Actuation device and method for an access system of a vehicle

Abstract

The invention relates to an actuation device (100) for a vehicle (200), for actuating a movable part (201) of the vehicle (200), in particular in the form of a door or a flap of the vehicle (200), comprising: - a function element (10) designed to be disposed on or adjacent to the movable part (201) of the vehicle (200), - a sensor device (20), wherein the sensor device (20) has a sensor unit (21) in order to monitor the at least one actuation range (I, II) at the vehicle (200) with the aid of radar waves, and wherein the sensor device (20) has an electronics unit (22) which is designed to control the sensor unit (21) in order to detect a user (300) in the at least one actuation range (I, II) and / or to detect an obstacle (H) in a movement range of the movable part (201), the function element (10) being designed to be disposed on or adjacent to the movable part (201) of the vehicle (200), and the function element (10) having a kinematics device (30) which is designed to dispose the sensor device (20) movably on or in the function element (10).

Description

[0001] Actuating device and method for an access system of a vehicle

[0002] Description

[0003] The invention relates to an actuating device, in particular a contactless one, for an access system of a vehicle for actuating, preferably unlocking and / or opening, a movable part of the vehicle, in particular in the form of a door or a hatch of the vehicle.

[0004] Furthermore, the invention relates to a corresponding access system for a vehicle, comprising at least one corresponding, in particular contactless, actuating device.

[0005] Furthermore, the invention relates to a corresponding method for actuating, preferably unlocking and / or opening, a movable part of the vehicle, in particular in the form of a door or a flap of the vehicle, with the aid of a corresponding, in particular contactless, actuating device.

[0006] Actuating devices in the form of door handles for access devices in vehicles are generally known. Known actuating devices often have sensor devices within the door handle, which serve to automatically actuate moving parts, such as a door or a tailgate, in vehicles. Known sensor devices usually have sensors that can monitor the vehicle's surroundings to detect a user. Radar sensors are increasingly being used as sensors. However, the operation of such access devices does not always prove to be safe, particularly with regard to obstacle control in the movement area of ​​the moving part, which can open automatically. The object of the invention is therefore to at least partially overcome the disadvantages described above.In particular, the object of the invention is to provide an improved, in particular contactless, actuating device for an access system of a vehicle for actuating, preferably unlocking and / or opening, a movable part of the vehicle. Preferably, the object of the invention is to provide an actuating device, in particular contactless, for an access system of a vehicle for actuating, preferably unlocking and / or opening, a movable part of the vehicle, which is safe and reliable in operation and which enables safe actuation of the movable part, preferably with regard to obstacle control in the movement range of the movable part, which are actuated automatically.Furthermore, it is an object of the present invention to provide a corresponding access system for a vehicle with a corresponding actuating device and a corresponding method for actuating a movable part of the vehicle, in particular in the form of a door or a flap of the vehicle, with the aid of a corresponding actuating device.

[0007] This object is achieved by a, in particular contactless, actuating device for an access system of a vehicle for actuating, preferably unlocking and / or opening, a movable part of the vehicle with the features of the independent device claim, by a corresponding access system for a vehicle with a corresponding actuating device according to the independent system claim, and by a corresponding method for actuating, preferably unlocking and / or opening, a movable part of the vehicle, in particular in the form of a door or a hatch of the vehicle, using a corresponding actuating device. Preferred developments of the actuating device are listed in the dependent claims.Features disclosed in relation to the individual embodiments and / or aspects of the invention can be combined with one another in such a way that mutual reference is or can always be made to the disclosure of the embodiments and / or aspects of the invention.

[0008] The invention provides a particularly contactless actuating device for an access system of a vehicle for (preferably automatically) actuating (at least including unlocking and / or opening) a movable part of the vehicle, particularly in the form of a door, e.g., a side door, a sliding door, or a flap, e.g., a tailgate, fuel tank or loading flap, or a hood of the vehicle. In most cases, several movable parts can be provided on the vehicle in order to be able to lock the interior of the vehicle. One actuating device can be provided for each of several movable parts on the vehicle.

[0009] The actuating device comprises: a functional element which is designed to be arranged on or adjacent to the movable part of the vehicle, a sensor device, wherein the sensor device has a sensor unit in order to monitor the at least one actuating region in the vehicle using radar waves, and wherein the sensor device has an electronic unit which is designed to control the sensor unit in order to detect a user in the at least one actuating region and / or detect an obstacle in a movement region of the movable part, wherein the functional element is designed to be arranged on (e.g. as a door handle or as a mounting support for a door handle) or adjacent (e.g.on a B-pillar of the vehicle) to the movable part of the vehicle, and wherein the functional element has a kinematic device which is particularly designed to arrange the sensor device movably on or in the functional element.

[0010] The actuation area may be referred to below as the detection area. The actuation area may comprise at least a first actuation area and a second actuation area, which can be monitored separately and / or which can seamlessly merge into one another when the sensor device is moved.

[0011] The sensor device can be arranged in at least one detection position or in several, for example, all, detection positions within the functional element. The sensor device can be moved within the functional element. The sensor device can advantageously be designed as a coherent modular unit in which the sensor unit and the electronics unit can be integrated, optionally with another sensor element.

[0012] The sensor device can advantageously have a carrier plate, preferably in the form of a circuit board, in order to support the sensor unit and the electronics unit, if necessary with a further sensor element.

[0013] The electronics unit can be designed, in particular, to control the sensor device in such a way as to detect, in particular radar detection, a user and / or to communicate with a user-side device, e.g., in the form of a mobile phone or an ID transmitter. This allows an access system, in particular in the form of a central locking system, to be controlled and preferably unlocked or locked.

[0014] The sensor unit can operate in the 79 GHz range, for example. The sensor unit can have a range of 100 m, for example.

[0015] The electronic unit can preferably be designed to control the sensor device in such a way as to detect an obstacle in a movement range of the movable part.

[0016] The kinematic device can advantageously have a kinematic unit (or gear unit and / or guide unit) and / or a drive unit (e.g. comprising a (servo motor and / or a (piezo) drive) in order to movably arrange and movably drive the sensor device on or in the functional element.

[0017] A movable arrangement or mounting and / or a movable drive of the sensor device can create an enlarged operating range, which in particular avoids blind spots and / or substantially encloses the movement range of the movable part, preferably to improve the detection of an obstacle within a movement range of the movable part. The at least one operating range can be enlarged, for example, from 130° to 150°, preferably to 170°, and more preferably to 180°. The at least one operating range can preferably be enlarged in the vertical plane.

[0018] The angular travel of the sensor device can be selected to achieve the required field of view for detecting an obstacle within a (as complete as possible) range of motion of the moving part. The angular travel of the sensor device can be in a range between 10° and 60°, 20° and 50°, or 30° and 40°.

[0019] The angular travel of the sensor device can increase the at least one actuation range from 130° to 150°, preferably to 170°, preferably to 180°, and thus enable detection of an obstacle in a (as complete as possible) range of movement of the movable part.

[0020] Detection, especially radar detection, has a specific angular resolution determined by the design of the sensor unit. A movable arrangement and / or a movable drive of the sensor device can also make it possible to avoid blind spots due to a given angular resolution. This allows even smaller objects to be reliably detected.

[0021] Detection, especially radar detection, of immovable obstacles proves difficult in a stationary vehicle because the relative speed between the stationary vehicle and the obstacle is zero. A movable arrangement and / or a movable drive of the sensor device can also significantly improve the detection of immovable obstacles.

[0022] The actuating device can thus enable an improved access system with increased security.

[0023] Actuating the movable part can be understood as unlocking and / or opening the movable part as well as closing and / or locking the movable part. To hold the movable part in the closed position on the vehicle, a lock, for example an electromechanical lock, can be provided which can be controlled (directly or indirectly) by the actuating device. In the closed position, the movable part is mechanically secured by the lock. As soon as the lock no longer locks the movable part, it can be opened, whereby the lock can also at least assist the opening process of the movable part. In addition, a (door) drive for moving the movable part can also be provided to support the opening and / or closing process. Moving or the movement of the movable part can be understood as opening and / or closing the movable part.

[0024] Furthermore, the actuating device can also be designed to close and / or lock the movable part, wherein in particular for closing the movable part the actuating device can act in a contactless or contact-based manner, wherein preferably for locking the movable part the actuating device can act in a contact-based manner.

[0025] The actuating device can preferably generate at least one or more control signals for the aforementioned unlocking and / or locking processes, as well as opening and / or closing. In other words, the actuating device can advantageously serve to actuate the movable part, in particular by a user (in particular comparable to a door handle).

[0026] Furthermore, it can be provided that the functional element is formed by a door handle, in particular a retractable one. It is conceivable that the sensor device can be movably mounted in a bearing section of the door handle. Advantageously, the material of the door handle, at least in the bearing section where the sensor device is arranged, can be radar-permeable.

