Method for controlling an opening of a motor vehicle by detecting movement of a target

Abstract

The invention relates to a method for controlling an opening (2) of a motor vehicle (1) by detecting a movement of a target (5), such as a hand or a foot of a user, said opening (2) being able to be moved using an actuator (3) so as to be able to control its opening speed and / or its degree of opening between a fully open position, a fully closed position and at least one partially open intermediate position, said method comprising the steps of: emitting, using at least one transmitter (4), a radiofrequency signal called the emitted signal, intended to be reflected at least partially on said target (5), receiving, using at least one receiver (4), a radiofrequency signal called the return signal, originating from the reflection of the emitted signal on said target (5), from the emitted signal and the return signal, determining at least one characteristic among a movement speed,a linear amplitude of movement and / or an angular amplitude of movement, relative to a movement of the target (5) relative to a determined zone of the vehicle, controlling the degree of opening and / or the speed of opening of the opening (2), using the actuator (3), and as a function of said characteristic relative to the movement of the target (5). Abstract figure: Figure 1,

Description

Title of the invention: Method for controlling an opening of a motor vehicle by detecting movement of a target

[0001] The present disclosure relates to a method for controlling an opening of a motor vehicle by detecting a movement of a target, such as a hand or a foot of a user. Technical field

[0002] The present disclosure relates to the field of managing access to a motor vehicle. State of the art

[0003] It is known to use radiofrequency signals to control the opening of a motor vehicle opening, for example a trunk door. A radiofrequency signal is an electromagnetic signal comprising a carrier with a frequency of, for example, between 3 kHz and 300 GHz but most often between 5 and 30 GHz in applications in the automotive world.

[0004] There are in particular gesture detection methods used for controlling a vehicle opening. In such a method, a radiofrequency signal is transmitted towards a target and the analysis of a return radiofrequency signal makes it possible to recognize a predetermined gesture made by a user's foot.

[0005] It is also known to use a pulse-type radiofrequency signal (as opposed to a continuous signal) having so-called radiofrequency pulses, i.e. whose carrier frequency belongs to a wide radiofrequency spectrum. The use of this type of signal makes it possible in particular to determine a distance between a target and a device for transmitting and receiving said pulse-type radiofrequency signal.

[0006] The detection of a gesture in the area considered controls the complete opening or closing of the opening. An objective of the present invention is to propose a method and a device offering an improved user experience. Statement of the invention

[0007] For this purpose, the present document relates to a method for controlling an opening of a motor vehicle by detecting a movement of a target, such as a hand or a foot of a user, said opening being able to be moved using an actuator so as to be able to control its opening speed and / or its degree of opening between a fully open position, a fully closed position and at least one partially open intermediate position, said method comprising the steps consisting of:

[0008] (a) transmitting, using at least one transmitter, a radiofrequency signal called signal emitted, intended to be reflected at least partially on said target,

[0009] (b) receiving, using at least one receiver, a radiofrequency signal called return signal, coming from the reflection of the signal emitted on said target,

[0010] (c) from the transmitted signal and the return signal, determine at least one characteristic among a speed of movement, a linear amplitude of movement and / or an angular amplitude of movement, relative to a movement of the target relative to a determined zone of the vehicle,

[0011] (d) controlling the degree of opening and / or the speed of opening of the opening, using of the actuator, and depending on said characteristic relating to the movement of the target.

[0012] The opening may be an opening capable of pivoting about at least one axis of rotation. In such a case, the degree of opening is a function of the angle of the opening relative to the fully closed position of the opening. The greater this angle, the greater the degree of opening. We can speak of the angular degree of opening.

[0013] Alternatively, the opening may be able to slide or translate along an axis. In such a case, the degree of opening is a function of the distance of the opening from the fully closed position. The greater this distance, the greater the degree of opening. We can speak of a linear degree of opening.

[0014] Said actuator may be a motor or a cylinder, for example electric, hydraulic or pneumatic.

[0015] Such a method thus makes it possible to control the degree of opening and / or the speed of opening, by simply moving the target relative to the vehicle.

[0016] In this way, a large amplitude gesture can, for example, allow a significant movement of the opening, while a small amplitude gesture can, for example, allow a limited movement of the opening. In other words, a large amplitude gesture can, for example, allow a movement of the opening from a closed position to a position with a large degree of opening or to a completely open position, or vice versa, while a small amplitude gesture can, for example, allow a movement of the opening from a closed position to a position with a small degree of opening, or vice versa.

[0017] Similarly, a rapid gesture may, for example, allow rapid movement of the opening, while a slow gesture may, for example, allow slow movement of the opening.

