Discrimination of an involuntary gesture during detection intended to control an opening of a motor vehicle

Abstract

Method for controlling an opening (2) of a motor vehicle (1) of reference frame Rv, said method comprising the steps consisting of: emitting (EA), using at least one transmitter (4a), a radiofrequency signal called emitted signal (10), intended to propagate to a target (5), receiving (EB), using at least one receiver (4a, 4b), a radiofrequency signal called return signal (12a, 12b), calculating (EC) an angular amplitude of the target in motion in an analysis plane of the reference frame Rv, comparing (ED) said angular amplitude (Δα) with a threshold angle (αs), to determine whether the movement of the target (5) is voluntary or not, a voluntary movement being associated with an angular amplitude (Δα) less than the threshold angle (αs), and if the gesture is determined to be voluntary, controlling (EE) an opening of the opening (2) and / or an unlocking of the opening (2), using the actuator (3). Abstract figure: Figure 3.

Description

Title of the invention: Discrimination of an involuntary gesture during detection intended for controlling an opening of a motor vehicle

[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. Prior 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.

[0007] This detection also covers unwanted target movements (involuntary gestures).

[0008] It is also known to use several signal processing devices and methods to discriminate these involuntary gestures during detection.

[0009] However, discrimination requires additional hardware resources capable of implementing complex algorithms.

[0010] An objective of the present invention is to provide an optimal method and device for discriminating an involuntary gesture that requires few resources. material and perform satisfactory discrimination of involuntary gestures. Summary

[0011] For this purpose, the present document relates to a method for controlling an opening of a motor vehicle of reference frame Rv by detecting a movement of a target, said reference frame Rv having as its origin a point of the vehicle, said opening being able to be moved using an actuator, said method comprising the steps consisting of: a. emitting, using at least one transmitter, a radiofrequency signal called emitted signal, intended to propagate to said target, b. receive, using at least one receiver, a radiofrequency signal called a return signal, coming from said target, c. from the return signal, calculate an angular amplitude of the moving target in an analysis plane of the reference frame Rv, said analysis plane being parallel to a plane on which the wheels of the vehicle rest, d. comparing said angular amplitude to a threshold angle, to determine whether the movement of the target is voluntary or not, a voluntary movement being associated with an angular amplitude less than the threshold angle, and e. if the gesture is determined to be voluntary, command an opening of the opening and / or an unlocking of the opening, using the actuator.

[0012] By angular amplitude, we mean the sum of the absolute values ​​of the variations in angle of the moving target between two detection instants. We denote Aa the angular amplitude in the rest of the document.

[0013] As an illustration, in the case of a monotonous movement (i.e. in a single trigonometric direction), the angular amplitude Aa is equal to the absolute value of the difference between:

[0014] - an angle of the target at a detection start time, and - an angle of the target at an end of detection time.

[0015] In the case of a non-monotonic movement (i.e. presenting variations in trigonometric direction), the angular amplitude Aa is equal to the sum of the absolute values ​​of the variations in angle of the target between each point of inflection.

[0016] The discrimination of involuntary movements is typically carried out in an analysis zone in the form of a portion of a sphere outside the vehicle and delimited by the vehicle.

[0017] For example, if one wishes to discriminate movements at the rear, at the bumper of a vehicle, the discrimination of involuntary movements is typically carried out in an analysis zone in the form of a half-sphere outside the vehicle and cut by a plane including the bumper.

[0018] By restricting the analysis area to a plane parallel to a plane on which the vehicle wheels rest, and therefore by restricting the discrimination parameters to angles in this horizontal plane, we carry out a determination of the satisfactory act of will of a movement while minimizing the complexity of the calculation algorithms.

[0019] By way of illustration, in the case of a vehicle having wheels resting on a “flat” road, the analysis plane is parallel to the horizontal plane of the terrestrial reference frame.

[0020] It may also be provided that the analysis plane is a plane orthogonal to a plane on which the wheels of the vehicle rest.

[0021] In the remainder of this document, angles are understood as trigonometric angles, i.e. angles which can be positive, negative or negative.

[0022] The movement of the target can be determined as voluntary in step (d) if the angle variation is less than or equal to a maximum value, here the threshold angle, hereinafter referred to as.

