Method and device for controlling a motorized vehicle flap

Abstract

The present invention relates to a method and device for controlling a motorized flap (6) of a vehicle (2). The method comprises: receiving an opening command (CM1) requiring the opening (MV1) of the motorized flap (6); detecting the position of an external control device (DV1) relative to the motorized flap (6); analyzing, by means of a radar sensor (16), a detection zone (Z3) near the motorized flap (6), in which a masking zone (Z2) containing said position is excluded from the detection zone (Z3) used for said analysis; and controlling the motorized flap (6) including, if an obstacle (OB) likely to collide with the motorized flap (6) when opened is detected in the detection zone (Z3), blocking or suspending the opening (MV1) of the motorized flap (6). Figure for the abstract: Figure 1

Description

Title of the invention: Method and device for controlling a motorized vehicle flap technical field

[0001] The present invention relates to a method and device for controlling a vehicle flap, particularly, but not exclusively, for a motor vehicle. The invention specifically aims to control the opening of a vehicle flap (for example, a tailgate or trunk lid) when a user is present near the vehicle. Technological background

[0002] It is increasingly common to equip motor vehicles with a motorized tailgate that can be opened using an automatic opening function. This automatic opening can be activated in various ways depending on the application, for example, manually using an opening button located on the vehicle, or remotely by means of a gesture performed by the user near the vehicle (the "arms-in-the-middle" function) or via a remote control, key fob, or other device. Remote control allows the user to trigger the opening of the tailgate without having to physically touch the vehicle.

[0003] Such a rear flap is for example a trunk tailgate or a trunk flap generally mounted pivoting around a horizontal axis, or a trunk door generally mounted pivoting around a vertical axis.

[0004] As is known, when implementing such an automatic opening function, motorized rear flaps are generally protected against impacts by protective devices including, in particular, a radar-type obstacle detector. This detector is positioned within the flap and coupled to the flap's motorization mechanism. Obstacle detection is then used during the flap's movement. Thus, if no obstacle is detected nearby by the radar sensor, the rear flap can be unlocked and the opening movement initiated. If, on the other hand, an obstacle is detected, the opening movement is blocked or suspended.

[0005] These "rear flap anti-collision" type protection devices make it possible to avoid collisions with surrounding obstacles when the opening of a motorized vehicle flap is triggered, manually or remotely.

[0006] Despite their relative effectiveness, these motorized shutter protection devices have limitations and can lead to counterproductive or inconvenient use cases, particularly when a vehicle user is near the motorized shutter. Summary of the present invention

[0007] It has been observed that a protective device such as the one previously mentioned is not always capable of effectively controlling a motorized vehicle shutter in all usage situations, particularly when a user initiating the opening of such a shutter is located near the shutter. Thus, when the requesting user is very close to the shutter when the opening command is given, the protective device may detect the user as an obstacle likely to collide with the shutter, which can lead to the shutter being blocked or suspended from opening. However, the user requesting the opening may wish to open the motorized shutter even if they are positioned near the shutter, since the requesting user is generally able to anticipate the opening movement of the shutter and therefore avoid hitting it.

[0008] The detection of the user requesting the opening command as an obstacle can therefore lead to undesirable situations of inconvenience or blockage, which prevent or disrupt the opening of a motorized vehicle flap, such as a rear flap for example.

[0009] One of the objects of the present invention is to solve at least one of the problems or deficiencies of the technological background described above.

[0010] Another object of the invention is to allow effective and secure control of a motorized vehicle flap, for example of the rear flap type or other, when an opening command is detected and regardless of the position of the user requesting the opening.

[0011] Another object of the present invention is to allow the efficient and secure opening of a motorized vehicle flap, regardless of the position of the user requesting the opening, including when the requesting user is in close proximity to said flap.

[0012] According to a first aspect, the present invention relates to a method for controlling a motorized flap of a vehicle, said method being implemented by a control device, said method comprising: - receipt of an opening command requiring the motorized shutter to be opened; - detection of the position of an external control device relative to the motorized shutter; - analysis, using a radar sensor, of a detection zone near the motorized shutter, in which a masking zone containing said position is excluded from the detection zone used for said analysis; and - control of the motorized shutter including, if an obstacle likely to collide with the motorized shutter in case of opening is detected in the detection zone, blocking or suspending the opening of the motorized shutter.

[0013] According to a particular example, the motorized flap is a rear flap of the vehicle. Such a rear flap is, for example, a trunk lid or a trunk lid, or even a trunk door.

[0014] The present invention advantageously allows for the efficient and secure control of a motorized vehicle shutter, such as a rear hatch or other type of shutter, when a user commands the opening of the shutter, regardless of the user's position relative to the rear hatch. Indeed, the motorized shutter can be opened by the user in various ways, depending on the situation, for example, manually using an opening button with which the vehicle is equipped, or remotely by means of a gesture performed by the user near the vehicle (the "arms-in-the-wall" function) or via a remote control, key fob, or other device. The user may therefore be more or less close to the motorized shutter when commanding its opening.If the user is too close to the motorized shutter, they risk being detected as an obstacle and thus hindering or even preventing the automatic opening of the motorized shutter, which may be contrary to the user's intention of opening the motorized shutter.