[0018] The degree of opening of the opening can be controlled discretely or continuously. In other words, a limited number of different degrees of opening can be controlled using a gesture, or an infinite number of positions and degrees of opening of the opening can be controlled using a gesture. Similarly, the speed The opening speed of the sash can be controlled discretely or continuously. In other words, a limited number of different speeds can be controlled using a gesture, or an infinite number of speed values ​​can be controlled using a gesture.

[0019] Of course, the movement of the opening can be controlled in the opening direction or in the closing direction. The direction of movement of the opening can be dependent on the direction of movement of the target, or its trajectory, for example.

[0020] The linear range of motion of the target is the measure of the total distance traveled by the target as it moves from its starting position to its final position. The linear range of motion is then expressed in units of length. The angular range of motion of the target is the measure of the total angle traveled by the target as it moves from its starting position to its final position. The angular range of motion is then expressed in units of angle. The angle can be a plane angle, i.e., a two-dimensional angle, or a solid angle, i.e., a three-dimensional angle.

[0021] The transmitter and the receiver may be located in the same transmitting and receiving device. The transmitter and the receiver may be formed by an antenna.

[0022] Multiple transmitters and associated receivers may also be used, the transmitters (and associated receivers) may be located in areas of the vehicle spaced apart from each other.

[0023] The transmitted signal may be a pulse signal comprising a carrier modulated by a sequence of pulses.

[0024] The transmitted signal is a radiofrequency signal. A radiofrequency signal designates a frequency electromagnetic signal whose carrier frequency is between 3 kHz and 300 GHz. The carrier frequency may be, in the present document, between 5 GHz and 30 GHz, for example between 5 GHz and 10 GHz.

[0025] The signal may be an ultra-wideband signal.

[0026] An ultra-wideband (or UWB) signal is an electromagnetic signal that is characterized by pulses that are very short in time (e.g., of the order of a few nanoseconds) and a very wide bandwidth (e.g., greater than 500 MHz or even more than 1 GHz). The pulses are so short that they have a duration of the order of a few periods of the carrier frequency, which means that the signal can have a considerably wider bandwidth than conventional signals. A UWB signal also has very low transmitted energy. This type of signal is suitable for use in environments with a lot of radio noise or interference.

[0027] Examples of signal processing are described below, making it possible to characterize the movement of the target, in particular when the emitted signal is an im signal. pulsed comprising a carrier modulated by a sequence of pulses. These examples of data processing are given as examples, and are in no way limiting.

[0028] With a transmitted signal of the pulse type, step (c) may comprise the sub-steps consisting of:

[0029] (cl) determining an approximate distance to the target, implementing a measurement of time shift between a pulse of the return signal and the corresponding pulse of the transmitted signal;

[0030] (c2) determining a distance complement to the target, implementing a tracking of phase shift values ​​between the return pulse signal and the emitted pulse signal

[0031] (c3) optionally, combine the approximate distance to the target and the complement of distance to the target, to obtain an estimated value of distance to the target; and

[0032] (c4) repeating said sub-steps (cl) to (c2) and possibly (c3), to obtain a time series of phase shift values ​​or estimated target distance values, said time series of values ​​defining a gesture, or movement of the target.

[0033] Said time series of values ​​defining the gesture can in particular make it possible to calculate a speed of movement and / or a linear amplitude relative to the trajectory of the target during such a gesture.

[0034] Sub-step (cl) implements the measurement of a flight time, that is to say the measurement of a duration taken by a pulse to make the round trip between the transmitter, the target and the receiver. The flight time is related to the distance traveled by the pulse by c, the speed of light in a vacuum. The flight time thus makes it possible to determine the distance between the target and the transmitter or the receiver.

[0035] In practice, the pulses of the return radiofrequency signal are detected on an amplitude signal, sampled in time by an analog-to-digital converter. The frequency of the time sampling defines sampling time windows, and therefore a precision on the measurement of the time of flight. In order to maximize this precision, the sampling frequency must be as high as possible.

[0036] Sub-step (cl) thus makes it possible to obtain the value of an approximate distance to the target, with a resolution Adl= c / (2*fe), with c the speed of light in a vacuum, and fe the sampling frequency of the envelope of the emitted pulse signal. The sampling frequency of the envelope of the emitted pulse signal is for example approximately 1 GHz, i.e. a resolution of 15 cm on the value of the approximate distance to the target.

[0037] The use of the complement of distance to the target during step (c2) then makes it possible to reduce the margin of error to a few millimeters.

[0038] Indeed, sub-step (c2) uses a tracking of phase shift values ​​between the return pulse signal and the transmitted pulse signal. Each phase shift value relates to the difference between the phase of a pulse of the return signal, upon reception by the receiver, and the phase of the corresponding pulse of the transmitted signal, as transmitted by the transmitter.

[0039] The value of the phase shift between the return pulse signal and the emitted pulse signal varies by 2ir, for each variation of / . over the round trip distance traveled by the pulse, with X the wavelength of the pulses of the emitted pulse signal.