[0023] In other words, the movement of the target can be determined as voluntary in step (d) if the movement describes an angular amplitude Aa less than or equal to as.

[0024] In this way, involuntary movements with large angular amplitudes in the analysis plane are discriminated, i.e. movements whose angular amplitude Aa is greater than as.

[0025] A threshold angle as of 90 degrees makes it possible, for example, to discriminate a movement corresponding to a walking movement of a user along the motor vehicle: the angular amplitude Aa then greater than the threshold angle given that the movement corresponds to an angular amplitude Aa close to ir radians or 180°.

[0026] The threshold angle may be between 70 degrees and 120 degrees, preferably equal to 90 degrees.

[0027] Step (c) may further comprise calculating a first distance between the motor vehicle and the target in the analysis plane, the movement of the target being determined as voluntary in step (d) if furthermore the first distance is less than or equal to a threshold distance.

[0028] In other words, the movement of the target can be determined as voluntary in step (d) if the target is located within an area delimited by the determined zone of the vehicle and an arc of a circle of radius equal to the threshold distance in the azimuth plane.

[0029] In this way, involuntary movements located at a great distance from the determined zone of the vehicle, i.e. at a distance greater than the threshold distance, are discriminated.

[0030] Movements close to the determined area of ​​the vehicle, i.e. at a distance less than or equal to the threshold distance, are considered voluntary.

[0031] The threshold distance can be between 10 cm and 50 cm.

[0032] The threshold distance can be equal to 50 cm.

[0033] The transmitted signal may be a pulse signal comprising a carrier modulated by a sequence of pulses.

[0034] The signals emitted by the transmitter are emitted towards the outside of the vehicle and, preferably, into a detection zone located at the rear of the motor vehicle.

[0035] The transmitted signal may be 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 between 5 GHz and 30 GHz, for example between 5 GHz and 10 GHz.

[0036] The signal may be an ultra-wideband signal.

[0037] 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 f, 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.

[0038] The transmitter and the receiver may be located in the same transmitting and receiving device. The transmitter and the receiver may be formed by the same radiofrequency antenna.

[0039] 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.

[0040] 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, said processor having access to the memory to read the steps stored in the memory, said computer being characterized in that it is configured for the implementation of each of the steps of a method according to the aforementioned type.

[0041] The calculator can be, for example, a chip.

[0042] The present document also relates to a system for managing the opening and / or unlocking of an opening intended to be mounted on a motor vehicle, characterized in that it comprises at least a first transmission-reception module comprising at least one radiofrequency antenna, said first transmission-reception module being intended to transmit the transmitted signal and to receive the return signal, and an electronic management module comprising a computer according to the aforementioned type.

[0043] The management system may further comprise a transmitter-receiver device carried by the user.

[0044] The transmitting-receiving module may be, for example, an anchor.

[0045] The transmitter-receiver device carried by the user may be, for example, a remote control (or “keyfob” in English).

[0046] For example, the transmitter-receiver device may be a remote control, a badge or a smartphone integrating a dedicated application.

[0047] Examples of signal processing are described below, making it possible to characterize the movement of the target, in particular when the emitted signal is a pulse signal comprising a carrier modulated by a sequence of pulses. These examples of data processing are indicated by way of example, and are in no way limiting.

[0048] The transmitter may be said at least one radiofrequency antenna of the first transceiver module.

[0049] The receiver may be an additional radiofrequency antenna included in the first transceiver module.

[0050] The control method can be carried out by the computer according to one of the following two algorithms: a first algorithm called the “radar” algorithm or a second algorithm, called the “ranging” algorithm.

[0051] In the “radar” or “ranging” algorithms, the signals transmitted and received are ultra-wideband frames (series of pulses) and the management system comprises at least two radiofrequency antennas.

[0052] The target may be a transmitter-receiver device and the angular amplitude may be calculated from two-way communication between the target and the transmitter and / or receiver.

[0053] In this particular example, the return signal is a signal generated by the target in response to the reception of the transmitted signal. The control method then favors the “ranging” mode of the computer.