[0027] Furthermore, it can be provided that the functional element is formed by a mounting bracket for a door handle, in particular a retractable one. It is conceivable that the sensor device can be arranged in an area of ​​a handle recess. In the area of ​​a handle recess, an opening can be provided in the movable part in order to enable detection, in particular radar detection. Furthermore, it can be provided that the functional element is formed by a load-bearing vehicle pillar, in particular a B-pillar, or by a body part of the vehicle. It is conceivable that the material of the vehicle pillar can be designed to be radar-permeable, at least in the area where the sensor device is arranged.

[0028] Furthermore, it can be provided that the functional element can be brought into operative connection with a lock, in particular an electromechanical lock. The functional element can advantageously be designed in the form of a door handle, in particular a retractable one. The lock, optionally with the assistance of a drive, can advantageously be designed to actuate the movable part of the vehicle, in particular to unlock and / or open and / or close and / or lock it. Preferably, the electronics unit can be designed to generate a corresponding control signal for the lock and / or the drive in order to control the lock or the drive in accordance with an actuation action (at least approach, touch and / or movement pattern and / or gesture) of the user, which was detected by the sensor unit.

[0029] The lock can basically be used to unlock and / or lock the moving part of the vehicle.

[0030] The drive, which can be provided separately from the lock, can be designed to open and / or close the moving part of the vehicle.

[0031] Furthermore, it may be advantageous that the actuating device, preferably the electronic unit, can be designed to generate a corresponding control signal for a lock and / or a drive.

[0032] Furthermore, it can be provided that the sensor device is arranged on or in the functional element so as to be linearly movable. The sensor device can be driven easily and stably using a linear movement. A linear movement can be used to create an enlarged actuation range, in particular in the vertical plane, which in particular avoids blind zones and / or substantially encloses the movement range of the movable part, preferably in order to carry out improved detection of an obstacle in a movement range of the movable part. A linear movement can be used to enable the at least one actuation range to be enlarged, for example, from 130° to 150°, preferably to 170°, more preferably to 180°.

[0033] Furthermore, it can be provided that the sensor device is arranged so as to be rotatable and / or pivotable on or in the functional element. By means of a rotatable and / or pivotable movement, the sensor device can be driven easily and stably. By means of a rotatable and / or pivotable movement, an enlarged actuation range can be easily formed, which in particular avoids blind zones and / or substantially encloses the movement range of the movable part, in order to preferably carry out improved detection of an obstacle in a movement range of the movable part. By means of a rotatable and / or pivotable movement, it can be made possible that the at least one actuation range can be enlarged, for example from 130° to 150°, preferably to 170°, more preferably to 180°.

[0034] Furthermore, it can be provided that the sensor device is arranged in a guided, in particular positively guided, manner on or in the functional element. This allows the sensor device to be driven simply and stably. The sensor device can be driven linearly and / or rotatably and / or pivotably by a guide unit.

[0035] Furthermore, it can be provided that the sensor device is arranged on or in the functional element so that it can be moved in a gimbal-like manner. This allows the sensor device to be moved in all directions.

[0036] Furthermore, it is conceivable that the sensor device is driven in an elastic and / or flexible manner, for example by means of an elastically stretchable, for example electromechanically controllable, actuating element and / or a pull rope.

[0037] Advantageously, the sensor device can have an angular travel in a range between 10° and 60°, 20° to 50°, or 30° to 40°. As a result, the at least one actuation range (I, II) can be increased from 130° to 150°, preferably to 170°, and more preferably to 180°, so that detection of an obstacle in a (as complete as possible) range of motion of the movable part can be enabled. Furthermore, the kinematic device can be provided with a kinematic unit designed to move the sensor device linearly relative to the functional element. This enables simple and stable movement of the sensor device. The kinematic unit can be easily implemented, for example, using a linear guide unit.

[0038] Furthermore, the kinematic device can be provided with a kinematic unit designed to move the sensor device in a rotatable and / or pivotable manner relative to the functional element. This enables a simple and stable movement of the sensor device. The kinematic unit can be implemented simply, for example, using a swivel joint and / or a guide unit.

[0039] Furthermore, the kinematics unit can have at least one rotary joint for the sensor device in order to, for example, move the sensor device in a rotatable and / or pivotable manner.

[0040] Furthermore, the kinematic device can comprise a kinematic unit designed to guide, in particular positively guide, the sensor device relative to the functional element. This enables stable and secure movement of the sensor device. For this purpose, the kinematic unit can comprise a guide unit for the sensor device. The guide unit can be formed, for example, in the functional element.

[0041] If the functional element is designed, for example, as a door handle, then the guide unit can be formed within a bearing section. If the functional element is designed, for example, as a door handle, then the sensor device can preferably be movably arranged within a bearing section of the door handle. A bearing section can be understood as an end section of the door handle. A bearing section can be understood, in particular, as an end section of the door handle that protrudes through a door leaf, is arranged substantially perpendicular to the door leaf and / or to the main body of the door handle, and / or that interacts with a mounting bracket on the other side of the door leaf to fasten and / or movably mount the door handle. Furthermore, it is conceivable for the kinematics device to have a kinematics unit that is designed to move the sensor device in a gimbal manner relative to the functional element.In this way, the at least one actuation range can be effectively enlarged. Advantageously, the kinematic unit can have at least one universal joint for the sensor device.

[0042] Furthermore, it is conceivable for the kinematic device to have a kinematic unit designed to move the sensor device elastically and / or compliantly relative to the functional element. The kinematic unit can have at least one elastically stretchable, e.g., electromechanically controllable, actuating element and / or a traction cable to move the sensor device. This allows actuation of the sensor device over a relatively large distance. Thus, the drive unit can be arranged at a distance from the kinematic unit.

[0043] Advantageously, the kinematic device can comprise a kinematic unit configured such that the sensor device can be moved relative to the functional element over an angular range that can be within a range between 10° and 60°, 20° and 50°, or 30° and 40°. In this way, the at least one actuation range can be increased from 130° to 150°, preferably to 170°, and more preferably to 180°.

[0044] Furthermore, the kinematic device can be provided with a frame element for the sensor device, in which the sensor device is mounted, in particular clamped, and via which the sensor device is movably driven. This enables not only movement but also actuation of the sensor device.

[0045] Advantageously, the frame element can serve to move the sensor device relative to the functional element in a guided manner, in particular in a forced manner, preferably linearly and / or rotatably and / or pivotably.

[0046] Furthermore, the kinematic device can be provided with a mounting pin for the sensor device, to which the sensor device is attached, in particular hot-stamped, and via which the sensor device is movably driven. Advantageously, the mounting pin can have at least one joint part for rotating and / or pivoting the sensor device relative to the functional element.

[0047] Furthermore, the kinematic device can be provided with a drive unit for driving the sensor device movably relative to the functional element. This enables autonomous operation of the kinematic device to drive the sensor device movably relative to the functional element.

[0048] Furthermore, it can be provided that the kinematic device is designed to tap drive energy and / or drive action from an external drive unit, in particular a drive unit of the movable part of the vehicle and / or a movable, e.g., extendable, door handle, in order to drive the sensor device movably relative to the functional element. In this way, advantageous functionality of the sensor device can be enabled using an existing drive unit in the vehicle.

[0049] A possible drive unit could be a servo motor, e.g. via a handle drive or its own drive, a piezo drive, a shape memory wire, etc.

[0050] Advantageously, it can be provided that the electronics unit is designed to control the kinematics device in such a way as to movably drive the sensor device, in particular in an obstacle detection mode, between at least a first detection position and a second detection position. In the first detection position, the sensor device can detect a first actuation range. In the second detection position, the sensor device can detect a second actuation range. In this way, the at least one actuation range can be easily and reliably enlarged in order to avoid blind spots and / or to substantially enclose the range of movement of the movable part. The angular resolution during detection can thus also be refined. Furthermore, reliable detection of even immovable obstacles can thus be enabled.

[0051] Preferably, the sensor device can detect an enlarged actuation range (meaning continuous) during a movement between the first detection position and the second detection position. The enlarged actuation range can thus be formed dynamically. The enlarged actuation range can advantageously avoid blind zones and / or substantially enclose the movement range of the movable part. In this way, improved detection of an obstacle in a movement range of the movable part can be carried out with increased reliability.

[0052] Advantageously, it can be provided that the electronic unit is designed to control the kinematic device in such a way as to movably drive the sensor device, in particular in an obstacle detection mode, and to dynamically (and preferably continuously) enlarge the at least one actuation range during the movement. The enlarged actuation range can thus be formed dynamically. The enlarged actuation range can advantageously avoid blind zones and / or substantially enclose the movement range of the movable part. In this way, improved detection of an obstacle in a movement range of the movable part can be carried out with increased reliability.