[0040] Thus, each increment of 2ir on the value of this phase shift corresponds to a variation of X / 2 on the outward distance between the transmitter and the target.

[0041] By counting the increments of 2ir on said phase shift value, variations of X / 2 on the distance to the target are therefore counted. The result of counting these variations defines the value of the complement of distance to the target. If necessary, an even more precise value of complement of distance to the target can be obtained, using an exact value of phase shift and the remainder once the several increments of 2ir have been subtracted. By counting the increments of 2ir on said phase shift value, the complement of distance to the target therefore has a resolution Ad2 defined by: Ad2= X / 2=c / (2*f), with c the speed of light in a vacuum, and f the carrier frequency of the emitted signal.

[0042] The frequency f of the carrier of the emitted pulse signal is higher than the sampling frequency fe of the pulse envelope, with for example a ratio of approximately 7 between the two. Consequently, the resolution on the determination of the complement of distance to the target is lower than the resolution on the determination of the approximate distance to the target, with for example a ratio of 7 between the two, i.e. a resolution of the order of 2 cm.

[0043] Using the phase shift value, the resolution is even much better. The resolution depends on the measurement resolution, in practice it is much lower than a millimeter.

[0044] The distance complement to the target provides a reduced margin of error.

[0045] In sub-step (c3), the complement of distance to the target is combined with the approximate distance, to obtain an estimated value of distance to the target. Preferably, said combination is a sum. This combines the advantages linked to each of these two values, namely a known origin, thanks to the approximate distance to the target, and a reduced margin of error, thanks to the complement of distance to the target. Said known origin corresponds to the location of the transmitter and the receiver. The repetition of steps (cl) to (c3) makes it possible to obtain a series of estimated values ​​of distance to the target, defining a movement carried out by the target.

[0046] In an advantageous variant, step (c) does not include step (c1) or step (c3), and includes step (c2) as well as a step of repeating step (c2) to obtain a time series of estimated values ​​of variations in distance to the target, said time series defining a gesture. In other words, it is not necessarily necessary to calculate values ​​of distance to the target relative to the vehicle, since the useful information relates to a movement. Sub-step (c2) may include the sub-steps consisting of:

[0047] (c21) generate a signal I(t) relating to an in-phase component of the return signal by in-phase mixing between the return signal and a signal in phase and at the frequency of the transmitted signal, and a signal Q(t) relating to a quadrature phase component of the return signal by quadrature phase mixing between the return signal and a signal in quadrature and at the frequency of the transmitted signal, the signals I(t) and Q(t) defining the two components of a demodulated return signal,

[0048] (c22) obtain sampled data 1(6) and Q(t;) corresponding to a sample time-domain mapping of the signals I(t) and Q(t),

[0049] (c23) extract, in the sampled data 1(6) and Q(f), those relating to only to portions of the return signal, for which a time difference between the reception of each portion of the return signal and the emission of a corresponding pulse of the transmitted signal is less than or equal to a threshold,

[0050] (c24) for each sampling instant ti, calculate a modulus of the data extracted I(L) and Q(L), noted ICIR(t;)l, corresponding to the amplitude of the demodulated return signal, and of value equal to the square root of I^tO+Q2^),

[0051] (c25) search, on the calculated ICIR(ti)l data and successively for each pulse of the emitted signal, the presence of a peak of amplitude greater than or equal to a predetermined threshold, the first detection of such a peak corresponding to the identification of the start of a movement of the target (5), the instant tj associated with such a peak being recorded and a pulse of index k of the emitted signal being associated with the first detection of such a peak,

[0052] (c26) calculate the phase <p(k) du signal retour démodulé en utilisant les valeurs I et Q associated with said instant tj of the peak, using the following formulas: - if I(tj) >0, then <p(k)=arctan (Q(tj) / I(tj)) - if I(tj) <0 and if Q(tj) <0, then <p(k)=arctan (Q(tj) / I(tj)) - ir - if I(tj) <0 and if Q(tj) >0, then <p(k)=arctan (Q(tj) / I(tj)) + ir (c27) calculate the evolution of the value of the phase q>, for the following k+n pulses of the emitted signal.

[0053] Sub-step (c22) can be implemented using an analog-to-digital converter. This time sampling can be implemented downstream of the generation of the signals I(t) and Q(t). The sampling step can be between 0.8 ns and 2 ns, for example equal to 1 ns.

[0054] Said method may comprise an optional step of constructing matrices, occurring for example between sub-steps (c22) and (c23).