[0054] With the “ranging” algorithm, it is the content of the ultra wideband frames which will be used to determine the angular amplitude Aa.

[0055] The frames include several fields including a “Scrambled Timestamp Sequence” (STS) field and a “Synchronization” (SYNC) field.

[0056] In the “ranging” algorithm, step (a) of the method is performed in response to a step (aO) consisting of receiving an initial signal transmitted by the transceiver device.

[0057] In this way, the "ranging" algorithm begins when the receiver receives this initial signal which allows a pairing between the receiver and the transmitter-receiver device.

[0058] In other words, the transceiver device transmits the first frame which initiates the communication.

[0059] Furthermore, in the “ranging” algorithm, for each radiofrequency antenna, step (c) comprises the sub-steps consisting of: - (cl) from the STS field of the return frame, calculate the evolution of the value of the phase q>, - (c2) calculate an angle of arrival a corresponding to an angle of the target in movement in the Rv frame of reference, using the following formula:

[0060] with Aq> the phase shift between the signals received by the two radiofrequency antennas, X the wavelength of the signal, d the distance between the two radiofrequency antennas, and - (c3) deduce the angular amplitude Aa of the moving target.

[0061] According to another aspect, the target may be a part of a user's body and the angular amplitude may be calculated from the return signal which is a reflection of the emitted signal on the target.

[0062] For example, the target may be a hand or foot of a user.

[0063] In this case, the control method favors the “radar” algorithm of the computer.

[0064] According to the “radar” algorithm, for each radiofrequency antenna, step (c) may comprise the sub-steps consisting of: - (cl') amplify and demodulate the return signal and extract the signals I(t) and Q(t) defining the two in-phase and quadrature-phase components respectively using a mixer, - (c2') obtain sampled data I(t;) and Q(t;) corresponding to a time sampling of the signals I(t) and Q(t), - (c3') extract, in 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 transmitted signal, is less than or equal to one or more thresholds, - (c4') for each sampling instant ti, calculate a modulus of the extracted data 1(6) 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), - (c5') search, on the calculated ICIR(t;)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, 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, - (c6') apply a fast Fourier transform on the complex data CIR(tj) of the ICIR(tj)l data obtained to pass into the frequency domain and obtain the ICIR(Vj)l data, Vj being the frequency associated with the instant tj, - (c7') upon detection of ICIR(Vj)l data greater than a threshold amplitude, 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 : • 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)) - ji, et • if I(tj) <0 and if Q(tj) >0, then <p(k) = arctan (Q(tj) / I(tj)) + ji, - (c8') calculate the evolution of the value of the phase q>, for the pulses of index k+n following the emitted signal, - (c9') calculate, continuously until the detection of a data ICIR(Vj)l less than the threshold amplitude, an arrival angle a corresponding to an angle of the moving target in the analysis plane relative to a point arranged in the middle of the two antennas, using the equation Math. 1, and - (clO') deduce the angular amplitude Aa of the moving target.

[0065] Step (c5') can be performed by a high-pass filter on the calculated ICIR(t;)l data.

[0066] In this way, only the relevant sampling instants are selected by discriminating the sampling instants f with ij, for which the amplitude is low, i.e. the sampling instants for which there is no or little movement.

[0067] Alternatively, the angle of arrival a can correspond to an angle of the target moving in the analysis plane relative to one of the two antennas, the distance d between the two antennas being negligible.

[0068] Step (e) may comprise controlling an angular degree of opening of the opening, as a function of the angular amplitude Aa of the moving target.

[0069] The first transmission-reception module may comprise a matrix of at least two receiving antennas intended to receive the return signal, at least one of the two receiving antennas being able to be a transmission and reception antenna further configured to transmit said transmitted signal, the first transmission-reception module being configured to determine an angle of incidence of the return signal from a time offset between the respective instants of reception of the return signal by each of said receiving antennas.

[0070] In this configuration, the control method can combine the “radar” and “ranging” algorithms in the following way: steps (cl') to (c6') are carried out then upon detection of an ICIR(Vj)l data item greater than a threshold amplitude, steps (cl) to (c3) are performed.

