motor vehicle 2 by transmitting and receiving radar signals, wherein the sensor controllers 8 check the radar sensor values ​​determined by the respective radar module 7 for the presence of a possible operator gesture based on predetermined operator gesture criteria, and wherein the sensor controllers 8, as part of the test, assign a recognition quality measure to the possible operator gesture based on the radar sensor values ​​determined by the respective radar module 7, the sensor system 6 comprising a proposed control unit 13.Reference may be made to all statements relating to the proposed method and the proposed control unit 13.

[0073] According to a further teaching, a motor vehicle 2 is proposed for implementing the proposed method. Reference is also made to all explanations regarding the proposed method, control unit 13, and the proposed sensor system 6.

Claims

Patent claims 1. Method for operating a motorized flap arrangement (1) of a motor vehicle (2), using a sensor system (6) with a plurality of radar modules (7), which are arranged at a distance from one another on the motor vehicle (2) and have respective sensor controls (8), wherein by means of the radar modules (7) respective radar sensor values ​​relating to an operator (10) located outside the motor vehicle (2) are determined by means of transmitting and receiving radar signals, wherein by means of the sensor controls (8) the radar sensor values ​​determined by the respective radar module (7) are checked for the presence of a possible operator gesture on the basis of predetermined operator gesture criteria, wherein by means of the sensor controls (8) a recognition quality measure is assigned to the possible operator gesture as part of the check on the basis of the radar sensor values ​​determined by the respective radar module (7), wherein therespective recognition quality measures are transmitted to a control unit (13) of the sensor system (6), wherein the possible operator gesture is qualified as a valid operator gesture or rejected as an invalid operator gesture by means of the control unit (13) according to a predetermined evaluation rule based on a synopsis of the recognition quality measures, and wherein the control unit (13) initiates activation of the motorized flap arrangement (1) upon the presence of a valid operator gesture.

2. Method according to claim 1, characterized in that by means of the sensor controls (8) at least one operator gesture parameter is derived from the radar sensor values ​​of the possible operator gesture determined by the respective radar module (7) and the operator gesture parameter is assigned to the possible operator gesture, that the recognition quality measures are transmitted to the control unit (13) with the assigned operator gesture parameters, and that the evaluation rule is dependent on the assigned operator gesture parameters.

3. Method according to claim 2, characterized in that at least one operator gesture parameter represents a temporal aspect of the possible operator gestures. ste, preferably a time duration, a start time and / or an end time of the possible operator gesture.

4. Method according to one of claims 2 or 3, characterized in that at least one operator gesture parameter relates to a speed value, in particular a maximum speed, average speed and / or an acceleration value, of the possible operator gesture.

5. Method according to one of claims 2 to 4, characterized in that at least one operator gesture parameter relates to a geometric aspect of the possible operator gesture, in particular a position of the possible operator gesture relative to the motor vehicle (2), preferably that an association of radar targets with the possible operator gesture is carried out by means of the respective sensor control (8) on the basis of the radar sensor values ​​and that at least one operator gesture parameter relates to the position, the number, the spatial distribution and / or a radar signal strength of the radar targets.

6. Method according to one of the preceding claims, characterized in that by means of at least one of the radar modules (7) a UWB communication with a mobile device (18) of the operator (10) is carried out, that by means of the sensor control (8) of the at least one radar module (7) a time information and / or position information with regard to the mobile device (18) is determined and transmitted to the control device (13), and that the evaluation rule is dependent on the time information and / or position information, preferably that when the UWB communication is established at least one further one of the radar modules (7) is activated.

7. Method according to one of the preceding claims, characterized in that by means of the sensor controls (8) the radar sensor values ​​determined by the respective radar module (7) are checked for the presence of a possible operator approach to the flap arrangement (1) on the basis of predetermined operator approach criteria and the presence of the possible operator approach is transmitted to the control unit (13), and that the evaluation rule is dependent on the presence of the possible operator approach.

8. Method according to one of the preceding claims, characterized in that the evaluation rule is based on a trained machine learning model.

9. Method according to one of the preceding claims, characterized in that the evaluation rule is based on fuzzy logic.

10. Method according to one of the preceding claims, characterized in that the sensor controls (8) communicate with the control unit (13), in particular for transmitting the recognition quality measures, via a LIN bus or a CAN bus of the motor vehicle (2).

11. Control unit for a sensor system (6) for operating a motorized flap arrangement (1) of a motor vehicle (2), wherein the control unit (13) is configured to receive respective recognition quality measures for a possible operator gesture detected by means of the radar modules (7) on the basis of radar sensor values ​​from a plurality of radar modules (7) of the sensor system (6), wherein the control unit (13) qualifies the possible operator gesture as a valid operator gesture or rejects it as an invalid operator gesture according to a predetermined evaluation rule based on a synopsis of the recognition quality measures, and wherein the control unit (13) causes the motorized flap arrangement (1) to be activated upon the presence of a valid operator gesture.

12. A sensor arrangement for a motorized flap arrangement (1) of a motor vehicle (2), the sensor system (6) comprising a plurality of radar modules (7) which are arranged at a distance from one another on the motor vehicle (2) and have respective sensor controllers (8), wherein the radar modules (7) determine respective radar sensor values ​​relating to an operator (10) located outside the motor vehicle (2) by transmitting and receiving radar signals, wherein the sensor controllers (8) check the radar sensor values ​​determined by the respective radar module (7) for the presence of a possible operator gesture based on predetermined operator gesture criteria, and wherein the sensor controllers (8) assign a recognition quality measure to the possible operator gesture as part of the check based on the radar sensor values ​​determined by the respective radar module (7), the sensor system (6) comprising a control unit (13) according to claim 11.

13. Motor vehicle for carrying out the method according to one of claims 1 to 10.

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