[0055] In this sub-step, the sampled data I(ti) and Q(ti) can be arranged in the form of matrices. A first axis of the matrix, denoted "CIR index", can correspond to a pulse index of the transmitted signal. A second axis of the matrix can correspond to an index, denoted "tap num", of a sampling instant. The value of this index can be reset to zero at each new pulse of the transmitted signal. In other words, this involves implementing a time folding of a signal formed by the data considered. A third axis of the matrix can correspond to the value, denoted S, taken by each sampled data.

[0056] In sub-step (c23), it is a matter of extracting, for each pulse of the transmitted signal, data relating to a portion of the return signal, a portion for which the difference between the instant of emission of the pulse of the transmitted signal and the instant of reception of said portion of the corresponding pulse of the return signal is less than the threshold, noted TL

[0057] The threshold Tl defines a predetermined detection zone which extends, from the zone of emission and reception of the signal, up to a maximum distance DI from the latter, with Dl=c*Tl / 2, in which c is the speed of light in a vacuum.

[0058] Such an extraction sub-step can be easily visualized when the sampled data I(t;) and Q(t;) are represented in the form of matrices.

[0059] Where appropriate, it is possible to extract, in step (c23), the data relating only to portions of the return signal, for which a time difference AT between the reception of said portion of signal and the emission of a corresponding pulse of the emitted signal, is both lower than the threshold T1 and higher than a second threshold T2, lower than TL. The predetermined detection zone can then extend between two concentric discs of radius respectively D1=c*T1 / 2 and D2=c*T2 / 2. It is possible to choose T2 = 1 unit of “tap num” (for example 1 ns), to overcome the effect of internal reflections within the emission and / or reception device.

[0060] In any event, this extraction sub-step makes it possible to consider only portions of signal associated with a reflection on a target located in said predetermined detection zone, and to avoid the effect of reflection on targets that are not relevant because they are located outside said detection zone.

[0061] The predetermined detection zone may correspond to a zone in which the movement intended to control the opening of the opening generally takes place. This predetermined detection zone may not extend beyond a distance Dl=60 cm, which corresponds to T 1=4 ns, i.e. a “tap num” index equal to 4 on the aforementioned matrix.

[0062] Sub-steps (c25) and (c26) aim to follow, on said extracted data, the return signal having been reflected on the target, in order to deduce the movement of said target.

[0063] Indeed, the phase of the return signal being representative of a position of the target, the evolution of the phase indicates a variation of the position of the target, and therefore a movement of the latter. Thus, the evolution of this phase value makes it possible to characterize a movement carried out by the target.

[0064] The monitoring of the phase values ​​can take into account the fact that, each time the distance traveled by the radiofrequency wave varies by X (where / . is the central wavelength of the carrier of said radiofrequency signal), this phase value varies by 2ir.

[0065] This monitoring can also take into account a possible change in time difference between the peak considered on the return signal and the instant of emission of the corresponding pulse of the emitted signal (in other words, a change in the “tap num” index of the peak considered).

[0066] According to still other variants, step (c) implements Doppler frequency calculations, based for example on the use of a fast Fourier transform (or FFT). The FFT making it possible to obtain the frequencies of the return signal, if a difference exists between the frequency of the transmitted carrier f, and the received frequency, this is due to the Doppler effect. From this difference, the radial speed of said target is deduced. By integrating this speed over time, the distance of the radial displacement of said target is deduced.

[0067] Advantageously, the position of the target is not defined solely in terms of distance to the area receiving the transmitter and the receiver, but also in terms of angle of incidence on the receiver. This makes it possible to determine more precisely values ​​of speed of movement and linear amplitude of movement, when the angle of incidence varies greatly during this movement. In addition, this makes it possible to determine when necessary an angular amplitude of movement. The method then implements at least two associated receivers, separated from each other by a known distance.Step (c) of the method may then comprise a step of determining a time shift between the time of arrival of a portion of return signal on a first receiver and the time of arrival of an equivalent portion of return signal on a second receiver, this time shift making it possible to determine a distance D, which in turn makes it possible to determine the angle of incidence 0 of a beam of parallel rays on the first and second receivers. The angle 0 is formed between the axis connecting the target with a first receiver, and the axis connecting the first receiver with a second receiver. A first transmitter, associated with the first receiver, may be located in the same area as the first receiver. Similarly, a second transmitter, associated with the second receiver, may be located in the same area as the second receiver. Alternatively, each receiver is a transceiver. According to . in still other variants, a single transmitter extends in proximity to the first and second receivers. In another variant, a transmitter-receiver is associated with a single receiver.

[0068] In particular, let us consider a right triangle whose two vertices are formed by the first and second receivers, and whose third vertex has a right angle and is opposite the side of the triangle connecting the two receivers.

[0069] Let d be the length of the side of the triangle connecting the two receivers and let D be the length of the side of the triangle connecting one of the two receivers to the vertex presenting a right angle.