[0071] The management system may further comprise a second transceiver module for transmitting a second transmitted signal and receiving a second transmitted signal, the first and second transceiver modules each being configured to determine their respective distance to the target, the angular amplitude being calculated by triangulation and from a known distance between the first and second transceiver modules.

[0072] In this configuration, step (c) of the method comprises the steps of: - (cl”) for each transceiver module, calculating the angle of arrival of the return signal, - (c2”) deduce the distance between the target and each module transmission-reception, - (c3”) deduce by triangulation the exact position of the target in the plane analysis, and - (c4”) deduce the angular amplitude Aa of the moving target.

[0073] The arrival angle a of steps (c3), (cl0') and (c4”) can be deduced from a correspondence table with the phase shift value Aq>, the correspondence table being produced by measurements carried out upstream of the opening control process.

[0074] The present document also relates to a motor vehicle provided with a movable opening, capable of being moved by the actuator between an open position and a closed position, characterized in that it comprises a system for managing the opening and / or unlocking of said opening according to the aforementioned type.

[0075] The vehicle may further comprise a lock for the opening capable of being in a locked or unlocked position and respectively prohibiting or authorizing opening of the opening, said lock being able to be controlled by the management system.

[0076] The lock may be, for example, a latch.

[0077] The disclosed features may, optionally, be implemented independently of one another or in combination with one another. Brief description of the drawings

[0078] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which:

[0079] [Fig-1] is a schematic view of a motor vehicle according to a method of rea reading of this document,

[0080] [Fig.2] is a schematic view of the rear of the motor vehicle of [Fig.l] in the analysis plane which is a horizontal plane with a target at a first instant,

[0081] [Fig.3] illustrates the different stages of the process according to the “radar” algorithm,

[0082] [Fig.4] is a schematic view of [Fig.2] with a target at a second instant, and

[0083] [Fig.5] schematically illustrates the rear of a motor vehicle in a section following the analysis plan according to this document.

[0084] [Fig.6] illustrates the different stages of a method according to the invention, implementing implements a triangulation. Description of the embodiments

[0085] [Fig.l] is a schematic view of a motor vehicle according to an embodiment of the present document.

[0086] A motor vehicle 1 comprises 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 said opening 2.

[0087] A reference point (O, X, Y, Z) is associated with a reference frame Rv of the motor vehicle 1, the origin O being located at the center of the rear bumper 8 of the vehicle 1.

[0088] [Fig.2] is a schematic view of the rear of the motor vehicle of [Fig.l] in the analysis plane which is a horizontal plane.

[0089] The analysis plane is therefore the (OXY) plane.

[0090] The management system comprises a transmission-reception module 4 comprising a first and a second radiofrequency antenna 4a, 4b separated by a known distance d, and an electronic management module comprising a computer.

[0091] The first antenna 4a is intended to emit a transmitted signal 10 which propagates towards the target 5 (initially located at point M at a first instant) and the two antennas 4a, 4b are each intended to receive a return signal 12a, 12b which is a reflection of the transmitted signal 10 on the target 5.

[0092] The calculator comprises within it a processor and a memory, the processor having access to the memory to read the steps stored in the memory and is capable of generating an output signal making it possible to control the actuator 3.

[0093] [Fig.3] illustrates the different stages of the control process according to the “radar” algorithm.

[0094] This control method makes it possible to control said opening 2 by detecting a movement of a target 5. In the example illustrated, the target 5 is a part of a user's body.

[0095] During a step (a), the first radiofrequency antenna 4a emits EA the emitted signal 10, which propagates to the target 5. This emitted signal 10 is an ultra-wideband pulsed signal, comprising a carrier modulated by a sequence of pulses, and characterized by pulses that are very short 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).

[0096] During a step (b), the transmitted signal 10 is reflected EB on the target 5 and a return signal 12a, 12b is received for each antenna 4a, 4b respectively.

[0097] Upon receipt of the return signal 12a, 12b, the target forms an angle of incidence (i.e. arrival) aa, ab for each antenna 4a, 4b respectively.

[0098] During a step (c), the angular amplitude of the target moving in the horizontal plane (OXY) is calculated EC using the calculator.

