Actuation device and method for actuating a movable part 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 hinged panel 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) in order to monitor the at least one actuation range (I, II) at the vehicle (200) using 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 an actuation action (H1, H2, H3, B1, B2) by 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), wherein the sensor unit (21) has a plurality of antenna elements, comprising at least one transmitting antenna (SA) and at least one receiving antenna (EA), which are arranged such that an angular resolution in at least one angular range (φ,Φ) is made possible, and wherein the functional element (21) is designed to accommodate the sensor unit (21) such that, in a use position on the vehicle (200), an angular resolution with respect to a vehicle height direction (z) is made possible.

Description

[0001] HU48872 Bals & Vogel Huf Hülsbeck & Fürst GmbH & Co. KG Steeger Straße 17 42551 Velbert Actuating device and method for actuating a movable part of a vehicle Description The invention relates to an actuating device, in particular a contactless one, for a vehicle, in particular for an access system of the 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. Furthermore, the invention relates to a corresponding access system for a vehicle, comprising at least one corresponding actuating device, in particular a contactless one. 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 hatch of the vehicle, with the aid of a corresponding actuating device, in particular a contactless one.Actuating device. 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, for example in the form of doors or tailgates, in vehicles. Known sensor devices usually have sensors that can monitor the vehicle's surroundings in order 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. HU48872 Bals & Vogel 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 a vehicle,in particular for a vehicle access system, for actuating, preferably unlocking and / or opening, a movable part of the vehicle. Preferably, the object of the invention is to provide a, particularly contactless, actuating device for a vehicle, in particular for a vehicle access system, 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 area of ​​the movable part. Furthermore, the object of the present invention is 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 hatch of the vehicle.This object is achieved by a particularly contactless actuating device for a vehicle, in particular for an access system of the vehicle, for actuating, preferably unlocking and / or opening, a movable part of the vehicle, having the features of the independent device claim, by a corresponding access system for a vehicle having 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 for the individual embodiments and / or aspects of the invention,can be combined with one another in such a way that, with regard to the disclosure of the embodiments and / or aspects of the invention, reference is always made to one another. HU48872 Bals & Vogel The invention provides a, in particular contactless, actuating device for a vehicle, in particular for an access system of the vehicle, for (preferably automatically) actuating (at least comprising unlocking and / or opening and further, if necessary, closing and / or locking) a movable part of the vehicle, 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 a hood of the vehicle. In most cases, several movable parts can be provided on the vehicle,to be able to lock the interior of the vehicle. An actuating device can be provided for each of several movable parts on the vehicle. The actuating device comprises: - a functional element 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) the movable part of the vehicle, - a sensor device, wherein the sensor device comprises a sensor unit for monitoring at least one actuation area in the vehicle using radar waves, and wherein the sensor device comprises an electronic unit designed to control the sensor unit to detect an actuation action of a user in the at least one actuation area and / or detect an obstacle in a movement area of ​​the movable part,wherein the sensor unit has a plurality of antenna elements, comprising at least one (preferably several) transmitting antenna(s) and at least one (preferably several) receiving antenna(s), which are arranged such that an angular resolution (during detection) is enabled in (at least) one angular range, and wherein the functional element is designed to accommodate the sensor unit such that, in a use position on the vehicle, an angular resolution with respect to a vehicle vertical direction is enabled. In other words, the functional element is designed to accommodate the sensor unit such that the angular range in which the angular resolution is enabled essentially maps the movement range of the movable part. HU48872 Bals & Vogel The at least one actuation range can comprise a first actuation range and a second actuation range. The first actuation range can serveto detect an obstacle in a movement range of the movable part. The first actuation range can be monitored by the sensor unit using radar waves. Advantageously, at this point, one can speak of an obstacle detection mode in the sensor device. The first actuation range can enable an angular resolution with respect to a vehicle vertical direction (or in a vertical plane, which, for example, runs through the vehicle vertical direction and a vehicle transverse direction or which runs through the vehicle vertical direction and a vehicle longitudinal direction, or in a vertical angular range or in an angular range for elevation). The first actuation range can, for example, form an angular range for elevation between 80° and 160°, preferably 170°, preferably 180°. The second actuation range can serve toto detect a user's actuation in the at least one actuation area. The second actuation area can be monitored, for example, by a second sensor unit using radar waves. This can be referred to as an actuation detection mode for the sensor device. The second actuation area can enable angular resolution with respect to a horizontal direction, for example, a vehicle longitudinal direction or a vehicle transverse direction (or in a horizontal plane that runs, for example, through the vehicle longitudinal direction and a vehicle transverse direction, or in a horizontal angular range or in an angular range for azimuth). The second actuation area can, for example, form an angular range for azimuth between 80° and 160°, preferably 170°, preferably 180°. The actuation device can advantageously be designed as a coherent modular unit,in which the sensor device can be integrated. The actuating device can enable simple installation on the vehicle. The sensor device can be designed as a coherent electronic assembly in which the sensor unit and the electronic unit (preferably for obstacle detection) can be integrated, optionally with a second sensor unit and a second HU48872 Bals & Vogel electronic unit (e.g., for actuation detection) and / or with another sensor element (e.g., for presence and / or proximity detection). The sensor device can enable safe and reliable operation of the actuating device and safe actuation of the movable part, preferably with regard to obstacle control in the movement range of the movable part. The sensor device can advantageously have a carrier plate, preferably in the form of a circuit board.to support the sensor unit and the electronics unit (preferably for obstacle detection), optionally with a second sensor unit and a second electronics unit (e.g. for actuation detection) and / or with a further sensor element (e.g. for presence and / or proximity detection). The second electronics unit can in particular be designed to control the second sensor unit in such a way as to carry out a detection, in particular a radar detection, of an actuation of a user and / or a communication with a user-side device, e.g. in the form of a mobile phone or an ID transmitter. The second sensor unit can, for example, be operated in the range between 77 GHz and 81 GHz, in particular between 77 GHz and 79 GHz, preferably in the range of 79 GHz. The second sensor unit can, for example, have a range of 0 m to 100 m, preferably of 1 m