[0070] Assuming the target is sufficiently far away compared to the distance between the two receivers, it is possible to consider that the return signals arrive with the same angle of incidence 0 on each of the two receivers.

[0071] So: - D = c.AT where c is the speed of light and where AT is the difference between the instants of reception of the signal received between the two receivers, AT can also be calculated from the phase difference between the two receivers: AT= Aq> / (2 ir f) f being the frequency of the carrier. - cos 0 = D / d and thus 0 = cos-l(D / d).

[0072] A position, a speed, an amplitude of movement and / or a trajectory of the target relative to the vehicle can thus be calculated on the basis of the evolution of the distance between the target and the transmission and / or reception zone (measured using the time of flight and / or the evolution of the phase and / or via Doppler frequency measurements), and where appropriate also using the evolution of the angle 0, over time.

[0073] The present document also relates to a computer program comprising instructions which, when the program is executed by at least one processor, cause the latter to implement all the steps of a method of the type mentioned above.

[0074] The present document also relates to a computer intended to be installed in a motor vehicle comprising at least one processor and at least one memory, characterized in that it is configured for the implementation of each of the steps of a method of the type mentioned above.

[0075] This document also relates to a system for managing the opening of an opening intended to be installed in a motor vehicle, characterized in that it comprises:

[0076] - at least one antenna intended to emit the transmitted signal (radiofrequency signal, of preferably pulse type) and to receive the return signal (radio frequency signal, preferably pulse type), and

[0077] - an electronic management module comprising a calculator according to claim of the type described above.

[0078] The present document also relates to a motor vehicle equipped with a movable opening leaf, capable of being moved by an actuator between a fully open position, a fully closed position and at least one partially open intermediate position, characterized in that it comprises a system for managing the opening of said opening leaf of the type described above. Description of figures

[0079] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawing showing various figures, in which:

[0080] [Fig-1] is a schematic view of a motor vehicle according to the present document,

[0081] [Fig.2] illustrates the different steps of the method according to the present document,

[0082] [Fig.3] illustrates a matrix grouping values ​​of a plurality of pulses,

[0083] [Fig.4] schematically illustrates a step of determining an angle 0 formed between the axis connecting the target with a first receiver and the axis connecting the first receiver with a second receiver.

[0084] Detailed description of at least one embodiment

[0085] [Fig.l] schematically represents a motor vehicle 1 comprising a movable opening 2, capable of being moved by actuator 3 between a fully open position, a fully closed position and at least one partially open intermediate position, the vehicle comprising a system for managing the opening of said opening 2.

[0086] Said management system comprises: - at least one antenna 4 intended to transmit and receive a pulsed radiofrequency signal, and - an electronic management module including a calculator. The calculator comprises a processor and at least one memory, and is configured to implement each of the steps of a method for managing the opening of the opening 2 described below.

[0087] The computer is capable of generating an output signal making it possible to control the actuator 3.

[0088] The method for managing the opening of the opening 2 is described below with reference to [Fig.2],

[0089] This method makes it possible to control said opening 2 by detecting a movement of a target 5, such as a hand or a foot of a user.

[0090] This method comprises the successive steps described below.

[0091] During a step (a), a signal is emitted, using the antenna, this signal being intended to interact with the target. This signal is an ultra-wideband pulse signal, comprising a carrier modulated by a sequence of pulses, and characterized by very short pulses in time (for example of the order of a few nanoseconds) and a very wide bandwidth (for example greater than 500 MHz, or even more than 1 GHz).

[0092] During a step (b), the signal reflected on the target is returned and captured by the antenna, this signal being called the return signal.

[0093] During step (c), at least one characteristic is determined from the transmitted signal and the return signal, including a speed of movement, a linear amplitude of movement and / or an angular amplitude of movement relating to a movement of the target 5 relative to a determined zone of the vehicle.

[0094] Optionally, during a sub-step (cl), the approximate distance to the target is determined, implementing a measurement of the time shift between a pulse of the return pulse signal and the corresponding pulse of the emitted pulse signal.

[0095] This sub-step (cl) in particular implements the measurement of the time of flight, that is to say the measurement of a duration taken by a pulse to make the round trip between the antenna and the target, as indicated previously.

[0096] Then, during a sub-step (c2), a complement of distance to the target is determined, implementing a monitoring of phase shift values ​​between the return pulse signal and the emitted pulse signal. In an advantageous variant, only this complement of distance to the target is calculated, the relevant information relating to a movement, therefore to variations in position.

[0097] For this calculation of the complement of distance to the target, during a sub-step (c21), we generate: a signal I(t) relating to an in-phase component of the return signal by in-phase mixing between the return signal and a signal at the frequency of the emitted signal, and a signal Q(t) relating to a quadrature phase component of the return signal by quadrature phase mixing between the return signal and a signal at the frequency of the transmitted signal. This amounts to carrying out a demodulation of the return signal.