[0099] Reference is now made to [Fig.4] which represents target 5 in the plane (OXY) at a second instant. Between the first and second instants, target 5 moves from point M to point N during its movement.

[0100] At the first instant, the target at point M forms an angle a with the point located in the middle between antenna 4a and antenna 4b, i.e. at point O. In other words, angle a is the angle formed by the pair { [OX) ; [OM]}.

[0101] At the second instant, the target at point N forms an angle a' with the point located in the middle between antenna 4a and antenna 4b, i.e. at point O. In other words, angle a' is the angle formed by the pair { [OX) ; [ON]}.

[0102] The angular amplitude Aa corresponds to the sum of the absolute values ​​of the angles a and a': Aa- |a| 4- |a'|.

[0103] In order to determine this angular amplitude Aa, for each antenna 4a, 4b step (c) of the method comprises several sub-steps.

[0104] During a sub-step (cl'), the return signal 12a, 12b is amplified and demodulated EC1' and the signals I(t) and Q(t) defining the two in-phase and quadrature-phase components are extracted respectively using a mixer.

[0105] During a sub-step (c2'), EC2' is obtained from the sampled data I(t;) and Q(f) corresponding to a time sampling of the signals I(t) and Q(t).

[0106] During a sub-step (c3'), EC3' is extracted, in the sampled data I(t;) and Q(ti), 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.

[0107] During a sub-step (c4'), for each sampling instant ti, we calculate EC4' a module 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).

[0108] During a sub-step (c5'), EC5' is searched, on the calculated ICIR(t;)l data, and successively for each pulse of the emitted signal, for 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, 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.

[0109] During a sub-step (c6'), a fast Fourier transform EC6' is applied to the complex data CIR(tj) of the data ICIR(tj)l obtained to move into the frequency domain and obtain the data ICIR(Vj)l, Vj being the frequency associated with the instant tj.

[0110] During a sub-step (c7'), upon detection of ICIR(Vj)l data greater than a threshold amplitude, EC7' is calculated as 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)) - ji, et • if I(tj) <0 and if Q(tj) >0, then <p(k) = arctan (Q(tj) / I(tj)) + ji.

[0111] During a sub-step (c8'), EC8' is calculated the evolution of the value of the phase q>, for the following pulses of index k+n of the transmitted signal.

[0112] During a sub-step (c9'), EC9' is calculated continuously until the detection of an ICIR(tj)l data item less than the threshold amplitude, an arrival angle a, a' corresponding to an angle of the target moving in the analysis plane, using the equation Math.l.

[0113] During a sub-step (c 10') we deduce EC10' the angular amplitude Aa of the moving target.

[0114] During a step (d) of the method, the angular amplitude Aa is compared to a threshold angle as, to determine whether the movement of the target is voluntary or not, a voluntary movement being associated with an angular amplitude Aa less than the threshold angle.

[0115] During a step (e) of the method, if the gesture is determined to be voluntary (result “Y”), EE is commanded to open the opening 2, using the actuator 3.

[0116] Otherwise, if the gesture is determined to be involuntary (result “N”), the method stops EE’.

[0117] For as=90°, the movement of the target in [Fig.4] is not discriminated, because Aa < as. In other words, the movement of the target is discriminated, because the angle variation between points M and N describes an angle less than the threshold angle as.

[0118] [Fig.5] illustrates an embodiment in which the opening management system comprises a first and a second transceiver module 50, 52 arranged at the rear bumper 8 of the vehicle and at a distance L1 from each other.

[0119] The target 5 is located at point P, the reference point of the first transmission module 50 is point Q and the reference point of the second transmission-reception module 52 is point R. Point Q is located at a distance L1 from point R.

[0120] The reference points Q and R are the midpoints of the intersections of the first and second transceiver modules 50, 52 respectively with the axis [OY).

[0121] [Fig.6] illustrates the different steps of the method in this embodiment.

[0122] The method of [Fig.6] differs from that of [Fig.3] in that step (c) of the method comprises different sub-steps.

[0123] During a sub-step (cl”), for each transceiver module 50, 52, EC1” is calculated the angle [3, y of the return signal formed by the segment of length L1 (i.e. the segment [QR]) and the segment between the target 5 and the corresponding transceiver module (i.e. the segment [QP] for the first transceiver module 50 and the segment [RP] for the second transceiver module 52).