to 100 m. This allows an access system,in particular in the form of a central locking system, and preferably unlocked or locked. The electronic unit can be designed, in particular, to control the sensor unit in such a way as to detect, in particular radar detect, an obstacle in a movement range of the movable part. This can enable safe operation of the movable part or an improved access system. HU48872 Bals & Vogel The sensor unit can, for example, be operated in the range between 77 GHz and 81 GHz, in particular between 77 GHz and 79 GHz, preferably in the range of 79 GHz. The sensor unit can, for example, have a range of 0 m to 100 m, preferably from 0.15 m to 30 m. The invention recognizes,that the sensor unit usually has several antenna elements. The antenna elements form an antenna array. Depending on the orientation of the sensor unit or antenna array, different angular ranges in relation to different directions result in the detection lobe. Most sensor units or antenna arrays are designed in such a way that they only enable angular resolution within a specific angular range. Most sensor units or antenna arrays are positioned on the vehicle in such a way that they only enable angular resolution within a horizontal angular range. The invention further recognizes that, depending on the positioning of the sensor units or antenna arrays, blind zones may arise outside the specific angular ranges in which angular resolution is possible. The invention now proposesto align the sensor unit or the antenna arrangement with respect to the vehicle using the specially designed functional element in such a way that the angular range of the sensor unit or the antenna arrangement, in which angular resolution is provided, covers the movement range of the movable part as far as possible. In this way, it can be ensured that blind zones are avoided in the movement range of the movable part and improved obstacle detection is provided. In principle, it is conceivable that the same sensor unit or the antenna arrangement can be moved to provide angular resolution in different angular ranges. Advantageously, a second sensor unit or a second antenna arrangement can be provided.to provide angular resolution in a different angular range. HU48872 Bals & Vogel The actuating device can thus enable an improved access system with increased security. Actuating the movable part can be understood as unlocking and / or opening the movable part. Furthermore, actuating the movable part can be understood as closing and / or locking the movable part. To hold the movable part in the closed position on the vehicle, a lock, e.g., 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.The lock can also at least assist the opening process of the movable part. Additionally, a drive for moving the movable part can also be provided to assist the opening and / or closing process. A movement of the movable part can be understood as an opening and / or closing of the movable part. Furthermore, the actuating device can also be designed to close and / or lock the movable part, whereby, in particular, the actuating device can act in a contactless or contact-based manner for closing the movable part.The actuating device can preferably operate in a contact-based manner to lock the movable part. The actuating device can preferably generate at least one or more control signals for the aforementioned unlocking and / or locking processes, as well as, if appropriate, 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). Furthermore, it can be provided that the functional element is formed by a door handle, for example, a retractable or fixed one. It is conceivable that the sensor device can be arranged in a gripping area of ​​the door handle. HU48872 Bals & Vogel Advantageously, the material of the door handle can be radar-permeable, at least in the section where the sensor device is arranged. Furthermore, it can be provided thatthat the functional element is formed by a mounting bracket for a door handle, in particular a retractable or fixed 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 to enable detection, in particular radar detection. Furthermore, it can be provided that the functional element is formed by a supporting vehicle pillar, e.g. a B-pillar, or by a body part of the vehicle. It is conceivable that the material of the vehicle pillar, at least in the area where the sensor device is arranged, can be radar-permeable. Furthermore, it can be provided that the functional element is formed by the movable part. It is conceivable that the material of the movable part, at least in the area where the sensor device is arranged,can be designed to be radar-permeable. Furthermore, it can be provided that the functional element can be brought into an 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 or fixed one. The lock can advantageously be designed to actuate the movable part of the vehicle, in particular to unlock and / or lock it, and optionally with the assistance of a drive, to open and / or close it. Preferably, the control device can be designed to generate a corresponding control signal for the lock and / or the drive in order to control the lock and / or the drive in accordance with an actuation action (comprising, for example, a presence, an approach, a touch, a movement pattern, a body movement and / or a command) of the user.which was detected by the sensor device. The lock can generally be used to unlock and / or lock the movable part of the vehicle. HU48872 Bals & Vogel The drive, which can be provided separately from the lock, for example, can be designed to open and / or close the movable part of the vehicle. Furthermore, it can be advantageous for the actuating device, preferably the control device, to be designed to generate a corresponding control signal for a lock and / or a drive. Furthermore, it can be provided that the sensor unit is designed and arranged on or in the functional element in such a way that, in a use position on the vehicle, an angular resolution in an angular range for elevation between 80° and 160°, preferably 170°, preferably 180°, is enabled. In this way, an enlarged actuation range can be provided.which enables an angular resolution with respect to a vehicle vertical direction (or in a vertical plane (which runs through the vehicle vertical direction and a vehicle longitudinal direction or a vehicle transverse direction) or in a vertical angular range or in an angular range for elevation). Advantageously, this makes it possible for the angular range of the sensor unit, in which an angular resolution is provided, to cover as much as possible the movement range of the movable part. In this way, it can be ensured that blind zones are avoided in the movement range of the movable part and improved obstacle detection can be provided. Furthermore, it can be provided that the sensor unit has several transmitting antennas. Preferably, the transmitting antennas can be arranged in such a way thatFor example, they can be arranged in a row (e.g., parallel to a vehicle's longitudinal direction or transverse direction, or horizontally aligned and / or slightly horizontally offset) to enable angular resolution with respect to a vehicle's longitudinal direction or transverse direction, preferably in a use position on the vehicle. This makes it possible for the at least one actuation area to have a certain width in the azimuthal angular range even in one position of the sensor device. Furthermore, it can be provided that the sensor unit has several receiving antennas. The receiving antennas can preferably be arranged in a row (e.g., essentially parallel to a vehicle's vertical direction or vertically aligned),to enable angular resolution in the vertical direction of the vehicle, preferably in a use position on the vehicle. This makes it possible for the at least one actuation area to have an increased height even in one position of the sensor device, for example, in the range between 80° and 160°, preferably 170°, preferably 180°, to enable improved obstacle detection. Furthermore, within the scope of the invention, a sensor device can be provided with the sensor unit having at least one transceiver, wherein the transceiver is particularly designed to operate at least one, preferably several, for example two, transmitting antennas and at least