[0098] Then, during a sub-step (c22), sampled data I(t;) and Q(t;) are obtained corresponding to a time sampling of the signals I(t) and Q(t). The sub-step (c22) can be implemented using an analog-digital converter. This time sampling can be implemented downstream of the generation of the signals I(t) and Q(t). The sampling step can be between 0.8 ns and 2 ns, for example equal to 1 ns.

[0099] Said method may then comprise an optional step (c22') of constructing matrices.

[0100] In this sub-step (c22'), the sampled data I(t;) and Q(h) can be arranged in the form of matrices, as illustrated in [Fig.3]. A first axis of the matrix, denoted "CIR index", can correspond to a pulse index of the transmitted signal. A second axis of the matrix can correspond to an index, denoted "tap num", of a sampling instant. The value of this index can be reset to zero at each new pulse of the transmitted signal. In other words, this involves implementing a time folding of a signal formed by the data considered. A third axis of the matrix can correspond to the value, denoted S, taken by each sampled data.

[0101] In a sub-step (c23), in the sampled data I(ti) and Q(ti), those relating only to portions of the return signal are then extracted, for which a time difference between the reception of said portion of the return signal and the emission of a corresponding pulse of the emitted signal, is less than or equal to a threshold.

[0102] In this sub-step (c23), it is a matter of extracting, for each pulse of the transmitted signal, data relating to a portion of the corresponding pulse of the transmitted signal, a portion for which the difference between the instant of emission of the pulse of the transmitted signal and the instant of reception of said portion of the corresponding pulse of the return signal is less than the threshold, noted TL

[0103] The threshold Tl defines a predetermined detection zone which extends, from the zone of emission and reception of the signal, up to a maximum distance DI from the latter, with Dl=c*Tl / 2, in which c is the speed of light in a vacuum.

[0104] Such an extraction sub-step can be easily visualized when the sampled data I(ti) and Q(ti) are represented in the form of matrices.

[0105] Where appropriate, it is possible to extract data relating only to portions of the return signal, for which a time difference AT between the reception of said portion of signal and the emission of a corresponding pulse of the emitted signal, is both lower than the threshold T1 and higher than a second threshold T2, lower than TL. The predetermined detection zone can then extend between two concentric discs of radius D1=c*T1 / 2 and D2=c*T2 / 2 respectively. T2=1 unit of “tap num” (for example 1 ns) can be chosen, to overcome the effect of internal reflections within the emission and / or reception device.

[0106] In any event, this extraction sub-step makes it possible to consider only portions of signal associated with a reflection on a target located in said predetermined detection zone, and to avoid the effect of reflection on targets that are not relevant because they are located outside said detection zone.

[0107] The predetermined detection zone may correspond to an area in which the movement intended to control the opening of the opening 2 is generally carried out. This predetermined detection zone may not extend beyond a distance Dl=60 cm, which corresponds to T 1=4 ns, i.e. a “tap num” index equal to 4 on the aforementioned matrix.

[0108] Then, during a sub-step (c24), for each sampling instant ti, a module of the extracted data I(ti) and Q(ti) is calculated, denoted ICIR(t;)l, corresponding to the amplitude of the demodulated return signal, and of value equal to the square root of I2(t; )+Q2(ti).

[0109] During a sub-step (c25), the presence of a peak of amplitude greater than or equal to a predetermined threshold is searched for on the calculated ICIR(t;)l data and successively for each pulse of the emitted signal, such a peak corresponding to the identification of the start of a gesture, the instant tj associated with such a peak being recorded and a pulse of index k of the emitted signal being associated with said peak.

[0110] We then calculate, during a sub-step (c26), the phase <p(k) du signal retour démodulé en utilisant les valeurs I et Q associées audit instant tj du pic, à l’aide des formules suivantes : - if I(tj) >0, then <p(k)=arctan (Q(tj) / I(tj)) - if I(tj) <0 and if Q(tj) <0, then <p(k)=arctan (Q(tj) / I(tj)) - ir - if I(tj) <0 and if Q(tj) >0, then <p(k)=arctan (Q(tj) / I(tj)) + ir

[0111] The evolution of the value of the phase q> is then calculated, during a sub-step (c27), for the following pulses k+n of the transmitted signal.

[0112] Sub-steps (c25) and (c26) aim to follow, on said extracted data, the phase of the return signal having reflected on the target, in order to deduce the movement of said target.

[0113] Indeed, the phase being representative of a position of the target, the evolution of the phase indicates a variation of the position of the target, and therefore a movement of the latter. Thus, the evolution of this phase value makes it possible to characterize a movement carried out by the target.