[0015] Thanks to the invention, a motorized vehicle hatch can be opened efficiently and safely, regardless of the position of the user requesting the opening, including when that user is near the hatch (close to or within the hatch's opening area). The user is not detected as an obstacle likely to collide with the motorized hatch during opening, thus allowing the hatch to open despite the user's presence nearby. However, an obstacle other than the user requesting the opening may still be detected in the motorized hatch's opening environment, leading to the opening being blocked or suspended to prevent a potential collision and thus secure the hatch.The motorized shutter protection system is thus adapted to protect the motorized shutter in case of opening while avoiding undesirable blocking or obstruction situations related to the user's proximity to the motorized shutter.

[0016] The invention therefore makes it possible to avoid undesirable situations of inconvenience or blockage, which prevent or disrupt the opening of a motorized vehicle shutter, while maintaining the safety of the motorized shutter.

[0017] The method according to the invention may include other features which may be taken separately or in combination, in particular among the following embodiments.

[0018] According to a particular embodiment, the detection of the position of the external control device comprises: - reception, by means of a plurality of detection antennas mounted in the vehicle, authentication signals received from the external control device; and - determination of the position of the external control device from the authentication signals received.

[0019] According to a particular embodiment, the process comprises: - authentication of the external control device using authentication data contained in the authentication signals; and - rejection of the opening command if the authentication of the external control device fails.

[0020] According to a particular embodiment, an object is detected as an obstacle likely to collide with the motorized shutter if said object is positioned in the detection zone at a distance less than or equal to a threshold distance from the motorized shutter.

[0021] According to a particular embodiment, the process comprises: - upon detection that the position of the external control device is located at a distance less than the threshold distance from the motorized shutter, determination of the masking zone according to the position of the external control device.

[0022] According to a particular embodiment, the analysis comprises: - obtaining radar data generated by scanning in a radar emission cone using the radar sensor; - definition of the detection zone based on the radar emission cone, excluding the masking zone; and - analysis of radar data to determine if said obstacle is detected in said defined detection zone.

[0023] According to a particular embodiment, the analysis is carried out continuously during the opening of the motorized shutter.

[0024] According to a second aspect, the present invention relates to a control device for a motorized flap of a vehicle, for example a rear flap or other, the device comprising a memory associated with a processor configured for the implementation of the steps of the control process according to the first aspect of the present invention.

[0025] It should be noted that the various embodiments mentioned above in relation to the control method according to the first aspect of the invention and the associated advantages apply in a similar way to the control device according to the second aspect of the invention.

[0026] According to a third aspect, the present invention relates to a vehicle, for example of the automobile type or of the land motor vehicle type, comprising a control device according to the second aspect of the present invention.

[0027] According to a fourth aspect, the present invention relates to a program a computer program containing instructions adapted for executing the steps of the control process according to the first aspect of the present invention, particularly when the computer program is executed by at least one processor. In other words, the various steps of the detection process are determined by computer program instructions. This computer program is configured to be implemented in a control device of the second aspect of the invention, or more generally in a computer.

[0028] Such a computer program may use any programming language, and be in the form of source code, object code, or an intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0029] According to a fifth aspect, the present invention relates to a recording medium (or information medium), readable by the detection device according to the second aspect or more generally by a computer (or a processor), on which is recorded a computer program comprising instructions for the execution of the steps of the control process according to the first aspect of the present invention.

[0030] On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium can include a storage means, such as a ROM, a CD-ROM or a microelectronic circuit-type ROM, or a magnetic recording means or a hard disk drive.

[0031] On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be transmitted via an electrical or optical cable, by conventional or radio frequency, by self-directing laser beam, or by other means. The computer program according to the present invention can, in particular, be downloaded from an Internet-type network.

[0032] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the process in question. Brief description of the figures

[0033] Other features and advantages of the present invention will become apparent from the description of the particular and non-limiting embodiments of the present invention below, with reference to the attached Figures 1 to 5, in which:

[0034] [Fig.1] schematically illustrates a vehicle comprising a motorized flap and a control device, according to at least one particular and non-limiting embodiment of the present invention;

[0035] [Fig.2] schematically illustrates the vehicle of [Fig.1], according to at least one example of particular and non-limiting implementation of the present invention;

[0036] [Fig.3] schematically illustrates the vehicle of [Fig.1], according to at least one example of particular and non-limiting implementation of the present invention;

[0037] [Fig.4] schematically illustrates the control device shown in figures 1-3, according to at least one particular, non-limiting embodiment of the present invention; and

[0038] [Fig. 5] illustrates a diagram of different stages of a control process for a motorized vehicle flap such as for the vehicle shown in Figures 1-3, according to at least one particular and non-limiting embodiment of the present invention. Description of embodiments

[0039] A method for controlling and a control device for a motorized vehicle flap will now be described in the following with joint reference to Figures 1-5. Unless otherwise indicated, elements common or similar to several figures bear the same reference symbols and have identical or similar characteristics, so that these common elements are generally not described again for the sake of simplicity.