one, preferably several, for example four, receiving antennas. This enables active monitoring, for example in the form of scanning the vehicle's surroundings. The transceiver can transmit radar waves using transmitting antennas.which can be reflected by objects or people. The reflected radar waves can be received by the receiving antennas and provide information about the detected objects or people, as well as their distance, speed, relative angle to the vehicle, their movements, or the like. The transceiver can thus be used to monitor and analyze the vehicle's surroundings. Two transmitting antennas and four receiving antennas can form a detection lobe that enables angular resolution in at least one angular range. One of the transmitting antennas can emit a defined pattern signal, which is compared with the reflected received signal in order to distinguish the vehicle's own transmitted signal from external signals. Furthermore, the electronic unit can comprise at least one microcontroller, wherein the microcontroller, in particular, comprises 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, a control unit, optionally with comprehensive peripheral functions, can be provided for the sensor unit. The HU48872 Bals & Vogel control unit can control the sensor unit for detection, process the sensor signals, and optionally evaluate them. Furthermore, it can be provided that the sensor device has a second sensor unit. The second sensor unit can, for example, be constructed in the same way as the sensor unit described above. The second sensor unit can have a plurality of antenna elements, comprising at least one transmitting antenna and at least one receiving antenna, which are arranged such that an angular resolution in (at least) one angular range is enabled. Furthermore, it can be provided that the sensor device has a second electronics unit, which is designed toto control a second sensor unit in order to detect an actuation of a user in the at least one actuation area and / or to detect an obstacle in a movement area of ​​the movable part. Advantageously, the functional element can be designed to accommodate the second sensor unit in such a way that, in a use position on the vehicle, an angular resolution with respect to a horizontal direction, in particular a vehicle longitudinal direction or a vehicle transverse direction, is enabled. In particular, the second sensor unit can be designed and arranged on or in the functional element in such a way that, in a use position on the vehicle, an angular resolution in an angular range for azimuth between 80° and 160°, preferably 170°, preferably 180°, is enabled. Consequently, improved actuation detection (or detection of an actuation action) can be enabled. The angular range,in which the angular resolution is enabled, can essentially lie in a horizontal plane, which, for example, runs through the vehicle's longitudinal direction and a vehicle's transverse direction, or in a horizontal angular range or in an angular range for azimuth. In this way, an enlarged actuation range for actuation detection can be provided. The second sensor unit can have a plurality of transmitting antennas, which can be arranged relative to one another, for example in a row, in order to enable an angular resolution with respect to a vehicle's vertical direction, preferably in a use position on the vehicle. In addition, it is conceivable that the second sensor unit can have a plurality of receiving antennas, which are arranged relative to one another, for example in a row, in order to enable an angular resolution with respect to a horizontal direction, preferably in a use position on the vehicle.e.g., a vehicle longitudinal direction or a vehicle transverse direction. In addition, the second sensor unit can comprise at least one transceiver. The transceiver can be designed to operate the at least one, preferably several, e.g., two, transmitting antennas and the at least one, preferably several, e.g., four, receiving antennas. Furthermore, the electronics unit can comprise at least one microcontroller. The microcontroller can in turn comprise 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. Furthermore, it can be provided that the sensor device has at least one further sensor element in order to carry out an optical measurement,to carry out an inductive measurement and / or a capacitive measurement. The at least one further sensor element can, for example, have a sensor element designed to detect a contact on the actuating device, for example using an inductive measurement, in order to initiate, for example, a closing and / or locking of the movable part. The at least one further sensor element can, for example, have a sensor element designed to detect a presence or approach of the user to the actuating device, for example using an optical or capacitive measurement, in order to initiate, for example, an actuation detection (or detection of an actuation action). HU48872 Bals & Vogel According to a particular advantage and in order to provide an extended functionality of the actuating device, the sensor device can have a control device designed to control the electronic unit,to control a second electronic unit and, if necessary, a further sensor element, to evaluate sensor signals and to generate corresponding control signals for actuating the movable part of the vehicle depending on the evaluation. Advantageously, the sensor device can be designed with the sensor unit, the electronic unit, a control device, and in particular a second sensor unit, a second electronic unit and preferably a further sensor element and, if necessary, a lighting device and / or a communication device, in the form of a coherent electronic assembly. In this way, a simple assembly of the actuating device can be enabled. Advantageously, the sensor device can have a carrier plate, preferably in the form of a printed circuit board, for the sensor unit, the electronic unit, a control device, in particular a second sensor unit,a second electronic unit and preferably a further sensor element and optionally a lighting device and / or a communication device. Thus, the sensor device can provide a printed circuit board as a carrier. The carrier plate can also serve for the mechanical attachment of the sensor device to or in the functional element and for electrical connection to a vehicle-mounted access system. Furthermore, the functional element can form a housing for the sensor device in order to accommodate the sensor device in a manner protected from environmental and / or weather influences. Furthermore, the functional element can have a preferably openable cover element,through which the sensor device can be accommodated within the functional element. This enables a protected arrangement and extended operating life of the sensor device. Advantageously, the functional element and / or the cover element can be made of a radar-transparent material, in particular plastic, preferably polymer, in order not to interfere with detection. HU48872 Bals & Vogel Advantageously, the functional element can have at least one or more mounting means for receiving the sensor device within it in a form-fitting and / or force-fitting manner. The mounting means can serve to clamp the carrier plate of the sensor device in or on the functional element. The mounting means can, for example, have or form a circumferential groove for the carrier plate of the sensor device.into which the carrier plate can be easily inserted. 