[0114] The monitoring of the phase values ​​can take into account the fact that, each time the distance traveled by the radiofrequency wave varies by X (where / . is the central wavelength of the carrier of said radiofrequency signal), this phase value varies by 2ir.

[0115] This monitoring can also take into account a possible change in the time difference between the peak considered on the return signal and the instant of emission of the corresponding pulse of the emitted signal (in other words, a change in the “tap num” index of the peak considered).

[0116] Then, during a sub-step (c3) (optional), the approximate distance to the target and the complement of the distance to the target are combined, to obtain an estimated value of the distance to the target.

[0117] Then, during a sub-step (c4), said sub-steps (cl) to (c3) (or alternatively step (c2) alone) are repeated, to obtain a time series of estimated values ​​of distance from the target, said time series of values ​​defining a gesture.

[0118] In the case where the method implements at least two antennas 4, 4', ([Fig.4]) spaced apart from each other, then step (c) of the method may also comprise a step of determining an angle 0 formed between the axis connecting the target 5 with a first antenna 4 and the axis connecting the first antenna 4 with the second antenna 4'.

[0119] Consider a right triangle whose two vertices A and B are formed by the zones of the first and second antennas 4, 4', and whose third vertex C has a right angle and is opposite the side AB of the triangle connecting the two antennas 4, 4'.

[0120] Let d be the length of side AB of the triangle connecting the two antennas 4, 4' and let D be the length of side AC of the triangle connecting one of the two antennas 4 to vertex C.

[0121] Assuming the target 5 is sufficiently far away relative to the distance d between the two antennas 4, 4', it is possible to consider that the return signals arrive with the same angle 0 on each of the two antennas 4, 4'.

[0122] So: - D = c.AT where c is the speed of light and where AT is the difference between the times of reception of the return signal by each respective of the two antennas 4, 4', AT can also be calculated from the phase difference between the two receivers: AT= Aq> / (2 ir f) f being the carrier frequency. - cos 0 = D / d and thus 0 = cos-l(D / d).

[0123] The speed of movement and the linear amplitude of movement of the target 5 relative to the vehicle can be calculated both on the basis of the evolution of the distance between the target and the transmission and / or reception zone (measured for example using the time of flight and / or the evolution of the phase) and on the basis of the evolution of the angle 0, over time. The calculation of an angular amplitude of movement of the target uses said evolution of the angle 0, over time.

[0124] Alternatively, the method may implement at least three antennas, for example three antennas, not aligned on the same axis or on the same plane. The use of three non-coplanar antennas makes it possible to determine the position of a target in all directions of space, i.e. in three dimensions. This makes it possible in particular to be able to detect complex positions, trajectories, movements or gestures of the target, in particular gestures which are not contained solely in a single plane. Such complex gestures may in particular involve a rotation of the wrist or a rotation of the arm when the target is a hand of a user.

[0125] Finally, during a step (d), the degree of opening of the opening 2 is controlled using the actuator 3, as a function of the linear amplitude of movement and / or where appropriate the angular amplitude of movement of the target 5. In addition or in alternatively, the opening speed of the opening 2 is controlled using the actuator 3, depending on the speed of movement of the target 5.

[0126] It is understood that, for the implementation of this command, the method implements a comparison between: - at least one current measured value of speed of movement and / or linear amplitude of movement and / or angular amplitude of movement, on the one hand, and - calibration data allowing the connection of said current measured value with an opening speed, respectively an opening degree.

[0127] The calibration can come simply from so-called “factory” settings or from self-adaptation to the user’s average gestures.

[0128] This calibration data is stored in a memory of a computer intended to be installed in the vehicle 1, this computer comprising at least said memory and at least one processor, and being configured to implement the steps of the method described above.

[0129] In the description of the figures, the case where the characteristics relating to the movement of the target are obtained via a tracking of phase values ​​has been described more particularly. The invention is not limited to this solution, and will be able to implement well-known variants, based for example on an extraction of the Doppler frequency. Indeed, the Doppler effect on the frequency of the return signal gives the information of the radial velocity of the target. By applying to the data of the matrices I(ti) and Q(ti), a fast Fourier transform (or FFT for the English "Fast Fourier Transform") makes it possible to obtain the frequencies of the return signal. The difference existing between the frequency of the transmitted carrier f, and the frequency received, is the Doppler frequency Af. The radial velocity of the target is deduced from this by: V=c*Af / f ), with c the speed of light in a vacuum, and f the frequency of the carrier of the transmitted signal.By integrating this speed over time, we deduce the distance of the radial displacement of the said target.