[0040] The terms "first(s)" (or first(s)), "second(s)", etc.) are used in this document by arbitrary convention to allow identification and distinction of different elements (such as operations, means, etc.) implemented in the embodiments described below.

[0041] As previously stated, the invention relates in particular to a method for controlling a motorized flap on a vehicle. Although embodiments are described below in the context of controlling a rear vehicle flap, it should be noted that the invention applies more generally to the control of any motorized vehicle flap, rear or otherwise. This could be, for example, a tailgate or a trunk lid. This trunk lid could optionally take the form of a trunk door.

[0042] A shutter is said to be motorized insofar as it is equipped with drive means enabling it to open (and possibly close) automatically. The opening movement of a motorized shutter can thus be carried out without requiring manual action from a user to physically move the shutter.

[0043] The motorized flap controlled in the invention can be that of a vehicle of the automobile type or other, or more generally of any vehicle of the motorized land vehicle type.

[0044] The invention is based in particular on detecting the position of a user requesting the opening of a motorized vehicle shutter and on not considering this user as an obstacle if the user is positioned in or near the The opening volume (or opening environment) of the motorized shutter. Obstacle detection can be performed within a detection zone while masking an area (called the masking zone) in which the requesting user is positioned.

[0045] According to a particular and non-limiting example of an embodiment, the control method, implemented by a control device, comprises: - receipt of an opening command requiring the motorized shutter to be opened; - detection of the position of an external control device relative to the motorized shutter; - analysis, using a radar sensor, of a detection zone near the motorized shutter, in which a masking zone containing said position is excluded from the detection zone used for said analysis; and - control of the motorized shutter including, if an obstacle likely to collide with the motorized shutter in case of opening is detected in the detection zone, blocking or suspending the opening of the motorized shutter.

[0046] Fig. 1 schematically illustrates a vehicle 2 comprising a motorized flap 6 and a control device 10 (also referred to hereafter as "device") according to a particular and non-limiting embodiment of the invention.

[0047] Figures 2 and 3 schematically illustrate implementations of device 10 and vehicle 2 of [Fig.1], according to particular embodiment examples.

[0048] Vehicle 2 is, for example, a car. Alternatively, vehicle 2 could be, for example, a coach, a bus, a truck, a utility vehicle, or a motorcycle, or more generally, a motorized land vehicle. The type and characteristics of vehicle 2 can be adapted by a person skilled in the art as appropriate.

[0049] By way of example, the motorized flap 6 is a rear flap of the vehicle 2, that is to say a flap generally positioned at the rear of the vehicle 2 and giving access to the passenger compartment of the vehicle from the rear.

[0050] By way of example, the rear flap 6 is considered to be a trunk lid (or trunk flap) generally mounted to pivot about a horizontal axis. Alternatively, the motorized flap 6 may be a trunk door generally mounted to pivot about a vertical axis.

[0051] As illustrated in [Fig. 1], the rear flap 6 is capable of opening (and optionally also closing) automatically. To achieve this, the vehicle 2 carries drive means 18 configured to drive (or move) the rear flap 6 during an opening operation MV1 from a closed position PI to an open position P2 ([Fig. 1]). These drive means 18 are motorized, which allows for automatic opening (and optionally closing) without requiring manual action (drive) from a user to physically move the flap. This rear flap 6 can thus be opened by activating the opening (movement opening noted MV1) from the low position PI to the high position P2, which allows access to the rear passenger compartment of vehicle 2.

[0052] As illustrated (figures 1-2), it is considered by way of example that the drive means 18 include motorized cylinders capable of automatically opening the rear flap 6.

[0053] The control device 10 is configured to control the rear flap 6, in particular when a user UR1 requests the opening of the rear flap 6. In other words, the rear flap 6 is configured to automatically initiate an opening operation MV1 under the control of the control device 10. To do this, the control device 10 is coupled to the drive means 18 (Figures 1-2) to control the opening movement MV1 of the rear flap 6, for example by sending at least one opening command to the drive means 18.

[0054] As illustrated in Figures 1-3, the vehicle 2 carries a detection system 14 and an obstacle sensor 16 (or at least one). The control device 10 is coupled to the detection system 14 and the sensor 16 to control the rear flap 6 when an opening command CM1 is received from a user noted URL. The control device 10, the detection system 14 and the radar sensor 16 together form a protection system (or are part of a protection system) noted SY1 ([Fig. 1]).