[0053] Furthermore, it can be provided that the electronic unit is designed to control the sensor unit, preferably in an actuation detection mode, to detect an actuation of the user, e.g. in the form of a presence, an approach, a touch and / or a specific movement pattern and / or a body movement and / or a command, e.g. a voice command, in particular with the aid of the detection, preferably radar detection, in order to initiate unlocking and / or opening of the movable part after the detection, in order to enable access to a vehicle interior when the user is outside the vehicle, and / or to enable exit from a vehicle interior when the user is inside the vehicle. In this way, an advantageous, in particular expanded, functionality can be enabled by the actuation device for an improved access system of the vehicle, e.g.when getting in and / or out of the vehicle.

[0054] Furthermore, it can be provided that the electronic unit is designed to control the sensor unit, preferably in an actuation detection mode, to detect an actuation of the user, e.g., in the form of a presence, an approach, a touch, and / or a specific movement pattern, in particular with the aid of the detection, preferably radar detection, in order to initiate a closing and / or locking of the movable part after the detection. In this way, an advantageous, in particular expanded, functionality can be enabled by the actuation device for an improved access system of the vehicle, e.g., after exiting the vehicle.

[0055] Furthermore, the electronic unit can be configured to control the sensor unit, preferably in an obstacle detection mode, to detect an obstacle in the movement range of the movable part, in particular by means of detection, preferably radar detection. This enables safe operation of the movable part. Thus, an improved vehicle access system can be ensured.

[0056] Advantageously, the electronic unit can be designed to provide a warning signal and / or a stop signal when the sensor device detects an obstacle in the movement range of the movable part.

[0057] In addition, it can be provided that the electronics unit is designed to control the sensor unit, preferably in a communication mode, to carry out an authorization query, in particular by means of communication with a user-side device, preferably in the form of a mobile phone and / or an ID transmitter, in order in particular to enable authentication of the user. In this way, an advantageous, in particular expanded, functionality can be enabled by the actuating device, which can simultaneously enable an authorization query with the user using the same sensor unit. In the communication mode, the sensor unit can enable communication in order to transmit an ID code. The sensor unit can first send a request signal to a user-side device and then receive an ID code for verification. The communication can preferably take place using radar waves.

[0058] On the one hand, the sensor unit can be provided with an actuation detection mode for detecting an actuation action by the user, for example in the form of a presence, an approach, a touch, and / or a specific movement pattern. On the other hand, the sensor unit can be provided with an obstacle detection mode for detecting an obstacle in the movement range of the movable part. Furthermore, the sensor unit can be provided with a communication mode for carrying out an authorization query, in particular by means of communication with a user-side device, preferably in the form of a mobile phone and / or an ID transmitter. In this way, expanded functionality can be enabled using the actuation device.

[0059] Furthermore, it can be provided that the sensor device, in particular in an obstacle detection mode and / or in an actuation detection mode, can be designed for distance measurement, speed measurement, and / or angle measurement, in particular with the aid of detection, preferably radar detection. In this way, flexible detection of different actuation actions can be enabled in order to enable expanded functionality via the actuation device.

[0060] Furthermore, the sensor device can be designed to perform a pulse radar measurement method or a continuous wave radar measurement method. In this way, advantageous radar measurement methods can be used to evaluate the detection.

[0061] Furthermore, it can be provided that the sensor unit, particularly in an obstacle detection mode and possibly in an actuation detection mode, is assigned different detection positions and / or different actuation ranges. This enables improved detection in an enlarged detection range.

[0062] In principle, it can be provided that the electronic unit can be designed to carry out an authorization query with the user, in particular with the aid of the sensor unit or another communication unit within the framework of the actuating device.

[0063] Furthermore, it can be provided that the electronic unit can be connected to a security device of the vehicle in order to verify the user's authorization. The security device can, for example, forward a positive authentication of an authorized user to the electronic unit and / or only activate the electronic unit once the user has been positively authenticated as authorized.

[0064] Furthermore, the electronic unit can be configured to perform and / or initiate an authorization query with the user when a user action has been detected by the sensor unit. In this way, the authorization query can only be initiated once a user action has been detected.

[0065] Furthermore, it can be provided that the sensor device can be switched on by a security device of the vehicle in order to detect a user in the at least one actuation area using the sensor unit. In this way, the energy required to operate the sensor device can be saved, and the sensor device can only be switched on once an authorized user has been positively authenticated.

[0066] Furthermore, the electronic unit can be configured to switch the sensor device, in particular to an obstacle detection mode, and to move it (in particular to enlarge the detection range) when a user's actuation has been detected by the sensor unit and / or a positive authorization query has been conducted with the user. In this way, the actuation range can only be expanded when the movable part is to be opened, specifically for a positively authenticated user.

[0067] In addition, it can be provided that the sensor unit has at least one transmitting antenna. Advantageously, it can be provided that the sensor unit has a plurality of transmitting antennas. The transmitting antennas can preferably be arranged in such a way, for example in a (e.g. vertically aligned and / or slightly inclined) row, to enable an angular resolution in a vertical direction of the vehicle, preferably in a use position on the vehicle. This makes it possible for the at least one actuating region to already have a certain height in a detection position of the sensor device. In addition, it can be provided that the sensor unit has at least one receiving antenna. Advantageously, it can be provided that the sensor unit has a plurality of receiving antennas. The receiving antennas can preferably be arranged in such a way, for example in a (e.g.The sensors can be arranged in a (horizontally aligned) row relative to one another, preferably in a use position on the vehicle, to enable angular resolution in a vehicle's longitudinal direction. This makes it possible for the at least one actuation area to have a certain width, for example, in a range between 80° and 160°, in particular at least 130°, even in a detection position of the sensor device.

[0068] Furthermore, within the scope of the invention, a sensor device can be provided with at least one transceiver, wherein the transceiver in particular has at least one, preferably two transmitting antennas and at least one, preferably four receiving antennas. This enables active monitoring, for example in the form of scanning, of the vehicle's surroundings. Using transmitting antennas, the transceiver can emit radar waves that can be reflected by objects or people. The reflected radar waves are received by the receiving antennas and provide information about the detected objects or people, as well as their positions, movements, or the like. The transceiver can thus be used to analyze the vehicle's surroundings.Using two transmitting antennas and four receiving antennas, a detailed image of the vehicle's surroundings and the events around it can be captured, including defined movement patterns. One of the transmitting antennas can emit a defined pattern signal, which is compared with the reflected received signal.

[0069] Within the scope of the invention, it can advantageously be provided that the transmission signal is provided with a vehicle identification in order to distinguish the own transmission signal from external signals.

[0070] Furthermore, the invention can provide for a sensor device that the control unit has at least one microcontroller, wherein the microcontroller in particular has at least one converter, at least one signal processing unit, at least one processor unit, at least one memory unit, at least one interface, and / or at least one connection for communication and / or power supply. Thus, an autonomous processor with comprehensive peripheral functions can be provided within the sensor device. The microcontroller can process and analyze the information from the sensor unit to ensure different operating modes or detection modes of the sensor device with different functionality.

[0071] Furthermore, the sensor unit can be provided with at least one additional sensor element to detect a user in the at least one actuation area using an optical measurement, an inductive measurement, and / or a capacitive measurement. The additional sensor element can, for example, be used to detect a touch on the actuation device.

[0072] Advantageously, the sensor device comprising the sensor unit, the electronics unit, and optionally a further sensor element can be designed in the form of a modular unit. This allows for easy handling of the sensor device.

[0073] Advantageously, the sensor device can comprise a carrier plate, preferably in the form of a printed circuit board, for the sensor unit, the electronics unit, and optionally another sensor element. Thus, the sensor device can provide a printed circuit board as a carrier for the sensor unit, the electronics unit, and optionally another sensor element. The carrier plate can also serve for mechanical fastening and electrical connection, as well as for movable mounting of the sensor device.

[0074] Furthermore, a housing for the sensor device can be provided in order to accommodate the sensor device in a manner protected from environmental and / or weather influences. Furthermore, the housing for the sensor device can have a preferably openable cover element through which the sensor device can be accommodated within the housing. This enables a protected arrangement and extended operating life of the sensor device. Advantageously, the housing and / or the cover element can be formed from a radar-transparent material, in particular plastic, preferably polymer, in order not to interfere with detection. Preferably, the housing can provide or form a frame element (which, for example, can also represent part of the kinematics unit) in order to move the sensor device relative to the functional element in a guided manner, in particular in a positively guided manner, preferably in a linear and / or rotatable and / or pivotable manner.Furthermore, the housing can be designed for operative connection to a mounting pin to allow the sensor device to be rotated and / or pivoted relative to the functional element. This allows for expanded functionality of the housing, which not only ensures a protected arrangement of the sensor device but also enables flexible control of the sensor device.