[0124] During a sub-step (c2”), we deduce EC2” the distance L2, L3 (corresponding to [QP] for L2 and [RP] for L3) between the target 5 and each corresponding transceiver module 50, 52.

[0125] During a sub-step (c3”), we deduce EC3” by triangulation the exact position of the target 5 in the analysis plane.

[0126] During a sub-step (c4”), we deduce EC4” the angular amplitude Aa of the moving target 5.

Claims

Claims

1. Method for controlling an opening (2) of a motor vehicle (1) of reference frame Rv by detecting a movement of a target (5), said reference frame Rv having as its origin a point (O) of the vehicle, said opening (2) being capable of being moved using an actuator (3), said method comprising the steps consisting of: a. transmit (EA), using at least one transmitter (4a), a radiofrequency signal called transmitted signal (10), intended to propagate to said target (5), b. receiving (EB), using at least one receiver (4a, 4b), a radiofrequency signal called return signal (12a, 12b), coming from said target (5), c. from the return signal (12a, 12b), calculate (EC) an angular amplitude of the moving target in an analysis plane of the reference frame Rv, said analysis plane being parallel to a plane on which the wheels of the vehicle (1) rest, d. comparing (ED) said angular amplitude (Aa) to a threshold angle (as), to determine whether the movement of the target (5) is voluntary or not, a voluntary movement being associated with an angular amplitude (Aa) less than the threshold angle (as), and e. if the gesture is determined to be voluntary, command (EE) an opening of the opening (2) and / or an unlocking of the opening (2), using the actuator (3).

2. Control method according to the preceding claim, in which the threshold angle (as) is between 70 degrees and 120 degrees, preferably equal to 90 degrees.

3. Control method according to one of the preceding claims, wherein step (c) further comprises calculating a first distance between the motor vehicle (1) and the target (5) in the analysis plane, the movement of the target (5) being determined as voluntary in step (d) if in addition the first distance is less than or equal to a threshold distance.

4. Control method according to one of the preceding claims, in which the target (5) is a part of the body of a user and the angular amplitude (Aa) is calculated from the return signal (12, 12b) which is a reflection of the emitted signal (10) on the target (5).

5. A control method according to any one of claims 1 to 3, wherein the target (5) is a transmitter-receiver apparatus and the angular amplitude (Aa) is calculated from a two-way communication between the target (5) and the transmitter (4a) and / or the receiver (4a, 4b).

6. Computer intended to be installed in a motor vehicle (1) comprising at least one processor and at least one memory, said processor having access to the memory to read the steps stored in the memory, said computer being characterized in that it is configured for the implementation of each of the steps of the method according to one of the preceding claims.

7. System for managing the opening and / or unlocking of an opening (2) intended to be mounted on a motor vehicle (1), characterized in that it comprises at least a first transmission-reception module (50) comprising at least one radiofrequency antenna, said first transmission-reception module (50) being intended to transmit the transmitted signal and to receive the return signal (12a, 12b), and an electronic management module comprising a computer according to the preceding claim.

8. Management system according to the preceding claim, in which the first transmission-reception module (4) comprises a matrix of at least two receiving antennas intended to receive the return signal (12a, 12b), at least one of the two receiving antennas being able to be a transmission and reception antenna further configured to transmit said transmitted signal, the first transmission-reception module (50) being configured to determine an angle of incidence of the return signal from a time offset between the respective instants of reception of the return signal by each of said receiving antennas.

9. A management system according to claim 7 further comprising a second transceiver module (52) for transmitting a second transmitted signal and receiving a second transmitted signal, the first and second transceiver modules (50, 52) each being configured to determine their respective distance to the target (5), the angular amplitude being calculated by triangulation and from a known distance (Ll) between the first and second transceiver modules (50, 52).

10. Motor vehicle (1) provided with a movable opening (2), capable of being moved by the actuator (3) between an open position and a closed position, characterized in that it comprises a system for managing the opening and / or unlocking of said opening (2) according to the claims instructions 7 to 9.

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