[0055] According to a particular example, the detection system 14 is included (in whole or in part) in the control device 10.

[0056] More specifically, the detection (or identification) system 14 is configured to detect an external control device DV1 when the latter is in the vicinity of the vehicle 2 (for example, at a distance less than a threshold distance). This external control device DV1, also referred to hereafter as the external device (or identification device), is a portable device that the user UR1 may carry and which allows the user to be recognized by the vehicle 2. If the external control device is successfully recognized (or authenticated), the vehicle 2 (and in particular the rear hatch 6) can be unlocked automatically.

[0057] The nature and configuration of the external control device DV 1 may vary depending on the case. It may be, for example, a remote control that can be activated remotely by the user UR1, or a badge, or a smartphone or equivalent, or more generally any portable device, external to the vehicle 2, and capable of cooperating with the detection system 14 to allow the detection and recognition of the user UR1 when the latter brings the external device DV1 near the vehicle 2.

[0058] For this purpose, the external device DV 1 is, for example, configured to send SGI signals including DTI authentication data, these SGI signals that can be captured remotely by the detection system 14 on board vehicle 2 when the external device DV1 is within communication range of the detection system 14 (figures 1-3).

[0059] The detection system 14 may include any means suitable for detecting and authenticating the external control device DV1. As described below, the detection system 14 is further configured to detect the position of the external device DV1 when it is in the vicinity of the vehicle 2. To this end, the detection system 14 includes, for example, detection antennas 14a mounted on the vehicle 2 ([Fig. 3]). The control device 10 is configured to detect the position of the control device DV1 (and therefore that of the user UR1 wearing the device DV1) by means of the detection system 14, and more specifically by means of the antennas 14a.For this purpose, device 10 can receive detection data generated by the detection system 14 on detection of the external device DV1, this detection data being processed by device 10 to determine the location of the external device DV1 when user UR1 requests the opening of the rear flap 6.

[0060] The device 10 is configured to receive and process an opening command CM1 received from the user UR1 and to control the rear flap 6 in response to this opening command. This control can lead to the automatic opening MV1, either total or partial, of the rear flap 6 or to the blocking (or suspension) of the rear flap 6 if an obstacle OB that could collide with the rear flap 6 if it were to open is detected in a detection zone Z3 ([Fig. 1]) as described below in specific examples.

[0061] The opening command CM1 requiring the opening of the rear hatch 6 can be transmitted in various ways by the user UR1 to the control device 10, as appropriate. The user UR1 can, for example, send the opening command CM1 by manually activating a button (or means) 22a of the opening control with which the vehicle 2 may be equipped. Such a button may, for example, be integrated into the rear hatch 6 so as to be accessible by the user URL. According to one example, the user UR1 sends the opening command CM1 remotely, for example by means of a gesture that he makes near the vehicle (the "arms full" function) and which is detected by a motion sensor 22b with which the vehicle 2 may be equipped (for example in the rear bumper), or via an external device such as the external control device DV 1, for example.According to one example, the external control device DV1 is not only used to authenticate and locate the user UR1 near vehicle 2 but also to send an open command CM1.

[0062] The use of an external device, such as the DV1 device, or the use of a gesture near the vehicle 2, advantageously allows the user UR1 to control the MV1 opening of the rear flap 6 without needing to physically touch the vehicle 2.

[0063] As mentioned above, the control device 10 is further configured to cooperate with the radar-type obstacle sensor 16 (hereafter also referred to as the "radar sensor" or "sensor"). This radar sensor 16 is, for example, positioned in or on the rear flap 6 to detect possible obstacles OB in a detection zone Z3 at the rear of the vehicle 2, more precisely in (or near) the opening volume (or travel volume) of the rear flap 6. Thus, it is possible to implement an "anti-collision" function by means of the sensor 16 to detect the presence of a possible obstacle OB that could collide with the rear flap 6 if the latter is opened.

[0064] By excluding the masking zone Z2 from the detection zone Z3, it is advantageous to ensure that the user UR1, positioned near the rear flap 6, is not treated by the control device 10 as an obstacle OB that could collide with the rear flap if it opens. By excluding the masking zone Z2 during the analysis, the device 10 can thus ignore a potential obstacle (such as the user UR1) even though it is located in the opening environment of the rear flap 6.

[0065] To this end, the control device 10 is, for example, configured to receive and analyze sensor data DT2, also known as radar data, generated by the radar sensor 16. This DT2 data represents a scanning area ZI located near the rear flap 6, i.e., within its opening environment (for example, in or near its opening volume). As described in detail below, the scanning area ZI includes at least the detection area Z3 defined by the device 10, i.e., the area Z3 in which possible obstacles OB are searched for by the device 10.

[0066] The DT2 radar data are for example generated by radar scanning in the scanning area Zl, i.e. in a radar emission cone, by means of the radar sensor 16. In other words, the radar sensor 16 can scan a region Zl by projecting radar signals into an emission cone (or zone) Zl.