[0075] Advantageously, the housing for the sensor device can have at least one or more mounting means for positively and / or force-fittingly accommodating the sensor device within the housing. The mounting means can serve to clamp the support plate of the sensor device within the housing. The mounting means can, for example, have or form a circumferential groove for the support plate of the sensor device, into which the support plate can be easily inserted.

[0076] Furthermore, the actuating device can have a lighting device designed to make the actuating device visible for actuation. Advantageously, the lighting device can be designed for ambient lighting of the functional element or door handle. According to a further advantage, the lighting device can be designed for interaction with a user, preferably to facilitate actuation of the actuating device and preferably to guide the user during actuation of the actuating device.

[0077] To enable expanded functionality of the actuating device, the actuating device may further comprise a communication device designed to enable interaction with a user, preferably to facilitate the actuation of the actuating device and preferably to guide the user during the actuation of the actuating device. The communication device may comprise an optical, acoustic, and / or haptic communication interface.

[0078] The invention further provides an access system for a vehicle, comprising at least one, in particular contactless, actuating device, which can be designed as described above. The access system can achieve the same advantages as those described above in connection with the actuating device. These advantages are incorporated herein by reference.

[0079] The access system may also include a lock, e.g., an electromechanical lock, which can be controlled, in particular, by means of the electronic unit to actuate the movable part, in particular to unlock and / or open it. In this way, an access system with a locking system can be provided.

[0080] The invention further provides a method for actuating, preferably unlocking and / or opening, a movable part of the vehicle, in particular in the form of a door or a hatch of the vehicle, using a particularly contactless actuating device, which can be designed as described above, wherein the sensor device is movably driven in order to detect a user in the at least one actuating area and / or (in particular improved) detect an obstacle in a movement area (which can be larger than the actuating area) of the movable part. The method can achieve the same advantages as those described above in connection with the actuating device. These advantages are incorporated herein by reference.

[0081] Advantageously, the sensor device, particularly in an obstacle detection mode, can be driven to move between at least a first detection position and a second detection position, wherein in the first detection position the sensor device can detect a first actuation range, and / or wherein in the second detection position the sensor device can detect a second actuation range, and / or wherein the sensor device can continuously detect an enlarged actuation range during a movement between the first detection position and the second detection position. The enlarged actuation range advantageously serves, in particular, to avoid blind spots and / or to substantially enclose the movement range of the movable part, and thus to carry out improved detection of an obstacle in a movement range of the movable part with increased reliability.In principle, it can be advantageous for the sensor device to be movably driven, particularly in an obstacle detection mode, in order to dynamically enlarge the at least one actuation range during movement. Blind zones can thus be avoided and / or the movement range of the movable part (201) can be substantially enclosed. This enables reliable detection of an obstacle within a movement range of the movable part.

[0082] Advantageously, the sensor unit can be switched to different operating modes or detection modes to provide different functions. On the one hand, the sensor unit can be controlled in an actuation detection mode to detect an actuation by the user, e.g., in the form of a presence, an approach, a touch, and / or a specific movement pattern. On the other hand, the sensor unit can be controlled in an obstacle detection mode to detect an obstacle in the movement range of the movable part. Furthermore, it is conceivable that the sensor unit can be controlled in a communication mode to perform an authorization query, in particular by means of communication with a user-side device, preferably in the form of a mobile phone and / or ID transmitter.

[0083] Advantageously, the sensor unit can be controlled, in particular in an obstacle detection mode and possibly in an actuation detection mode, in order to provide different detection positions and / or to detect different actuation areas.

[0084] In addition, it is conceivable that the sensor device is switched to an obstacle detection mode and movably controlled (only then) when an actuation action of the user has been detected by means of the sensor unit and / or a positive authorization query has taken place with the user.

[0085] Further advantages and details of the invention are disclosed in the following description. It shows:

[0086] Fig. 1 is a side view of a vehicle with operating devices, Fig. 2 is a top view of a vehicle with operating devices,

[0087] Fig. 3 is a schematic representation of an actuating device for a vehicle in section,

[0088] Fig. 4 is a schematic representation of a sensor device,

[0089] Fig. 5 is a schematic representation of an actuating device,

[0090] Fig. 6 is a schematic representation of an actuating device.

[0091] In the following figures, the same reference numerals are used for the same technical features, even in different embodiments.

[0092] Figures 1 to 6 show an actuating device 100 developed for an access system 110 of a vehicle 200. The actuating device 100 serves to (preferably automatically) actuate (comprising unlocking and / or opening as well as closing and / or locking) a movable part 201 of the vehicle 200, in particular in the form of a door, e.g., a side door, a sliding door, or a flap, e.g., a tailgate, fuel tank or loading flap, or an engine hood, of the vehicle 200.

[0093] As Figures 1 and 2 indicate, several movable parts 201 can be provided on the vehicle 200 in order to access the interior of the vehicle 200. An actuating device can be provided for each of several movable parts 201 on the vehicle.

[0094] The actuating device 100 comprises: a functional element 10, which is designed to be arranged on or adjacent to the movable part 201 of the vehicle 200.

[0095] As a functional element 10, a door handle, for example a retractable one, is shown in Figures 1 to 3 merely by way of example. Other possible functional elements 10 could also be a mounting bracket for a door handle and / or a supporting vehicle pillar 203, for example a B-pillar, of the vehicle 200.

[0096] The actuating device 100 further comprises: a sensor device 20, wherein the sensor device 20 has a sensor unit 21 for monitoring the at least one actuating region I, II in the vehicle 200 using radar waves.

[0097] The sensor device 20 has an electronic unit 22 which is designed to control the sensor unit 21 in order to detect a user 300 in the at least one actuation area I, II and / or to detect an obstacle H in a movement area of ​​the movable part 201.

[0098] The sensor device 20 can thus be referred to as a radar sensor.

[0099] As Figures 4 to 6 indicate, the sensor device 20 can be designed, for example, in the form of a microchip and / or a coherent modular unit, in which the sensor unit 21 and the electronics unit 22 and, if appropriate, a further sensor element 23 can be integrated. The sensor device 20 can advantageously have a carrier plate 24, preferably in the form of a circuit board, to support the sensor unit 21 and the electronics unit 22 and, if appropriate, the further sensor element 23.

[0100] The functional element 10 is specifically designed to be arranged on (e.g. as a door handle or as a mounting bracket for a door handle) or adjacent (e.g. on a B-pillar of the vehicle) to the movable part 201 of the vehicle 200.

[0101] As Figures 2, 5 and 6 illustrate, the functional element 10 has a kinematic device 30 which is designed in particular to arrange the sensor device 20 movably on or in the functional element 10.

[0102] The at least one actuation region I, II can also be referred to as a detection region. The at least one actuation region I, II can comprise at least a first actuation region I and a second actuation region II, which can be monitored separately from one another and / or which can seamlessly merge into one another when the sensor device 20 is moved to scan an enlarged actuation region 1, 11.

[0103] As indicated in Figures 3, 5, and 6, the sensor device 20 can be arranged within the functional element 10 in at least one detection position S1 or S2 or in all detection positions S1, S2. In other words, the sensor device 20 can be moved within the functional element 10.

[0104] The electronics unit 22 can preferably be configured to control the sensor unit 21 in such a way as to detect, in particular radar detect, a user 300 and / or communicate with a user-side device 301, for example, in the form of a mobile phone or an ID transmitter. This allows an access system 110, in particular in the form of a central locking system, to be controlled.

[0105] Sensor unit 21 can, for example, operate in the 79 GHz range. Other ranges between 76 and 77 GHz and / or 77 and 81 GHz are conceivable. Sensor unit 21 can, for example, have a range of 100 m. Other ranges between 30 m and 250 m are conceivable.

[0106] Advantageously, the electronics unit 22 can be designed to control the sensor unit 21 in such a way as to detect an obstacle H in a movement range of the movable part 201, as indicated in Figure 3.

[0107] As Figures 3, 5 and 6 illustrate, the kinematic device 30 can advantageously have a kinematic unit 31 (e.g. comprising a gear unit or a guide unit and / or a drive unit) and / or a drive unit 32 in order to arrange the sensor device 20 on or in the functional element 10 and to drive it movably.

[0108] By means of a movable arrangement and / or a movable drive of the sensor device 20, an enlarged actuation area I, II can be formed, as indicated in Figures 1 to 3. The enlarged actuation area I, II has the advantage that it avoids blind zones and / or substantially encloses the movement area of ​​the movable part 201. In this way, improved detection of an obstacle within a movement area of ​​the movable part 201 can be carried out. The safety when actuating the movable part 201 can thus be significantly increased.