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, e.g., in the form of a 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. By flashing or illuminating, the lighting device can inform the user about the successful actuation detection, obstacle detection, and / or authorization query. To enable expanded functionality of the actuating device, the actuating device can further have a communication device.which is 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 can have an optical, acoustic and / or haptic communication interface. Furthermore, it can be provided that the sensor device, in particular with the aid of the second sensor unit, is designed to detect an actuation action of a user in the at least one actuation area, and / or that the sensor device, in particular with the aid of the sensor unit, is designed to detect an obstacle in a movement area of ​​the movable part. Advantageously, it can be provided that first, a detection of a user (e.g., by the second sensor unit or a further sensor element),subsequently, a detection of an actuation action by a user (actuation detection, in particular by the second sensor unit) and then a detection of an obstacle HU48872 Bals & Vogel (obstacle detection, in particular by the sensor unit) is carried out. In this way, improved access control can be provided, which can be carried out conveniently and securely. Furthermore, it can be provided that the control device is designed to control the second electronic unit, preferably in an actuation detection mode, to detect an actuation action by the user, for example in the form of a presence, an approach, a touch, a specific movement pattern, a body movement and / or a command, e.g. a voice command, in particular with the aid of the second sensor unit, in order to initiate an unlocking and / or opening of the movable part after the detection. Unlocking and / or opening of the movable part can serve toto enable access to a vehicle interior when the user is outside the vehicle. Unlocking and / or opening the movable part can serve to enable exit from a vehicle interior when the user is inside the vehicle. In principle, it can be provided that the control device is designed to control the second electronic unit, preferably in an actuation detection mode, to detect an actuation action by the user, e.g., in the form of a presence, an approach, a touch, or a specific movement pattern, in particular with the aid of the second sensor unit, in order to initiate closing and / or locking of the movable part after detection. Advantageously, it can be provided that the control device is designed to control a further sensor element to detect a touch on the functional element.to initiate closing and / or locking of the movable part after detection. Furthermore, it can be provided that the control device is designed to control the electronic unit, preferably in an obstacle detection mode, to detect an obstacle in the movement range of the movable part, in particular with the aid of the sensor unit. To further increase safety when operating the movable part, the control device can be designed to provide a warning signal and / or a stop signal HU48872 Bals & Vogel when the sensor device detects an obstacle in the movement range of the movable part. This can prevent damage to the movable part.if, for example, an obstacle has been detected in the movement range of the movable part. When exiting the vehicle, impact protection can be ensured for pedestrians and / or passing bicycles. Within the scope of an advantageous functionality, 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. For example, it is conceivable that the sensor device can be designed to carry out a pulse radar measurement method or a continuous wave radar measurement method. As already mentioned above, the sensor unit, in particular in an obstacle detection mode, and the second sensor unit, in particular in an actuation detection mode,Different angular ranges in elevation and azimuth can be assigned. An obstacle detection mode, for example, may require an enlarged range in the vertical direction of the vehicle. An actuation detection mode, for example, may require an enlarged range in a longitudinal direction or a transverse direction of the vehicle. In this way, the at least one actuation range can be shaped in an improved manner according to the required function. To expand the functionality of the actuation device and make it more secure, the control device can be in communication with a safety device of the vehicle to verify user authorization. The sensor device can be switched on, for example, by the control device and / or by the safety device of the vehicle.if the user's authorization has been positively verified. In this way, energy-saving operation of the sensor device can be enabled. Furthermore, it is conceivable that the second sensor unit can be switched on, for example, by the control device (e.g., if a user has been detected in the at least one actuation area, for example, by another sensor element) in order to detect an actuation of the user in the at least one actuation area using the HU48872 Bals & Vogel second sensor unit. Furthermore, it is conceivable that the sensor unit can be switched on, for example, by the control device if an actuation of the user has been detected in the at least one actuation area, in order to detect an obstacle in the movement area of ​​the movable part using the first sensor unit. 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. With the aid of the access system, the same advantages can be achieved that were described above in connection with the actuating device. These advantages are fully incorporated herein by reference. Within the scope of the access system, a lock, for example an electromechanical lock, can also be provided, which can be controlled in particular with the aid of the control device in order to actuate the movable part, in particular to unlock and, if necessary, to open it; and further optionally to close and / or lock it. In this way, an access system with the actuating device according to the invention and a corresponding locking system can be provided. 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, by means of a particularly contactless actuation device, which can be designed as described above, wherein the sensor device, in particular by means of the second sensor unit, detects an actuation action of a user in the at least one actuation area, and wherein the sensor device, by means of the sensor unit, detects an obstacle in a movement area of ​​the movable part. The method can achieve the same advantages as those described above in connection with the actuation device. These advantages are incorporated herein by reference. HU48872 Bals & Vogel Advantageously, the sensor device can be switched to an obstacle detection mode and / or the sensor unit can be activated.when an actuation of the user has been detected with the aid of the second sensor unit and / or a positive authorization query has taken place with the user. According to a further advantage, the sensor unit, in particular in an obstacle detection mode, and the second sensor unit, in particular in an actuation detection mode, can have different angular ranges in elevation and azimuth. Further advantages and details of the invention are disclosed in the following description. Shown are: Fig. 1 a schematic representation of an actuation device for a vehicle in section, Fig. 2 a side view of a vehicle with actuation devices, Fig. 3 a view from above of a vehicle with actuation devices, Fig. 4 a schematic representation of a sensor device,and Fig. 5 is a schematic representation of a sensor unit. In the following figures, the same reference numerals are used for the same technical features, even in different exemplary embodiments. Figures 1 to 3 show an actuating device 100 for a vehicle 200, which was developed for an access system 110 of the vehicle 200. The actuating device 100 serves for the (preferably automatic) actuation (comprising unlocking and, if necessary, opening; and optionally closing and / or locking) of 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 a hood, of the vehicle 200. HU48872 Bals & Vogel As Figures 2 and 3 indicate, several movable parts 201 can be provided on the vehicle 200.to be able to close the interior of the vehicle 200. An actuating device 100 can be provided for each of several movable parts 201 on the vehicle. 