[0067] In a particular example, the control device 10 is further configured to control a locking system 20 with which the rear flap 6 may optionally be equipped. The device 10 can thus, if necessary, activate the unlocking of the locking system 20 to allow the opening MV1 of the rear flap 6 in response to an opening command CM1 from the user UR1, provided, however, that no obstacle OB is detected in the detection zone Z3. Once unlocked, the rear flap 6 can then be opened by actuating the drive means 18.

[0068] As illustrated in Figures 1-3, vehicle 2 may include an NT1 on-board network, that is to say an on-board communication network enabling the control device 10 to communicate (and interact) with the various on-board elements of the vehicle 2, in particular with the detection system 14, the radar sensor 16, see where applicable one or more of the button 22a, the motion sensor 22b and the locking system 20.

[0069] According to a particular example illustrated in [Fig. 1], the control device 10 comprises at least one processor 11 and non-volatile memory (not shown). The control device 10 is configured to implement a control process as described below. To this end, the control device 10 may include a computer program PG1 stored in the non-volatile memory (e.g., flash memory or ROM), this computer program PG1 comprising instructions for implementing the control process as described below. The processor 11 is thus configured to execute, in particular, the instructions defined by the computer program PG1.

[0070] The control device 10 may, for example, take the form of (or include) a computer, or a combination of computers. An example of the implementation of the control device 10 is described later.

[0071] As indicated above, the control device 10 is configured to implement a control process. This process is now described jointly in Figures 1-3 according to particular embodiments.

[0072] As an example, it is assumed that vehicle 2 is stationary and that a user UR1, carrying the external control device DV1, approaches vehicle 2 and commands the automatic opening MV1 of the rear flap 6.

[0073] During a first operation, called the reception operation, the control device 10 receives an opening command CM1 requesting the opening of the rear flap 6. As already mentioned, the automatic opening command can be carried out in various ways, for example manually or remotely, as appropriate. The device 10 can, for example, detect, as an opening command CM1, the manual actuation of the opening button 22a integrated into the rear flap 6.

[0074] According to one example, the device 10 detects, as opening command CM1, by means of the motion sensor 22b, a gesture made by the user UR1 in the vicinity of the vehicle 2 (for example a movement with his foot detected according to the function "arm loaded").

[0075] According to one example, the device 10 receives the opening command CM1 by wireless communication from the external control device DV1 located near the vehicle 2. The opening command CM1 is received for example by means of the antennas 14a ([Fig.3]) or any other suitable communication interface of the detection system.

[0076] During a second operation, called the detection (or localization) operation, the control device 10 detects the position of the control device DV1 relative to the rear flap 6 (or more generally relative to the vehicle 2). The position of the control device DV1 indicates (or provides information on) the presumed position of the user UR1 who initiated the opening command CM1. The device 10 locates the external device DV1 relative to the rear flap 6 by means of the detection system 14, and more specifically using the detection antennas 14a with which the vehicle 2 is equipped ([Fig. 3]).

[0077] In a particular example, the device 10 receives, by means of the detection antennas 14a mounted in the vehicle 2, SGI authentication signals received from the external control device DV1. The device 10 then determines the position of the external control device DV1 from the received SGI authentication signals. To do this, the device 10 can perform any appropriate processing on the SGI signals to locate the external device DV1 relative to the rear flap 6. More specifically, the detection system 14 can transmit to the device 10 detection data representative of the SGI signals. The device 10 can then determine a current position of the external device DV1 from the received detection data.

[0078] According to a particular example, the control device 10 determines the position of the external device DV1 by triangulation from the SGI authentication signals received by the detection antennas 14a.

[0079] According to a particular example, the control device 10 continuously (or iteratively) detects (or determines) the position of the external device DV 1 over a given period of time. To do this, the device 10 repeatedly performs (for example, periodically) the detection of the current position of the external device DV 1 as described in this disclosure.

[0080] In a particular example, device 10 authenticates the external control device DV1 using DTI authentication data included (or encoded) in the received SGI authentication signals. This authentication can be performed before, during, or after receiving the CM1 open command. To do this, device 10 compares, for example, the DTI authentication data with reference data. If the DTI authentication data matches the reference data, the external device DV1 is successfully authenticated. Otherwise, the authentication fails. This authentication allows device 10 to verify that the CM1 open command is valid, i.e., that it originates from the legitimate user UR1 or with their consent.

[0081] According to a particular example, the device 10 rejects the CM1 open command if the authentication of the external control device DV1 fails. In this case, the The control process ends. Otherwise, the control process continues.

[0082] Note that the second operation (position detection) can be carried out before, at the same time as, or after the first operation (receipt of the CM1 opening command), depending on the case considered.