[0109] The at least one actuation range I, II can be enlarged, for example, from 130° to 150°, preferably to 170°, preferably to 180°.

[0110] As Figure 3 shows, the at least one actuation area I, II can preferably be enlarged in the vertical plane if, for example, the sensor device 20 is pivoted about a horizontal axis.

[0111] A detection, in particular a radar detection, has a specific angular resolution, which is determined by the design of the sensor unit 21. The angular resolution can be achieved by arranging several receiving antennas EA, which are arranged, for example, in series, as schematically shown in Figure 4.

[0112] A movable arrangement and / or a movable drive of the sensor device 20 also makes it possible to scan blind zones caused by the angular resolution in different detection positions S1, S2. In this way, even smaller obstacles H can be reliably detected.

[0113] Detection, in particular radar detection, of immovable obstacles H can prove difficult in a stationary vehicle 200 because the relative speed between the stationary vehicle 200 and the obstacle H is zero. Even vehicle-specific parts, such as a vehicle tire 205, can cause a reflection of a radar signal that cannot be distinguished from a reflection of a radar signal from a stationary obstacle H. A movable arrangement and / or a movable drive of the sensor device 20 can also enable the detection of immovable obstacles H to be significantly improved. The actuating device 100 can thus enable an improved access system 110 with increased security.

[0114] As already mentioned above, actuating the movable part 201 can be understood as unlocking and / or opening the movable part 201 as well as closing and / or locking the movable part 201.

[0115] To hold the movable part 201 in the closed position on the vehicle 200, a lock 204, for example, electromechanical, can be provided, which can be controlled (directly or indirectly) by the actuating device 100. In the closed position, the movable part 201 is mechanically secured by the lock 204. As soon as the lock 204 no longer locks the movable part 201, it can be opened, whereby the lock 204 can also at least partially assist the opening process of the movable part 201.

[0116] Advantageously, a (door) drive for moving the movable part 201 can also be provided to assist the opening and / or closing process. Moving or moving the movable part 201 can be understood as opening and / or closing the movable part 201.

[0117] Furthermore, the actuating device 100 can also be designed to close and / or lock the movable part 201, wherein, in particular, to close the movable part 201, the actuating device 100 can act in a contactless or contact-based manner, wherein, preferably, to lock the movable part, the actuating device 100 can act in a contact-based manner.

[0118] The actuating device 100 can preferably generate at least one or more control signals for different actuating operations of the movable part 201.

[0119] As indicated in Figure 3, the functional element 10 can be operatively connected to the lock 204. Figure 3 shows the functional element 10, for example, in the form of a door handle, in particular a retractable one. The lock 204, optionally with the assistance of a drive, can be designed to actuate the movable part 201 of the vehicle 200, in particular to unlock and / or open and / or close and / or lock it. Advantageously, the actuating device 100 can be designed to generate a corresponding control signal for the lock 204 and / or the drive in order to actuate the lock 204 or the drive as desired.

[0120] The lock 204 can, for example, be used to unlock and / or lock the movable part 201 of the vehicle 200.

[0121] The drive, which may, for example, be provided separately from the lock 204, may be designed to open and / or close the movable part 201 of the vehicle 200.

[0122] In both cases, it may be advantageous if the actuating device 100, preferably the electronic unit 22, can be designed to generate a corresponding control signal for a lock 204 and / or a drive.

[0123] As Figures 5 and 6 indicate, the sensor device 20 can be arranged on or in the functional element 10 so as to be linearly movable.

[0124] As Figures 3, 5 and 6 indicate, the sensor device 20 can be arranged rotatably and / or pivotably on or in the functional element 10.

[0125] A combined movement, linear and / or rotary and / or pivoting, is also possible.

[0126] As indicated in Figures 3 and 6, the sensor device 20 can be guided, for example, positively guided, and movably arranged on or in the functional element 10. For this purpose, a guide unit can be provided on the functional element 10. A guide unit can enable a linear and / or rotatable and / or pivotable mounting of the sensor device 20.

[0127] In principle, it is possible for the sensor device 20 to be arranged on or in the functional element 10 so as to be movable in a gimbal manner (or in all directions). Furthermore, it is conceivable for the sensor device 20 to be driven in an elastic and / or flexible manner, for example, by means of an elastically stretchable, for example electromechanically controllable, actuating element and / or a traction cable.

[0128] To move the sensor device 20, the kinematic device 30 may have a kinematic unit 31.

[0129] The kinematics unit 31 can, for example, have a gear unit and / or guide unit, possibly with corresponding joints, in order to enable a linear and / or rotatable and / or pivotable mounting of the sensor device 20 on or in the functional element 10.

[0130] As indicated in Figures 3 and 6, the kinematic device 30 can further comprise a frame element 33 for the sensor device 20, in which the sensor device 20 can be fastened, in particular clamped, and via which the sensor device 20 can be movably driven. The frame element 33 can serve to move the sensor device 20 relative to the functional element 10 in a guided, in particular positively guided, manner, preferably linearly and / or rotatably and / or pivotably.

[0131] As indicated in Figures 3 and 5, the kinematic device 30 can have a fastening pin 34 for the sensor device 20, to which the sensor device 20 can be fastened, in particular hot-stitched, and via which the sensor device 20 can be movably driven. As schematically illustrated in Figure 5, the fastening pin 34 can have at least one joint part for rotating and / or pivoting the sensor device 20 relative to the functional element 10.

[0132] As already mentioned above, the kinematic device 30 can have a drive unit 32 for driving the sensor device 20 movably relative to the functional element 10. In this way, autonomous operation of the kinematic device 30 can be enabled in order to drive the sensor device 20 movably relative to the functional element 10. Furthermore, it can be provided that the kinematic device 30 can be designed to tap into drive energy and / or drive action from an external drive unit, in particular a drive unit of the movable part 201 of the vehicle 200 and / or an extendable door handle, in order to drive the sensor device 20 movably relative to the functional element 10. In this way, advantageous functionality of the sensor device 20 can be enabled using an existing drive unit in the vehicle 200.

[0133] As Figure 3 illustrates, the electronics unit 22 can be designed to control the kinematics device 30 in such a way as to movably drive the sensor device 20, particularly in an obstacle detection mode, between at least a first detection position S1 and a second detection position S2. In the first detection position S1, the sensor device 20 can detect a first actuation range I. In the second detection position S2, the sensor device 20 can detect a second actuation range II. In this way, the at least one actuation range I, II can be easily and reliably enlarged in order to avoid blind spots and / or to substantially enclose the range of movement of the movable part 201. The angular resolution during detection can thus also be refined. Furthermore, reliable detection of even immovable obstacles H can thus be enabled.

[0134] As indicated by Figures 1 to 3 and 5 and 6, the sensor device 20 can detect an enlarged actuation range I, II (meaning continuous) during a movement between the first detection position S1 and the second detection position S2. The enlarged actuation range I, II can thus be formed dynamically. The enlarged actuation range I, II can advantageously avoid blind zones and / or substantially enclose the movement range of the movable part 201. In this way, an improved detection of an obstacle H in a movement range of the movable part 201 can be carried out with increased reliability.

[0135] In other words, the electronic unit 22 can be configured to control the kinematic device 30 in such a way as to movably drive the sensor device 20, particularly in an obstacle detection mode, and to dynamically (and preferably continuously) enlarge the at least one actuation area I, II during the movement. As indicated by Figures 2, 3, 5, and 6, the electronic unit 22 can be configured to control the sensor unit 21, preferably in an actuation detection mode, to detect an actuation action H1, H2, H3, B1, B2 of the user 300. The actuation H1, H2, H3, B1, B2 can be detected, for example, in the form of a presence H1, an approach H2, a touch H3 and / or a specific movement pattern B1, B2 and / or a body movement and / or a command, e.g. a voice command, in particular with the aid of detection, preferably radar detection. After detection, for example,an unlocking and / or opening of the movable part 201 can be initiated. This functionality can be advantageous when the user 300 is outside the vehicle 200 to enable access to a vehicle interior. This functionality can also be advantageous when the user 300 is inside the vehicle 200 to enable exit from a vehicle interior. In this way, an advantageous, in particular expanded, functionality can be enabled by the actuating device 100 when getting in and / or out of the vehicle 200.

[0136] Furthermore, the electronics unit 22 can be designed to control the sensor unit 21, preferably in an actuation detection mode, to detect an actuation H1, H2, H3, B1, B2 of the user 300, for example in the form of a presence H1, an approach H2, a touch H3 and / or a specific movement pattern B1, B2, in particular with the aid of detection, preferably radar detection. After detection, for example, a closing and / or locking of the movable part 201 can be initiated. In this way, an advantageous, in particular expanded, functionality can be enabled by the actuation device 100 after exiting the vehicle 200.