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. The functional element 10 is shown in Figures 1 to 3 merely as an example, for example, a retractable or fixed door handle. Other possible functional elements 10 include a mounting bracket for a door handle, a supporting vehicle pillar 203, for example, a B-pillar, of the vehicle 200, a section of the movable part 201, etc. The actuating device 100 further comprises: - a sensor device 20, wherein the sensor device 20 has a sensor unit 21 for detecting the at least one actuation area I,II in the vehicle 200 using radar waves. The sensor device 20 has an electronics unit 22, which is designed to control the sensor unit 21 in order to detect an actuation of 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. The sensor unit 21 can thus be referred to as a radar sensor. The sensor unit 21 can, for example, be provided in the form of a radar chip. As shown in Fig. 4, the sensor unit 21 has a plurality of antenna elements, including at least one (but preferably several) transmitting antenna(s) SA and at least one (but preferably several) receiving antenna(s) EA, which are arranged such that (during detection) an angular resolution in (at least) one angular range φ, ^ is enabled. HU48872 Bals & Vogel Fig.5 shows schematically,how, when detecting an obstacle H, an angular resolution in the angular range ^ for elevation can be enabled using multiple antenna elements of the sensor unit 21. If the obstacle H is positioned at different positions along the vehicle's vertical direction z, the transmission and / or reception angles at the antenna elements change during detection. In this way, the sensor unit 21 can detect a relative angle d ^ between the different positions. This can be referred to as an angular resolution. The angular resolution can be enabled by arranging the antenna elements, in the example shown – receiving antennas EA, at a specific distance from one another. The distance can be determined depending on the wavelength or frequency of radar waves. As Fig. 1 indicates, the functional element 10 is designed to accommodate the sensor unit 21 in such a way thatthat in a use position on the vehicle 200, an angular resolution with respect to a vehicle vertical direction z is enabled. In other words, the functional element 10 is designed to accommodate the sensor unit 21 in such a way that the angular range ^ (seen in the plane (z, y) or (z, x)), in which the angular resolution is enabled, essentially covers the range of movement of the movable part 201, as illustrated in Fig. 1. In Fig. 1, it is indicated that the angular range ^ (seen in the plane (z, y) or (z, x)), in which the angular resolution is enabled by the sensor unit 21, is increased, so that obstacles H in the lower region of the movable part 201 (but also obstacles H,which may be located in the upper region of the movable part 201) can be reliably detected. Fig. 1 shows, by way of example, a curb as an obstacle H in the lower region of the movable part 201 near the roadway. The at least one actuation region I, II can comprise a first actuation region I and a second actuation region II. The actuation regions I, II can be imagined, for example, as detection lobes. HU48872 Bals & Vogel The first actuation region I can advantageously serve to detect an obstacle H in a movement region of the movable part 201. The first actuation region I can be monitored by the sensor unit 21 using radar waves. The sensor device 20 can be in an obstacle detection mode. The first actuation region I can have an angular resolution with respect to a vehicle vertical direction z (or in a vertical plane,which, for example, runs through the vehicle vertical direction z and a vehicle transverse direction y or which runs through the vehicle vertical direction z and a vehicle longitudinal direction x, depending on where the actuating device 100 is arranged, in the side area or in the rear area of ​​the vehicle 200, or in a vertical angular range ^ or in an angular range ^ for elevation). The first actuating area I can, for example, form an angular range ^ for elevation between 80° and 160°, preferably 170°, preferably 180°. The second actuating area II can serve to detect an actuating action H1, H2, H3, B1, B2 of a user 300 in the at least one actuating area I,II. The second actuation area II can be monitored, for example, by a second sensor unit 27 using radar waves. The sensor device 20 can be in an actuation detection mode. The second actuation area II can have an angular resolution with respect to a horizontal direction x or y (or in a horizontal plane (x, y) that runs, for example, through the vehicle's longitudinal direction x and a vehicle's transverse direction y, or in a horizontal angular range φ or in an angular range φ for azimuth). The second actuation area II can, for example, form an angular range φ for azimuth between 80° and 160°, preferably 170°, preferably 180°. As indicated in Figs. 2 and 3, the actuation device 100 can advantageously be designed as a coherent modular unit,in which the sensor device 20 can be integrated. The actuating device 100 can enable simple installation on the vehicle 200. As Fig. 4 suggests, the sensor device 20 can be designed as a coherent electronic assembly, in which the sensor unit 21 and the electronic unit 22 (preferably for obstacle detection) and advantageously a control unit 25 for controlling the detection, for evaluating sensor signals, and for providing actuation control signals for the movable part 201,optionally integrated with a second sensor unit 27 and a second electronic unit 28 (e.g., for actuation detection) and / or with a further sensor element 23 (e.g., for presence and / or proximity detection or even for contact detection). The sensor device 20 can enable safe and reliable operation of the actuation device 100 and safe actuation of the movable part 201, preferably with regard to obstacle control in the movement range of the movable part 201. The sensor device 20 can advantageously have a carrier plate 24, preferably in the form of a circuit board, to connect the sensor unit 21 and the electronic unit 22 (preferably for obstacle detection).optionally with a second sensor unit 27 and a second electronics unit 28 (e.g., for actuation detection) and / or with a further sensor element 23 (e.g., for presence and / or proximity detection). The second electronics unit 28 can, in particular, be designed to control the second sensor unit 27 in such a way as to detect, in particular radar detect, an actuation H1, H2, H3, B1, B2 of a user 300 and / or to communicate with a user-side device 301, e.g., in the form of a mobile phone or an ID transmitter. The second sensor unit 27 can, for example, be operated in the range between 77 GHz and 81 GHz, in particular between 77 GHz and 79 GHz, preferably in the range of 79 GHz. The second sensor unit 27 can, for example, have a range of 0 m to 100 m, preferably from 1 m to 100 m. This allows an access system 110 of the vehicle 200, for example in the form of a central locking system,controlled and preferably unlocked or locked. The electronics unit 22 can be designed, in particular, to control the sensor unit 21 in such a way as to detect, in particular, radar detection, an obstacle H in a movement range of the movable part 201. HU48872 Bals & Vogel This enables safe operation of the movable part 201 or an improved access system 110. The sensor unit 21 can, for example, be operated in the range between 77 GHz and 81 GHz, in particular between 77 GHz and 79 GHz, preferably in the range of 79 GHz. The sensor unit 21 can, for example, have a range of 0 m to 100 m, preferably from 0.15 m to 30 m. The invention recognizes that the sensor unit 21 usually has several antenna elements. As illustrated in Figs. 4 and 5,The antenna elements form an antenna array. Depending on the orientation of the sensor unit 21 or the antenna array, different angular ranges φ and / or ^ result in the detection lobe relative to different directions x, y, z. Most sensor units or antenna arrays are designed such that they enable angular resolution only in a specific angular range φ or ^. Most sensor units or antenna arrays are positioned on the vehicle 200 such that they enable angular resolution only in a horizontal angular range φ. The invention further recognizes that, depending on the positioning of the sensor units or antenna arrays, blind zones may arise outside the specific angular ranges φ in which angular resolution is possible. Fig. 1 indicates that when the second sensor unit 27, whose antenna elements are arranged, for example, in a horizontal row, monitors the second operating area II,which can be wide in the horizontal plane but not in the vertical plane. This can result in blind zones forming in the movement range of the movable part 201, in which possible obstacles H cannot be detected. The invention now proposes positioning the sensor unit 21 or the antenna arrangement with the aid of the specially designed functional element 10 with respect to the vehicle 200 such that the angular range ^ of