[0083] During a third operation, called the analysis operation, the control device 10 analyzes, by means of the radar sensor 16, a detection zone (or detection volume) Z3 near the rear flap 6. This analysis aims to search for and identify a possible obstacle OB in the opening environment of the rear flap 6, i.e. in or near the opening volume (or travel volume) of the rear flap 6. The detection zone Z3 used for the analysis is defined by the device 10 so that it excludes a masking zone Z2 containing the position of the external device DV1 determined during the second operation.

[0084] More specifically, the control device 10 analyzes, by means of the radar sensor 16, a detection zone Z3 near the rear flap 6. This detection zone Z3 used for said analysis is defined in that it excludes a masking zone Z2 containing (or corresponding to) the position of the device DV1. In other words, the device 10 defines the detection zone Z3 in which the analysis is performed so that this zone Z3 is distinct (or independent) from a masking zone Z2. The device 10 thus analyzes only the detection zone Z3 (excluding the masking zone Z2) in search of a possible obstacle OB. If an obstacle OB is detected outside the detection zone Z3, it is not taken into account during the analysis.

[0085] The device 10 can, in particular, determine (or define) the masking zone Z2 based on the user position UR1 determined during the second operation (i.e., according to the detection data generated by the system 14). This masking zone Z2 defines a region in the external environment of the vehicle 2 in which any obstacle OB that could be detected is ignored (not taken into account) during the analysis. The device 10 is thus capable of selectively detecting an obstacle OB, i.e., recognizing it as a relevant obstacle depending on whether or not it is positioned within the detection zone Z3.

[0086] The shape, size, etc. configurations of the masking zone Z2 can be adapted as appropriate (for example, according to a predefined configuration), insofar as this masking zone Z2 contains (or includes) the position of the external device DV1. This masking zone Z2 is, for example, sized to the scale of a person who is expected to wear the external device DV1.

[0087] According to a particular example, the masking zone Z2 defined by the device 10 is a zone centered on the position of the external control device DV1.

[0088] According to a particular example, upon detection that the position of the device If external control DV1 is located at a distance less than the threshold distance from the rear flap 6, device 10 detects that a masking zone Z2 must be defined and defines this masking zone Z2 according to (or so that it coincides with) the position of external control device DV1.

[0089] According to a particular example, during the analysis of the third operation, the device 10 obtains radar data DT2 generated by scanning within a radar emission cone (or zone) ZI ([Fig. 1]) using the radar sensor 16. The device 10 then defines the detection zone Z3 from the radar emission cone ZI by excluding the masking zone Z2. In other words, the detection zone Z3 is defined by subtracting (excluding) the masking zone Z2 from the radar emission cone ZI. The device 10 then analyzes the radar data DT2 to determine whether an obstacle OB, which could collide with the rear flap 6 if opened, is detected within the detection zone Z3 thus defined.

[0090] According to a particular example, during the analysis of the third operation, an object is detected as an obstacle OB which may collide with the rear flap if this object is positioned in the detection zone Z3 at a distance less than or equal to a threshold distance from the rear flap 6. The device 10 can thus take into account only obstacles OB which are actually interfering with the opening movement MV1 at a given time, namely obstacles which are close enough to the rear flap 6 to risk colliding with it.

[0091] During a fourth operation, called the control (or processing) operation, the device 10 controls the rear flap 6 in response to the opening command CM1. This control aims to determine whether the opening movement MV1 should be initiated or blocked, and if it has been initiated, whether it should be continued or suspended, and to adapt the control of the rear flap 6 accordingly. In particular, if an obstacle OB that could collide with the rear flap 6 when it opens is detected in the detection zone Z3, then the device 10 blocks (if the opening has not yet started) or suspends (if the opening is in progress) the opening of the rear flap 6. The device 10 may, if necessary, trigger the unlocking of the rear flap locking system 20 in order to allow the opening movement MV1.

[0092] According to an example, if such an obstacle OB is detected even before the initiation of the opening MV1 of the rear flap 6 (flap in closed position PI), then the device 10 blocks (or prevents the opening) of the rear flap 6. The device 10 may, where appropriate, keep the locking system 20 of the rear flap in the locked state.

[0093] According to one example, if such an obstacle OB is detected while the opening movement MV1 of the rear flap 6 is already underway (flap moving between positions PI and P2), then the device 10 suspends the opening movement MV1. This suspension causes the rear flap 6 to stop, or possibly return to the closed position PI.

[0094] The present invention advantageously allows for the efficient and secure control of the motorized flap 6 of the vehicle 2, such as, for example, a rear flap or other, when a user UR1 commands the opening of the flap, regardless of the user's position relative to the rear flap 6. Indeed, the opening of the motorized flap 6 can be activated by the user UR1 in various ways, depending on the situation, for example, manually using an opening button with which the vehicle is equipped, or remotely by means of a gesture performed by the user near the vehicle (the "arms-in-the-wall" function) or via a remote control, badge, or other device. The requesting user can therefore be more or less close to the motorized flap 6 when commanding its opening.If the user UR1 is too close to the motorized shutter, in the case of a conventional system they risk being detected as an obstacle and thus hindering or even preventing the automatic opening of the motorized shutter, which may be contrary to the user's intention of opening the motorized shutter.