[0137] As Figure 3 illustrates, the electronics unit 22 can be configured to control the sensor unit 21, preferably in an obstacle detection mode, to detect an obstacle in the movement range of the movable part 201, in particular by means of detection, preferably radar detection. In this way, safe actuation of the movable part 201 can be enabled, which avoids impacts against obstacle H and also protects the user 300 from impacts. Advantageously, the electronics unit 22 can be configured to provide a warning signal and / or a stop signal when the sensor device 20 detects an obstacle H in the movement range of the movable part 201.

[0138] Furthermore, it is conceivable that the electronics unit 22 can be designed to control the sensor unit 21, preferably in a communication mode, to carry out an authorization query, in particular by means of communication with a user-side device 301, preferably in the form of a mobile phone and / or ID transmitter, in order to enable authentication of the user 300. In this way, an advantageous, in particular expanded, functionality can be enabled by the actuating device 100, which can simultaneously enable an authorization query with the user 300 using one and the same sensor unit 21. In the communication mode, the sensor unit 21 can enable communication to transmit an ID code. The sensor unit 21 can first send a request signal to a user-side device and then receive an ID code for verification.Communication can therefore also take place using radar waves.

[0139] The sensor device 20 can thus have different operating modes: an actuation detection mode for detecting an actuation action H1, H2, H3, B1, B2 of the user 300, and / or an obstacle detection mode for detecting an obstacle in the movement range of the movable part 201, and / or a communication mode for carrying out an authorization query.

[0140] In the obstacle detection mode and / or in the actuation detection mode, the sensor device 20 can carry out a distance measurement D, a speed measurement G and / or an angle measurement W, in particular with the aid of detection, preferably radar detection.

[0141] The sensor device 20 can implement a pulse radar measurement method or a continuous wave radar measurement method. For the obstacle detection mode, but also for the actuation detection mode, different detection positions S1, S2 and / or different actuation areas I, II can be advantageous to enable improved detection in an enlarged detection area.

[0142] The electronic unit 22 can basically be designed to carry out an authorization query with the user 300, for example with the aid of its own sensor unit 21 or with the aid of another communication unit.

[0143] As Figure 4 indicates, the electronic unit 22 can be in communication with a security device 120 of the vehicle 200 to verify the authorization of the user 300. For example, the security device 120 can forward a positive authentication of an authorized user 300 to the electronic unit 22 and / or only switch on the electronic unit 22 once the user 300 has been authenticated as authorized.

[0144] In principle, the electronic unit 22 can be designed to perform and / or initiate an authorization query with the user 300 when an actuation H1, H2, H3, B1, B2 of the user 300 has been detected by the sensor unit 21. In this way, the authorization query can only be initiated when an actuation H1, H2, H3, B1, B2 of the user 300 has been detected.

[0145] Furthermore, it is conceivable that the sensor device 20 can be switched on by a security device 120 of the vehicle 200 in order to detect a user 300 in the at least one actuation area I, II with the aid of the sensor unit 21. In this way, the energy required to operate the sensor device 20 can be saved, and the sensor device 20 can only be switched on when an authorized user 300 has been detected.

[0146] The electronics unit 22 can be configured to switch the sensor device 20, in particular, to an obstacle detection mode and to move it (in particular to enlarge the detection range) when an actuation H1, H2, H3, B1, B2 of the user 300 has been detected by the sensor unit 21 and / or a positive authorization query has taken place with the user 300. In this way, the actuation range I, II can only be expanded for obstacle control when the movable part 201 is to be opened, specifically for a positively authenticated user 300.

[0147] As indicated in Figure 4, the sensor unit 21 can have a plurality of transmitting antennas SA, which can, for example, be arranged offset from one another. This makes it possible for the at least one actuation area to already have a certain height in a vehicle vertical direction z in a detection position S1, S2 of the sensor device 20.

[0148] As indicated in Figure 4, the sensor unit 21 can have a plurality of receiving antennas EA, which can be arranged, for example, in a (particularly horizontally aligned) row relative to one another. This makes it possible for the at least one actuation area to have a specific width in a vehicle longitudinal direction x, for example, in a detection position S1, S2 of the sensor device 20, in the range between 80° and 160°, in particular at least 130°.

[0149] As indicated in Figure 4, the sensor unit 21 can have at least one transceiver SE. The transceiver SE can, for example, have two transmit antennas SA and four receive antennas EA.

[0150] As indicated in Figure 4, the electronics unit 22 can comprise at least one microcontroller (PC). The microcontroller (PC) can, for example, comprise at least one ADC converter, DAC converter, at least one signal processing unit (SPT), at least one CPU processor unit, at least one RAM memory unit, at least one IF interface, and / or at least one CAN connection for communication and / or power supply.

[0151] As illustrated in Figures 3 to 6, the sensor unit 21 can have at least one further sensor element 23. The at least one further sensor element 23 can serve, for example, to detect a user 300 in the at least one actuation area I, II using an optical measurement, an inductive measurement, and / or a capacitive measurement. The further sensor element 23 can serve, for example, to detect a touch H3 on the actuation device 100.

[0152] As illustrated in Figures 4 to 6, the sensor device 20 comprising the sensor unit 21, the electronics unit 22, and optionally a further sensor element 23 can be designed in the form of a modular unit. This allows for easy handling and simplified installation of the sensor device 20 on the functional element 10.

[0153] As Figures 4 to 6 illustrate, the sensor device 20 can have a carrier plate 24, preferably in the form of a printed circuit board, for the sensor unit 21, the electronics unit 22, and optionally a further sensor element 23.

[0154] As Figures 5 and 6 illustrate, a housing 25 can be provided for the sensor device 20 to accommodate the sensor device 20 while protecting it from environmental and / or weather influences. Furthermore, the housing 25 for the sensor device 20 can have a preferably openable cover element 26 through which the sensor device 20 can be accommodated within the housing 25. Advantageously, the housing 25 and / or the cover element 26 can be made of a radar-transparent material, in particular plastic, preferably polymer, in order not to interfere with radar detection.

[0155] As Figure 6 illustrates, the housing 25 can provide or form a frame element 33 (implicit part of the kinematics unit 31) in order to movably mount the sensor device 20 relative to the functional element 10.

[0156] As Figure 5 illustrates, the housing 25 can be designed for operative connection with a fastening pin 34 in order to mount the sensor device 20 movably relative to the functional element 10.

[0157] As Figures 5 and 6 further indicate, the housing 25 for the sensor device 20 can have at least one or more mounting means for positively and / or force-fittingly receiving the sensor device 20 within the housing 25. The mounting means can serve to clamp the carrier plate 24 of the sensor device 20 within the housing 25. The mounting means can, for example, have or form a circumferential groove for the carrier plate 24 of the sensor device 20, into which the carrier plate 24 can be easily inserted. The frame element 33 can also be formed on the outside of the groove.

[0158] Furthermore, Figures 4 to 6 indicate that the actuating device 100 may have a lighting device 40. The lighting device 40 may be designed to make the actuating device 100 visible. Advantageously, the lighting device 40 may be designed for ambient lighting of the actuating device 100 or the door handle as functional element 10. According to a further advantage, the lighting device 40 may be designed for interaction with a user 300, preferably to facilitate the actuation of the actuating device 100 and preferably to guide the user 300 during the actuation of the actuating device 100.

[0159] Furthermore, Figures 4 to 6 indicate that the actuating device 100 may include a communication device 50. The communication device 50 may be configured to enable interaction with a user 300, preferably to facilitate the actuation of the actuating device 100 and preferably to guide the user 300 in the actuation of the actuating device 100. The communication device 50 may be configured as an optical, acoustic, and / or haptic communication device 50.

[0160] A corresponding access system 110 for a vehicle 200, comprising at least one, in particular contactless, actuating device 100, which can be designed as described above, also represents an aspect of the invention.

[0161] A corresponding method for actuating a movable part 201 of the vehicle 200, in particular in the form of a door or a flap of the vehicle 200, by means of an actuating device 100, in particular a contactless one, which can be designed as described above, also represents an aspect of the invention.

[0162] The above explanation of the embodiments describes the present invention exclusively by way of examples. Of course, individual features of the present invention can be freely combined with one another, provided they are technically feasible, without departing from the scope of the present invention / claims.