the sensor unit 21 or the antenna arrangement, in which an angular resolution is provided, covers the movement range of the movable part 201 as far as possible, as illustrated in Fig. 1 with the aid of the first actuation range I. In this way, it can be ensured that blind zones are avoided in the movement range of the movable part 201 and improved obstacle detection is provided. In principle, it is conceivable that the same sensor unit 21 or the antenna arrangement can be moved,to provide angular resolution for different angular ranges φ and / or ^. Advantageously, a second sensor unit 27 or a second antenna arrangement can be provided to provide angular resolution in a different angular range φ. The actuating device 100 can thus enable an improved access system 110 with increased security when actuating the movable part 201. Actuating the movable part 201 can be understood as unlocking and / or opening the movable part 201; optionally closing and / or locking the movable part 201. To hold the movable part 201 in the closed position on the vehicle 200, a lock 204, for example an electromechanical lock, 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 assist the opening process of the movable part 201. In addition, a drive for moving the movable part 201 can also be provided to assist the opening and / or closing process. A movement of the movable part 201 can be understood as an opening and / or closing of the movable part 201. Furthermore, the actuating device 100 can also be designed to close and / or lock the movable part 201, whereby, in particular, for closing the movable part 201, the actuating device 100 can act in a contactless or contact-based manner.The actuating device 100 can preferably operate in a contact-based manner to lock the movable part 201. HU48872 Bals & Vogel The actuating device 100 can preferably generate at least one or more control signals for the aforementioned actuation processes of unlocking and / or locking, as well as, if applicable, opening and / or closing. In other words, the actuating device 100 can advantageously serve to actuate the movable part 201, in particular by a user 300 (e.g., comparable to a door handle). The functional element 10 can serve to establish an operative connection with the lock 204. Preferably, the control device 25 can be designed to generate a corresponding control signal for the lock 204 and / or the drive in order to activate the lock 204 and / or the drive in accordance with an actuation action H1, H2, H3, B1, B2 (comprising, for example, a presence H1, an approach H2,a touch H3, a movement pattern B1, B2, a body movement, and / or a command) of the user 300, which was detected by the sensor device 20. The lock 204 can generally serve to unlock and / or lock the movable part 201 of the vehicle 200. The drive, which can be provided separately from the lock 204, for example, can be designed to open and / or close the movable part 201 of the vehicle 200. Furthermore, the actuating device 100, preferably the control device 25, can be designed to generate a corresponding control signal for a lock 204 and / or a drive. Furthermore, the sensor unit 21 can be designed and arranged on or in the functional element 10 in such a way that in a use position on the vehicle 200 an angular resolution in an angular range ^ for elevation between 80° and 160°, preferably 170°, preferably 180°,is made possible. In this way, a first actuation range I can be provided, which enables an angular resolution with respect to a vehicle vertical direction z (or in a vertical plane, which, for example, runs through the vehicle vertical direction z and a vehicle transverse direction y or through the vehicle vertical direction z and a vehicle longitudinal direction x, depending on where the HU48872 Bals & Vogel actuation device 100 is arranged, in the side area or in the rear area of ​​the vehicle 200, or in a vertical angular range ^ or in an angular range ^ for elevation). Advantageously, this makes it possible for the angular range ^ of the sensor unit 21, in which an angular resolution is provided, to cover the movement range of the movable part 201 as far as possible. In this way, it can be ensured,that blind zones are avoided in the movement range of the movable part 201 and improved obstacle detection can be provided. As indicated in Fig. 4, the sensor unit 21 can have a plurality of transmitting antennas SA. The transmitting antennas SA can be arranged relative to one another, for example, in a row (e.g., parallel to a vehicle longitudinal direction x or a vehicle transverse direction y, or horizontally aligned and / or slightly horizontally offset), in order to enable an angular resolution with respect to a vehicle longitudinal direction x or a vehicle transverse direction y, preferably in a use position on the vehicle 200. This makes it possible for the first actuation area I to have a certain width in the horizontal angular range φ or an angular range φ for azimuth, even in one position of the sensor device 20. Advantageously, the sensor unit 21 can have a plurality of receiving antennas EA,as shown in Figs. 4 and 5. Preferably, the receiving antennas EA can be arranged relative to one another, for example in a row (for example running substantially parallel to a vehicle vertical direction Z or vertically aligned), in order to enable an angular resolution d ^ in a vehicle vertical direction z, preferably in a use position on the vehicle 200. This makes it possible for the first actuation area I to have an increased height even in one position of the sensor device 20, for example in the range between 80° and 160°, preferably 170°, preferably 180°, in order to enable improved obstacle detection. Fig. 4 indicates that the sensor unit 21 can have at least one transceiver SE, wherein the transceiver SE can be designed to have at least one, preferably several, for example two, transmitting antennas SA and at least one, preferably several, for example four,Receiving antennas EA are used to operate the vehicle 200. This enables active monitoring, for example, in the form of scanning the surroundings of the vehicle 200. The transceiver SE can transmit radar waves using transmitting antennas SA, HU48872 Bals & Vogel, which can be reflected by objects or people. The reflected radar waves can be received by the receiving antennas EA and provide information about the detected objects or people, as well as their distance D, speed G, relative angle W to the vehicle 200, their movements B1, B2, or the like. Using the transceiver SE, the surroundings of the vehicle 200 can thus be monitored and analyzed using the electronics unit 22. Using two transmitting antennas SA and four receiving antennas EA, a detection lobe can be formed that enables angular resolution in at least one angular range ^, φ. One of the transmitting antennas SA can transmit a defined pattern signal,which is compared with the reflected received signal in order to distinguish the own transmitted signal from external signals. Furthermore, the electronics unit 22 can comprise at least one microcontroller μc. The microcontroller μc can in turn comprise at least one converter DAC, ADC, 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 CAN connection for communication and / or power supply. Thus, a control unit, optionally with comprehensive peripheral functions, can be provided for the sensor unit 21. The control unit or the electronics unit 22 can control the sensor unit 21 for detection, process the sensor signals and, if necessary, evaluate them. As further indicated in Fig. 4, the sensor device 20 can comprise a second sensor unit 27. The second sensor unit 27 can, for example, be constructed in the same way as the sensor unit 21.which was described above. The second sensor unit 27 can have a plurality of antenna elements, comprising: at least one (but preferably several) transmitting antenna(s) SA and at least one (but preferably several) receiving antenna(s) EA, which are arranged such that (during detection) an angular resolution in (at least) one angular range φ, ^ is enabled. Furthermore, the sensor device 20 can have a second electronic unit 28, which is designed to control a second sensor unit 27 in order to detect an actuation of a user 300 in the at least one actuation range I, II HU48872 Bals & Vogel and / or to detect an