[0095] Thanks to the invention, the motorized flap 6 of the vehicle 2 can be opened efficiently and safely, regardless of the position of the user UR1 requesting the opening, including when this user is near said flap 6 (close to or within the flap's opening area). The user UR1 is not detected as an obstacle OB likely to collide with the motorized flap 6 during opening, which allows the flap 6 to be opened despite the presence of the user UR1 nearby. However, an obstacle OB other than the user UR1 requesting the opening may still be detected in the opening environment of the motorized flap 6, thus leading to the blocking or suspension of the opening to avoid a potential collision and thereby secure the flap 6.The motorized shutter protection system is thus adapted to protect the motorized shutter 6 in case of opening while avoiding undesirable blocking or obstruction situations related to the proximity of the user UR1 to the motorized shutter 6.

[0096] The invention therefore makes it possible to avoid undesirable situations of inconvenience or blockage, which prevent or disrupt the opening of a motorized vehicle flap 6, while ensuring the safety of the motorized flap 6.

[0097] In a particular example, the analysis of the third operation of the control process is performed continuously during the opening of the rear flap 6. To do this, the device 10 can repeat the detection of the second operation to track the evolution over time of the position of the external device DV1. The device 10 then analyzes, using the radar data continuously generated by the radar sensor 16, the detection zone Z3, which can then move as the opening movement MV1 progresses. In this way, it can be ensured that the opening movement MV1 is carried out safely throughout the opening process.

[0098] Figure 4 schematically illustrates a control device 10 intended to be fitted to a vehicle, such as vehicle 2 as previously described with reference to Figures 1-3, according to a particular and non-limiting embodiment of the present invention. The control device 10 corresponds, for example, to a device installed in vehicle 2, for example, a computer.

[0099] The control device 10 is, for example, configured to implement the operations of the control process as previously described with reference to Figures 1-3 and / or the steps of the process described below with reference to [Fig. 5]. Examples of such a control device include, but are not limited to, embedded electronic equipment such as a vehicle's on-board computer, an electronic control unit such as an ECU (Electronic Control Unit), a smartphone, a tablet, or a laptop computer. The elements of the control device 10, individually or in combination, may be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. The control device 10 may be implemented in the form of electronic circuits or software (or computer) modules, or a combination of electronic circuits and software modules.

[0100] The control device 10 comprises one (or more) processor(s) 11 configured to execute instructions for carrying out the steps of the control method (or process) and / or for executing instructions from the software embedded in the control device 10. The processor 11 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The control device 10 further comprises at least one memory 41, for example, volatile and / or non-volatile memory, and / or includes a memory storage device that may include volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic disk, or optical disk.

[0101] The computer code of the embedded software(s) including the instructions to be loaded and executed by the processor 11 is for example stored on the memory 4L. The memory 41 can constitute an information support according to a particular embodiment in that it includes a computer program (for example PG1 represented in [Fig.1]) comprising instructions for carrying out the steps of the method (or process) of controlling the invention.

[0102] According to various specific and non-limiting embodiments, the control device 10 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (Telematic Control Unit), for example via a communication bus or through of dedicated input / output ports.

[0103] According to a particular and non-limiting embodiment, the control device 10 includes a block 42 of interface elements for communicating with external devices, for example a remote server or the cloud, or the vehicle 2 when the control device 10 corresponds to a smartphone or tablet, for example. The interface elements of the block 42 include one or more of the following interfaces:

[0104] - radio frequency (RF) interface, for example of the Wi-Fi® type (according to IEEE 802.11), by example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or of the Sigfox type using UBN radio technology (from the English Ultra Narrow Band, in French bande ultra étroite), or LoRa in the 868 MHz frequency band, LTE (from the English "Long-Term Evolution" or in French "Evolution à long terme"), LTE-Advanced (or in French LTE-avancé);

[0105] - USB interface (from the English "Universal Serial Bus" or "Universal Serial Bus") (in French);

[0106] - HDMI interface (from the English "High Definition Multimedia Interface", or (High Definition Multimedia Interface in French).

[0107] According to another particular and non-limiting embodiment, the control device 10 includes a communication interface 43 which enables communication with other devices (such as other computers in the on-board system or on-board sensors such as the radar sensor 16) via a communication channel 45. This communication channel 45 is established, for example, by means of the on-board network NT1 shown in [Fig. 2]. The communication interface 43 corresponds, for example, to a transmitter configured to transmit and receive information and / or data via the communication channel 45.Communication interface 43 corresponds, for example, to a wired network of the type CAN (Controller Area Network), CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (standardized by ISO 17458), Ethernet (standardized by ISO / IEC 802-3) or LIN (Local Interconnect Network).