[0163] Bezuq szei chen li ste

[0164] 10 Functional element

[0165] 20 Sensor device

[0166] 21 Sensor unit

[0167] 22 Electronic unit

[0168] 23 Sensor element

[0169] 24 carrier plate

[0170] 25 housings

[0171] 26 Cover element

[0172] 30 Kinematic device

[0173] 31 Kinematics unit

[0174] 32 drive unit

[0175] 33 frame element

[0176] 34 Fixing pin

[0177] 40 lighting device

[0178] 50 communication device

[0179] 100 Actuating device

[0180] 110 Access system

[0181] 120 Safety device

[0182] 200 vehicles

[0183] 201 moving part

[0184] 202 vehicle window

[0185] 203 vehicle column

[0186] 204 Castle

[0187] 205 vehicle wheels 300 users

[0188] 301 user-side device

[0189] H Obstacle

[0190] H1 , H2, H3, B1 , B2 actuation

[0191] H1 Presence

[0192] H2 approach

[0193] H3 Touch

[0194] B1, B2 movement patterns

[0195] I, II operating area

[0196] I first area of ​​activity

[0197] II second operating area

[0198] S1, S2 detection positions

[0199] 51 first recording position

[0200] 52 second recording position

[0201] D Distance measurement

[0202] G Speed ​​measurement

[0203] W Angle measurement

[0204] ID communication link c Microcontroller

[0205] ADC, DAC converter

[0206] CAN connection

[0207] CPU processor unit

[0208] SE Transceiver

[0209] SA transmitting antenna EA receiving antenna

[0210] IF interface RAM memory unit

[0211] SPT signal processing unit x vehicle longitudinal direction z vehicle vertical direction

Claims

Patent claims 1. Actuating device (100) for an access system (110) of a vehicle (200), for actuating a movable part (201) of the vehicle (200), in particular in the form of a door or a flap of the vehicle (200), comprising: - a functional element (10) which is designed to be arranged on or adjacent to the movable part (201) of the vehicle (200), - a sensor device (20), wherein the sensor device (20) has a sensor unit (21) for monitoring the at least one actuation area (I, II) in the vehicle (200) using radar waves, and wherein the sensor device (20) has an electronic unit (22) which is designed to control the sensor unit (21) in order to detect a user (300) in the at least one actuation area (I, II) and / or detect an obstacle (H) in a movement area of ​​the movable part (201), wherein the functional element (10) is designed to be arranged on or adjacent to the movable part (201) of the vehicle (200), and wherein the functional element (10) has a kinematic device (30) which is designed in particular to arrange the sensor device (20) movably on or in the functional element (10).

2. Actuating device (100) according to one of the preceding claims, characterized in that the functional element (10) is formed by a door handle, in particular a retractable one, and / or that the functional element (10) is formed by a mounting support for a door handle, in particular a retractable one, and / or that the functional element (10) is formed by a supporting vehicle pillar (203), in particular a B-pillar, or by a body part of the vehicle (200).

3. Actuating device (100) according to one of the preceding claims, characterized in that the functional element (10) can be brought into an operative connection with a, in particular electromechanical, lock (204), wherein in particular the lock (204) is designed to unlock and / or lock the movable part (201) of the vehicle (200), wherein preferably the electronics unit (22) is designed to generate a corresponding control signal for the lock (204) in order to control the lock (204) in accordance with an actuation action (H1, H2, H3, B1, B2) of the user (300) which was detected by means of the sensor unit (21).

4. Actuating device (100) according to one of the preceding claims, characterized in that the sensor device (20) is arranged so as to be linearly movable on or in the functional element (10), and / or that the sensor device (20) is arranged so as to be rotatable and / or pivotable on or in the functional element (10), and / or that the sensor device (20) is arranged so as to be guided, in particular positively guided, on or in the functional element (10), and / or that the sensor device (20) is arranged so as to be gimbal-type movable on or in the functional element (10), and / or that the sensor device (20) is driven so as to be elastically and / or flexibly movable, and / or that the sensor device (20) has an angular travel which lies in a range between 10° and 60°, 20° to 50° or 30° to 40°, whereby preferably the at least one actuating range (I, II) can be adjusted from 130° to 150°, preferably to 170°, preferably enlarged to 180°.

5. Actuating device (100) according to one of the preceding claims, characterized in that the kinematic device (30) has a kinematic unit (31) which is designed to move the sensor device (20) linearly relative to the functional element (10), and / or the kinematic device (30) has a kinematic unit (31) which is designed to move the sensor device (20) rotatably and / or pivotably relative to the functional element (10), wherein in particular the kinematic unit (31) has at least one rotary joint for the sensor device (20), and / or that the kinematic device (30) has a kinematic unit (31) which is designed to move the sensor device (20) relative to the functional element (10) in a guided, in particular positively guided, manner, wherein in particular the kinematic unit (31) has a guide unit for the sensor device (20).

6. Actuating device (100) according to one of the preceding claims, characterized in that the kinematic device (30) has a kinematic unit (31) which is designed to move the sensor device (20) relative to the functional element (10) in a cardanic manner, wherein in particular the kinematic unit (31) has at least one cardan joint for the sensor device (20), and / or that the kinematic device (30) has a kinematic unit (31) which is designed to move the sensor device (20) elastically and / or compliantly relative to the functional element (10), wherein in particular the kinematic unit (31) has at least one elastically stretchable, for example electromechanically controllable, actuating element and / or a pull cable in order to move the sensor device (20).

7. Actuating device (100) according to one of the preceding claims, characterized in that the kinematic device (30) has a kinematic unit (31) which is designed to move the sensor device (20) relative to the functional element (10) with an angular path which lies in a range between 10° and 60°, 20° to 50° or 30° to 40°, whereby preferably the at least one actuating range (I, II) can be increased from 130° to 150°, preferably to 170°, preferably to 180°.

8. Actuating device (100) according to one of the preceding claims, characterized in that the kinematic device (30) has a frame element (33) for the sensor device (20), in which the sensor device (20) is fastened, in particular clamped, and via which the sensor device (20) is movably driven, wherein in particular the frame element (33) serves to move the sensor device (20) relative to the functional element (10) in a guided manner, in particular in a forced manner, preferably linearly and / or rotatably and / or pivotably, and / or that the kinematic device (30) has a fastening pin (34) for the sensor device (20), to which the sensor device (20) is fastened, in particular hot-stitched, and via which the sensor device (20) is movably driven, wherein in particular the fastening pin (34) has at least one joint part in order to move the sensor device (20) rotatably and / or pivotably relative to the functional element (10).

9. Actuating device (100) according to one of the preceding claims, characterized in that the kinematic device (30) has a drive unit (32) for driving the sensor device (20) movably relative to the functional element (10), wherein in particular the drive unit (32) can have a servo motor, a piezo motor, a shape memory element, etc., and / or that the kinematic device (30) is designed to tap into drive energy and / or drive action from an external drive unit, in particular a drive unit of the movable part (201) of the vehicle (200) and / or of an extendable door handle, in order to drive the sensor device (20) movably relative to the functional element (10).

10. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to control the kinematic device (30) in order to movably drive the sensor device (20), in particular in an obstacle detection mode, between at least a first detection position (S1) and a second detection position (S2), wherein in the first detection position (S1) the sensor device (20) can detect a first actuation range (I), and / or wherein in the second detection position (S2) the sensor device (20) can detect a second actuation range (II), and / or wherein the sensor device (20) can detect an enlarged actuation range (I, II) during a movement between the first detection position (S1) and the second detection position (S2), which in particular avoids blind zones and / or substantially encloses the movement range of the movable part (201), to preferably detect an obstacle (H) in a movement range of the movable part (201).

11. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to control the kinematic device (30) in order to movably drive the sensor device (20), in particular in an obstacle detection mode, and to dynamically enlarge the at least one actuating range (I, II) during the movement, so that in particular blind zones are avoided and / or the movement range of the movable part (201) is substantially enclosed, in order to preferably carry out a detection of an obstacle (H) in a movement range of the movable part (201).

12. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to control the sensor unit (21), preferably in an actuation detection mode, to detect an actuation action (H1, H2, H3, B1, B2) of the user (300), for example in the form of a presence (H1), an approach (H2), a touch (H3) and / or a specific movement pattern (B1, B2) and / or a body movement and / or a command, for example a voice command, in particular with the aid of the detection, preferably a radar detection, in order to initiate an unlocking and / or opening of the movable part (201) after the detection, in order to enable access to a vehicle interior when the user (300) is outside the vehicle (200), and / or to enable exit from a vehicle interior when the user (300) is located inside the vehicle (200).

13. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to control the sensor unit (21), preferably in an actuation detection mode, to detect an actuation action (H1, H2, H3, B1, B2) of the user (300), for example in the form of a presence (H1), an approach (H2), a touch (H3) and / or a specific movement pattern (B1, B2), in particular with the aid of the detection, preferably a radar detection, in order to initiate a closing and / or locking of the movable part (201) after the detection.

14. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to control the sensor unit (21), preferably in an obstacle detection mode, to detect an obstacle (H) in the movement range of the movable part (201), in particular with the aid of detection, preferably radar detection, wherein in particular the electronic unit (22) is designed to provide a warning signal and / or a stop signal when the sensor device (20) detects an obstacle in the movement range of the movable part (201).

15. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to control the sensor unit (21), preferably in a communication mode, to carry out an authorization query, in particular by means of communication with a user-side device (301), preferably in the form of a mobile phone and / or ID transmitter, in order in particular to enable authentication of the user (300).

16. Actuating device (100) according to one of the preceding claims, characterized in that the sensor unit (21) has an actuation detection mode for detecting an actuation action (H1, H2, H3, B1, B2) of the user (300), for example in the form of a presence (H1), an approach (H2), a touch (H3) and / or a specific movement pattern (B1, B2), and / or that the sensor unit (21) has an obstacle detection mode for detecting an obstacle (H) in the movement range of the movable part (201), and / or that the sensor unit (21) has a communication mode for carrying out an authorization query, in particular by means of communication with a user-side device (301), preferably in the form of a mobile phone and / or ID transmitter.

17. Actuating device (100) according to one of the preceding claims, characterized in that the sensor device (20), in particular in an obstacle detection mode and / or in an actuation detection mode, is designed for a distance measurement (D), a speed measurement (G) and / or an angle measurement (W), in particular with the aid of detection, preferably radar detection. and / or that the sensor device (20) is designed to carry out a pulse radar measuring method or a continuous wave radar measuring method.

18. Actuating device (100) according to one of the preceding claims, characterized in that the sensor unit (21), in particular in an obstacle detection mode and optionally in an actuation detection mode, is assigned different detection positions (S1, S2) and / or different actuation areas (I, II).

19. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to carry out an authorization query with the user (300), or that the electronic unit (22) can be brought into a communication connection (ID) with a security device (120) of the vehicle (200) in order to verify an authorization of the user (300).

20. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to carry out and / or initiate an authorization query with the user (300) when an actuating action (H1, H2, H3, B1, B2) of the user (300) has been detected with the aid of the sensor unit (21), or in that the sensor device (20) can be switched on by a safety device of the vehicle (200) in order to carry out a detection of a user (300) in the at least one actuating area (I, II) with the aid of the sensor unit (21).

21. Actuating device (100) according to one of the preceding claims, characterized in that the electronic unit (22) is designed to switch and move the sensor device (20), in particular into an obstacle detection mode, when an actuating action (H1, H2, H3, B1, B2) of the user (300) has been detected with the aid of the sensor unit (21) and / or a positive authorization query has taken place with the user (300).

22. Actuating device (100) according to one of the preceding claims, characterized in that the sensor unit (21) has at least one transmitting antenna (SA), and / or that the sensor unit (21) has a plurality of transmitting antennas (SA), which are arranged in particular in such a way, for example in a row, to one another in order to enable an angular resolution in a vehicle vertical direction (z), preferably in a position of use on the vehicle (200).

23. Actuating device (100) according to one of the preceding claims, characterized in that the sensor unit (21) has at least one receiving antenna (EA), and / or that the sensor unit (21) has a plurality of receiving antennas (EA), which are arranged in particular in such a way, for example in a row, to one another in order to enable an angular resolution in a vehicle longitudinal direction (x), preferably in a position of use on the vehicle (200).

24. Actuating device (100) according to one of the preceding claims, characterized in that the sensor unit (21) has at least one transceiver (SE), wherein in particular the transceiver (SE) has at least one, preferably two, transmitting antennas (SA) and at least one, preferably four, receiving antennas (EA), and / or that the electronics unit (22) has at least one microcontroller (pc), wherein in particular the microcontroller (pc) has at least one converter (ADC, DAC), at least one signal processing unit (SPT), at least one processor unit (CPU), at least one memory unit (RAM), at least one interface (IF) and / or at least one connection (CAN) for communication and / or power supply.

25. Actuating device (100) according to one of the preceding claims, characterized in that the sensor unit (21) has at least one further sensor element (23) in order to detect a user (300) in the at least one actuating area (I, II) by means of an optical measurement, an inductive measurement and / or by means of a capacitive measurement, and / or in that the sensor device (20) with the sensor unit (21), the electronics unit (22), and optionally a further sensor element (23), is designed in the form of a modular unit, and / or in that the sensor device (20) has a carrier plate (24), preferably in the form of a printed circuit board, for the sensor unit (21), the electronics unit (22), and optionally a further sensor element (23).

26. Actuating device (100) according to one of the preceding claims, characterized in that a housing (25) is provided for the sensor device (20) in order to accommodate the sensor device (20) protected from environmental and / or weather influences, and / or in that the housing (25) for the sensor device (20) has a preferably openable cover element (26) through which the sensor device (20) can be introduced within the housing (25), wherein in particular the housing (25) and / or the cover element (26) is formed from a radar-transparent material, in particular plastic, preferably polymer, wherein preferably the housing (25) provides a frame element (33) in order to move the sensor device (20) relative to the functional element (10) in a guided, in particular positively guided, preferably linear and / or rotatable and / or pivotable manner, wherein preferably the housing (25) is designed for operative connection to a fastening pin (34).to move the sensor device (20) rotatably and / or pivotably relative to the functional element (10).

27. Actuating device (100) according to one of the preceding claims, characterized in that the housing (25) for the sensor device (20) has at least one or more mounting means in order to receive the sensor device (20) within the housing (25) in a form-fitting and / or force-fitting manner, and / or that the mounting means are designed to clamp the carrier plate (24) of the sensor device (20) within the housing (25), and / or that the mounting means have a circumferential groove for the carrier plate (24) of the sensor device (20), in which groove the carrier plate (24) can be inserted.

28. Actuating device (100) according to one of the preceding claims, characterized in that the actuating device (100) has a lighting device (40) which is designed to make the actuating device (100) visible for actuation, wherein in particular the lighting device (40) is designed for ambient lighting of the functional element (10), and / or wherein the lighting device (40) is designed for interaction with a user (300), preferably to facilitate actuation of the actuating device (100).

29. Actuating device (100) according to one of the preceding claims, characterized in that the actuating device (100) has a communication device (50) which is designed to enable interaction with a user (300), preferably to facilitate the actuation of the actuating device (100), wherein in particular the communication device (50) has an optical, acoustic and / or haptic communication interface.

30. Access system (110) for a vehicle (200), comprising at least one, in particular contactless, actuating device (100) according to one of the preceding claims.

31. Method for actuating a movable part (201) of the vehicle (200), in particular in the form of a door or a flap of the vehicle (200), by means of an actuating device (100), in particular a contactless one, according to one of the preceding claims, wherein the sensor device (20) is movably driven in order to detect a user (300) in the at least one actuating area (I, II) and / or to detect an obstacle (H) in a movement area of ​​the movable part (201). 32.Method according to the preceding claim, characterized in that the sensor device (20), in particular in an obstacle detection mode, is driven to be movable between at least a first detection position (S1) and a second detection position (S2), wherein in the first detection position (S1) the sensor device (20) can detect a first actuation range (I), and / or wherein in the second detection position (S2) the sensor device (20) can detect a second actuation range (II), and / or wherein, during a movement between the first detection position (S1) and the second detection position (S2), the sensor device (20) can continuously detect an enlarged actuation range (I, II), which in particular avoids blind zones and / or substantially encloses the movement range of the movable part (201), in order to preferably detect an obstacle (H) in a movement range of the movable part (201).

33. Method according to one of the preceding claims, characterized in that the sensor device (20), in particular in an obstacle detection mode, is movably driven in order to dynamically enlarge the at least one actuation range (I, II) during the movement, so that in particular blind zones are avoided and / or the movement range of the movable part (201) is substantially enclosed in order to preferably carry out a detection of an obstacle (H) in a movement range of the movable part (201).

34. Method according to one of the preceding claims, characterized in that the sensor unit (21) is controlled in an actuation detection mode for detecting an actuation action (H1, H2, H3, B1, B2) of the user (300), for example in the form of a presence (H1), an approach (H2), a touch (H3) and / or a specific movement pattern (B1, B2), and / or that the sensor unit (21) is controlled in an obstacle detection mode for detecting an obstacle (H) in the movement range of the movable part (201), and / or that the sensor unit (21) is controlled in a communication mode for carrying out an authorization query, in particular by means of communication with a user-side device (301), preferably in the form of a mobile phone and / or ID transmitter.

35. Method according to one of the preceding claims, characterized in that the sensor unit (21), in particular in an obstacle detection mode and optionally in an actuation detection mode, is controlled in order to provide different detection positions (S1, S2) and / or different To record areas of activity (I, II).

36. Method according to one of the preceding claims, characterized in that the sensor device (20) is switched to an obstacle detection mode and is movably controlled when an actuation action (H1, H2, H3, B1, B2) of the user (300) has been detected by means of the sensor unit (21) and / or a positive authorization query has taken place with the user (300).

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