obstacle H in a movement range of the movable part 201. The functional element 10 can be designed to accommodate the second sensor unit 27 such that, in a use position on the vehicle 200, an angular resolution with respect to a horizontal direction x, y,in particular a vehicle longitudinal direction x or a vehicle transverse direction y. In particular, the second sensor unit 27 can be designed and arranged on or in the functional element 10 in such a way that, in a use position on the vehicle 200, an angular resolution in an angular range φ for azimuth between 80° and 160°, preferably 170°, preferably 180°, is enabled. Consequently, improved actuation detection (or detection of an actuation action H1, H2, H3, B1, B2) can be enabled. The angular range φ in which the angular resolution is enabled can lie essentially in a horizontal plane (x, y), which, for example, runs through the vehicle longitudinal direction x and a vehicle transverse direction y.or in a horizontal angular range φ or in an angular range φ for azimuth. In this way, a second actuation range II can be provided for actuation detection. The second sensor unit 27 can also have a plurality of transmitting antennas SA, which can be arranged relative to one another, for example in a row, in order to enable an angular resolution with respect to a vehicle vertical direction z, preferably in a use position on the vehicle 200. In addition, the second sensor unit 27 can have a plurality of receiving antennas EA, which are arranged relative to one another, for example in a row, in order to enable an angular resolution with respect to a horizontal direction x, y, for example a vehicle longitudinal direction x or a vehicle transverse direction y, preferably in a use position on the vehicle 200. The second sensor unit 27 can also have at least one transceiver SE. The transceiver SE can be designed toto operate the at least one, preferably several, e.g., two, transmitting antennas SA and the at least one, preferably several, e.g., four, receiving antennas EA. HU48872 Bals & Vogel The electronics unit 28, in turn, can comprise at least one microcontroller μc. The microcontroller μc can further comprise 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 CAN connection for communication and / or power supply. As can also be seen from Figs. 1 and 4, the sensor device 20 can comprise at least one further sensor element 23 to perform an optical measurement, an inductive measurement, and / or a capacitive measurement. An inductive measurement can be used to detect a touch H3 on the actuating device 100.For example, to provide a locking signal. An optical measurement and / or a capacitive measurement can be used to detect a presence H1 and / or an approach H2 of a user 300, whereupon, for example, actuation detection and consequently obstacle detection can be carried out. According to a particular advantage and in order to provide advantageous functionality of the actuation device 100, the sensor device 20 can have a control device 25, which can be designed to control the electronic unit 22 for obstacle detection, the second electronic unit 28 for actuation detection, and optionally the at least one further sensor element 23 for extended actuation detection, to evaluate sensor signals, and to generate corresponding control signals for actuating the movable part 201 of the vehicle 200 depending on the evaluation. As illustrated in Fig. 4,The sensor device 20, comprising the sensor unit 21, the electronics unit 22, the control device 25, the second sensor unit 27, the second electronics unit 28, and optionally the at least one further sensor element 23 and optionally a lighting device 40 and / or a communication device 50, can be designed in the form of a coherent electronic assembly. According to Fig. 4, the sensor device 20 can have a carrier plate 24, preferably in the form of a printed circuit board, on which the sensor unit 21, the electronics unit HU48872 Bals & Vogel 22, the control device 25, the second sensor unit 27, the second electronics unit 28, and optionally the at least one further sensor element 23 and optionally a lighting device 40 and / or a communication device 50,can be supported. The carrier plate 24 can advantageously serve for the mechanical fastening of the sensor device 20 on or in the functional element 10 and for the electrical connection to a vehicle-side access system 110. As Fig. 1 indicates, the functional element 10 can form a housing for the sensor device 20 in order to accommodate the sensor device protected from environmental and / or weather influences. Furthermore, the functional element 10 can have a preferably openable cover element through which the sensor device can be accommodated within the functional element 10. The functional element 10 can have at least one or more mounting means 11 in order to fasten the sensor device in or on the functional element 10 in a form-fitting and / or force-fitting manner. The mounting means 11 can serveto clamp the support plate 24 of the sensor device 20 in or on the functional element 10. The mounting means 11 can, for example, have or form a circumferential groove for the support plate 24 of the sensor device 20, into which the support plate 24 can be easily inserted. Furthermore, the actuating device 100 can have a lighting device 40, which can be designed to make the actuating device 100 visible for actuation. Advantageously, the lighting device 40 can be designed for ambient lighting of the functional element 10, for example in the form of a door handle. According to a further advantage, the lighting device 40 can be designed for interaction with a user 300,to preferably facilitate the actuation of the actuating device 100 and preferably to assist the user 300 in the actuation of the actuating device 100 by means of optical signals. By flashing or lighting up, the lighting device 40 can inform the user 300 about a successful actuation detection, obstacle detection and / or authorization query. To enable extended functionality of the actuating device 100, the actuating device 100 can further comprise a communication device 50, which can be designed to enable interaction with a user 300 in order to HU48872 Bals & Vogel preferably facilitate the actuation of the actuating device 100 and preferably to assist the user 300 in the actuation of the actuating device 100. The communication device 50 can be provided by optical,acoustic and / or haptic signals provide feedback to the user 300 regarding the successful actuation detection, obstacle detection, and / or authorization query. On the one hand, the sensor device 20, in particular with the aid of the second sensor unit 27, can be designed to detect an actuation H1, H2, H3, B1, B2 of a user 300 in the second actuation area II. On the other hand, the sensor device 20, in particular with the aid of the sensor unit 21, can be designed to detect an obstacle H in a movement area of ​​the movable part 201. For example, it can be provided that first a detection of a user 300 (e.g. by the second sensor unit 27 or a further sensor element 23), then a detection of an actuation H1, H2, H3, B1, B2 of a user 300 (actuation detection,in particular by the second sensor unit 27) and then detecting an obstacle (obstacle detection, in particular by the sensor unit 21). In this way, improved access control can be provided, which can be carried out safely and conveniently. The control device 25 can be designed to control the second electronic unit 28, 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, a specific movement pattern B1, B2, a body movement, and / or a command, e.g., a voice command, in particular with the aid of the second sensor unit 27, in order to initiate unlocking and / or opening of the movable part 201 after detection. Unlocking and / or opening of the movable part 201 can serve to enable access to a vehicle interior.when the user 300 is outside the vehicle 200. Unlocking and / or opening the movable part 201 can serve to enable exit from a vehicle interior when the user 300 is inside the vehicle 200. HU48872 Bals & Vogel In principle, the control device 25 can be designed to control the second electronic unit 28, 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, a specific movement pattern B1, B2, in particular with the aid of the second sensor unit 