Claims

Claims

1. Method for controlling an opening (2) of a motor vehicle (1) by detecting a movement of a target (5), such as a hand or a foot of a user, said opening (2) being able to be moved using an actuator (3) so as to be able to control its opening speed, and / or its degree of opening between a fully open position, a fully closed position and at least one partially open intermediate position, said method comprising the steps consisting of: a. emit, using at least one transmitter (4), a radiofrequency signal called the emitted signal, intended to be reflected at least partially on said target (5), b. receiving, using at least one receiver (4), a radiofrequency signal called a return signal, originating from the reflection of the signal emitted on said target (5), c. from the emitted signal and the return signal, determine at least one characteristic among a speed of movement, a linear amplitude of movement and / or an angular amplitude of movement, relating to a movement of the target (5) relative to a determined zone of the vehicle, d. controlling the degree of opening and / or the speed of opening of the opening (2), using the actuator (3), and depending on said characteristic relating to the movement of the target (5), the method implementing a comparison between: - said at least one characteristic among a speed of movement, a linear amplitude of movement and / or an angular amplitude of movement, on the one hand, and - calibration data making it possible to link said characteristic with an opening speed, respectively an opening degree, so that: - a high value of the linear amplitude of movement and / or the angular amplitude of movement allows a significant movement of the opening, and vice versa; and - a fast movement speed allows rapid movement of the opening, and vice versa.

2. A method according to claim 1, wherein the opening (2) is capable of being pivoted or translated between its fully open position, its fully closed position and at least one intermediate position: step (c) includes determining the linear amplitude of movement of the target (5); and step (d) includes controlling the degree of opening of the opening as a function of the linear amplitude of movement of the target (5).

3. A method according to claim 1 or 2, wherein: step (c) includes determining the speed of movement of the target (5); and step (d) includes controlling the opening speed of the opening leaf as a function of the speed of movement of the target (5).

4. A method according to any one of claims 1 to 3, wherein the opening (2) is capable of being pivoted between its fully open position, its fully closed position and at least one intermediate position, and: step (c) includes determining an angular amplitude of movement of the target (5); and step (d) includes controlling an angular degree of opening of the opening, as a function of the angular amplitude of movement of the target (5).

5. A method according to any one of claims 1 to 4, wherein the transmitted signal is a pulse signal comprising a carrier modulated by a sequence of pulses.

6. The method of claim 5, wherein the signal is an ultra-wideband signal.

7. A method according to claim 5 or 6, wherein step (c) comprises the substeps of: (c21) generating a signal I(t) relating to an in-phase component of the return signal, by mixing the return signal with an in-phase signal and at the frequency of the transmitted signal, and a signal Q(t) relating to a quadrature-phase component of the return signal, by mixing the return signal with a quadrature-phase signal and at the frequency of the transmitted signal, the signals I(t) and Q(t) defining the two components of a demodulated return signal (c22) obtaining sampled data I(t;) and Q(f) corresponding to a time sampling of the signals I(t) and Q(t) (c23) extracting, from the sampled data I(t;) and Q(t;), those relating only to portions of the return signal, for which a time difference between the reception of each portion of the return signal and the emission of a corresponding pulse of the emitted signal, is less than or equal to one or more thresholds, (c24) for each sampling instant ti, calculate a modulus of the extracted data I(t;) and Q(t;), noted ICIR(t;)l, corresponding to the amplitude of the demodulated return signal, and of value equal to the square root of I2(t; )+Q2(ti), (c25) search, on the data ICIR(t;)l calculated, and successively for each pulse of the emitted signal, the presence of a peak of amplitude greater than or equal to a predetermined threshold, the first detection of such a peak corresponding to the identification of the start of a movement of the target (5), the instant tj associated with such a peak being recorded and a pulse of index k of the emitted signal being associated with the first detection of such a peak, (c26) calculate the phase <p(k) du signal retour démodulé en utilisant les valeurs I et Q associées audit instant tj du pic, à l’aide des formules suivantes : - si I(tj) > 0, then <p(k)=arctan (Q(tj) / I(tj)) - si I(tj) <0 et si Q(tj) <0, alors <p(k)=arctan (Q(tj) / I(tj)) - ir - si I(tj) <0 et si Q(tj) >0, then<p(k)=arctan (Q(tj) / I(tj)) + ir (c27) calculer l’évolution de la valeur de la phase q> , for the following k+n pulses of the transmitted signal.;

8. Computer intended to be installed in a motor vehicle (1) comprising at least one processor and at least one memory, characterized in that it is configured for the implementation of each of the steps of a method according to one of claims 1 to 7.

9. System for managing the opening of an opening (2) intended to be installed in a motor vehicle (1), characterized in that it comprises: - at least one antenna (4) intended to emit the emitted signal and to receive the return signal, and - an electronic management module comprising a computer according to claim 8.

10. Motor vehicle (1) provided with a movable opening (2), capable of being moved by an actuator (3) between a fully open position, a fully closed position and at least one partially intermediate position open, characterized in that it comprises a system for managing the opening of said opening according to claim 9.

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