[0108] The control device 10 is for example coupled to the detection system 14, the radar sensor 16, and where applicable to the other on-board components of the vehicle 2 (drive means 18, locking system 20 and control button 22a, motion sensor 22b), via the interface element block 42 and / or the communication interface 43.

[0109] According to a particular and non-limiting example of an embodiment, the control device 10 can provide output signals to one or more external devices, such as a display screen (touchscreen or not), one or more speakers, and / or other peripherals (projection system) via respective output interfaces. In one variant, one or more of the external devices is integrated into the control device 10.

[0110] Figure 5 illustrates a diagram of the different stages of a control process for a motorized flap of a vehicle, such as for example the motorized flap 6 of vehicle 2 as previously described (Figures 1-4). The method is implemented, for example, by the control device 10 previously described, this device being able to be mounted in vehicle 2.

[0111] In a first step 51, an opening command CM1 requiring an opening MV1 of the motorized shutter 6 is received.

[0112] In a second step 52, a position of an external control device DV1 is detected relative to the motorized shutter 6.

[0113] In a third step 53, a detection zone Z3 near the motorized flap 6 is analyzed using a radar sensor 16, in which a masking zone Z2 containing said position is excluded from the detection zone Z3 used for said analysis.

[0114] In a fourth step 54, a check of the motorized shutter 6 is carried out, this check including: if an obstacle OB likely to collide with the motorized shutter 6 in case of opening is detected in the detection zone Z3, blocking or suspending the opening of the motorized shutter 6.

[0115] According to alternative embodiments, the variants and examples of the operations described above in relation to Figures 1-4 apply to the steps of the control process of [Fig.5].

[0116] A person skilled in the art will understand that the embodiments and variants described above are only non-limiting examples of implementation of the invention. In particular, a person skilled in the art may consider any adaptation or combination of the embodiments and variants described above in order to meet a very specific need.

[0117] The present invention is therefore not limited to the embodiments described above but extends in particular to a control method that would include secondary steps without departing from the scope of the present invention. The same would apply to a device configured for implementing such a method.

[0118] The present invention also relates to a vehicle, for example a motor vehicle or more generally a land motor vehicle, comprising the control device 10 described above with reference in particular to figures 1-5.

Claims

Demands

1. A method for controlling a motorized flap (6) of a vehicle (2), said method being implemented by a control device (10), said method comprising: - receiving (51) an opening command (CM1) requiring an opening (MV1) of the motorized flap; - detecting (52) a position of an external control device (DV1) relative to the motorized flap; - analyzing (53), by means of a radar sensor (16), a detection zone (Z3) near the motorized flap (6), in which a masking zone (Z2) containing said position is excluded from the detection zone (Z3) used for said analysis; and - controlling (54) the motorized flap (6) comprising, if an obstacle (OB) likely to collide with the motorized flap when opened is detected in the detection zone (Z3), blocking or suspending the opening (MV1) of the motorized flap.

2. A method according to claim 1, wherein the detection of the position of the external control device (DV1) comprises: - receiving, by means of a plurality of detection antennas (14a) on board the vehicle, authentication signals (SGI) received from the external control device (DV1); and - determining the position of the external control device (DV1) from the authentication signals (SGI) received.

3. A method according to claim 2, wherein the method comprises: - authentication of the external control device (DV1) from authentication data (DTI) included in the authentication signals (SGI); and - rejection of the opening command (CM1) if the authentication of the external control device fails.

4. A method according to any one of the preceding claims, wherein an object is detected as an obstacle (OB) likely to collide with the motorized shutter (6) if said object is positioned in the detection zone (Z3) at a distance less than or equal to a threshold distance from the motorized shutter (6).

5. A method according to any one of the preceding claims, wherein the method comprises: - upon detection that the position of the external control device (DV1) is located at a distance less than the threshold distance from the motorized shutter (6), determination of the masking zone (Z2) as a function of the position of the external control device (DV1).

6. A method according to any one of the preceding claims, wherein the analysis comprises: - obtaining radar data (DTI) generated by scanning in a radar emission cone (Zl) by means of the radar sensor (16); - defining the detection zone (Z3) from the radar emission cone (Zl) excluding the masking zone (Z2); and - analyzing the radar data (DTI) to determine whether said obstacle (OB) is detected in said defined detection zone (Z3).

7. A method according to any one of the preceding claims, wherein the analysis (53) is carried out continuously during the opening (MV1) of the motorized shutter.

8. Computer program (PG1) comprising instructions for carrying out the method according to any one of the preceding claims, when these instructions are executed by a processor (11).

9. Device (10) for controlling a motorized flap (6) of a vehicle (2), said device (10) comprising a memory (41) associated with at least one processor (11) configured for carrying out the steps of the method according to any one of claims 1 to 7.

10. Vehicle (2) comprising the device (10) according to claim 9.

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