27, in order to initiate a closing and / or locking of the movable part 201 after the detection. Advantageously, the control device 25 can be designed to control a further sensor element 23 for detecting a contact H3 on the functional element 10,to initiate closing and / or locking of the movable part 201 after detection. Furthermore, the control device 25 can be designed to control the electronic unit 22, 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 the sensor unit 21. To further increase safety during operation of the movable part, the control device 25 can be 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. Thus, damage to the movable part can be prevented.if, for example, an obstacle has been detected in the movement range of the movable part 201. When exiting the vehicle, impact protection for pedestrians and / or passing bicycles can thereby be ensured. Within the scope of an advantageous functionality, the sensor device 20, in particular in an obstacle detection mode and / or in an actuation detection mode, can be 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. For example, it is conceivable that the sensor device 20 can be designed to carry out a pulse radar measurement method or a continuous wave radar measurement method. HU48872 Bals & Vogel Preferably, the sensor unit 21, in particular in an obstacle detection mode, and the second sensor unit 27, in particular in an actuation detection mode, can be assigned different angular ranges φ,^ in elevation and azimuth. An obstacle detection mode may, for example, require an enlarged range in the vehicle's vertical direction Z. An actuation detection mode may, for example, require an enlarged range in a vehicle longitudinal direction x or a vehicle transverse direction y. In this way, the at least one actuation range I, II can be shaped in an improved manner according to the required function. In order to ensure the functionality of the actuation device 100, the control device 25 can be in communication with a security device 120 of the vehicle 200 in order to verify the authorization of the user 300. The sensor device 20 can be switched on, for example, by the control device 25 and / or by the security device 120 of the vehicle 200, when the authorization of the user 300 has been positively verified. Furthermore, the second sensor unit 27,e.g., by the control device 25 (if a user 300 has been detected in the at least one actuation area I, II, e.g., by a further sensor element 23) in order to detect an actuation H1, H2, H3, B1, B2 of the user 300 in the at least one actuation area I, II with the aid of the second sensor unit 27. Furthermore, the sensor unit 21 can be switched on, e.g., by the control device 25, if an actuation H1, H2, H3, B1, B2 of the user 300 has been detected in the at least one actuation area I, II, in order to detect an obstacle in the movement area of ​​the movable part 201 with the aid of the first sensor unit 21. An access system 110 for a vehicle 100, comprising at least one, in particular contactless, actuation device 100, which can be designed as described above,also represents an aspect of the invention. HU48872 Bals & Vogel The invention further provides a method for actuating, preferably unlocking and / or opening, a movable part 201 of the vehicle 200, in particular in the form of a door or a flap of the vehicle 200, using a, in particular contactless, actuating device 100, which can be designed as described above, wherein the sensor device 20, in particular using the second sensor unit 27, detects an actuating action of a user 300 in the at least one actuating area I, II, and wherein the sensor device 20, using the sensor unit 21, detects an obstacle H in a movement area of ​​the movable part 201. Advantageously, the sensor device 20 can be switched to an obstacle detection mode and / or the sensor unit 21 can be activated,when an actuation H1, H2, H3, B1, B2 of user 300 has been detected by the second sensor unit 27 and / or a positive authorization query has taken place with user 300. The above explanation of the embodiments describes the present invention exclusively within the scope 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.

[0002] HU48872 Bals & Vogel List of reference symbols 10 Functional element 11 Mounting means 20 Sensor device 21 Sensor unit 22 Electronics unit 23 Sensor element 24 Carrier plate 25 Control device 27 Second sensor unit 28 Second electronics unit 40 Lighting device 50 Communication device 100 Actuating device 110 Access system 120 Safety device 200 Vehicle 201 Moving part 202 Vehicle window 203 Vehicle pillar 204 Lock 205 Vehicle wheel 300 User 301 User-side device H Obstacle HU48872 Bals & Vogel H1, H2, H3, B1, B2 Actuating action H1 Presence H2 Approach H3 Contact B1, B2 Movement pattern I Actuating area II Actuating area D Distance G Speed ​​W Angle μc Microcontroller ADC,DAC converter CAN connection CPU processor unit SE transceiver SA transmitting antenna EA receiving antenna IF interface RAM storage unit SPT signal processing unit x vehicle longitudinal direction z vehicle vertical direction HU48872 Bals & Vogel φ angle range ^ angle range,

Claims

HU48872 Bals & Vogel Patent Claims 1. Actuating device (100) for a vehicle (200), in particular for an access system (110) of the 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) in order to monitor 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 an actuation action (H1, H2, H3, B1, B2) of a user (300) in the at least one operating area (I,II) and / or to detect an obstacle (H) in a movement range of the movable part (201), wherein the sensor unit (21) has a plurality of antenna elements, comprising at least one transmitting antenna (SA) and at least one receiving antenna (EA), which are arranged such that an angular resolution is enabled in at least one angular range (φ, ^), and wherein the functional element (10) is designed to accommodate the sensor unit (21) such that an angular resolution with respect to a vehicle vertical direction (z) is enabled in a use position on the vehicle (200). HU48872 Bals & Vogel 2. Actuating device (100) according to one of the preceding claims, characterized in that the functional element (10) is formed by a door handle, or that the functional element (10) is formed by a mounting bracket for a door handle, 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), or that the functional element (10) is formed by the movable part (201). 3.Actuating device (100) according to one of the preceding claims, characterized in that the functional element (10) can be brought into operative connection with a lock (204), in particular an electromechanical lock, wherein in particular the lock (204) is designed to unlock and / or lock the movable part (201) of the vehicle (200), wherein preferably the electronic 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) that was detected by the sensor unit (21).Actuating device (100) according to one of the preceding claims, characterized in that the sensor unit (21) is designed and arranged on or in the functional element (10) in such a way that, in a position of use on the vehicle (200), an angular resolution in an angular range (^) for elevation between 80° and 160°, preferably 170°, preferably 180°, is enabled. HU48872 Bals & Vogel 5. Actuating device (100) according to one of the preceding claims, characterized in 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 enable an angular resolution with respect to a horizontal direction (x, y), for example a vehicle longitudinal direction (x) or a vehicle transverse direction (y), preferably in a use position on the vehicle (200).

6. Actuating device (100) according to one of the preceding claims, characterized in 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 enable an angular resolution in the vehicle vertical direction (z), preferably in a use position on the vehicle (200).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) is designed to operate the at least one, preferably several, for example two, transmitting antennas (SA) and the at least one, preferably several, for example four, receiving antennas (EA), and / or that the electronics unit (22) has at least one microcontroller (μc), wherein in particular the microcontroller (μc) 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. HU48872 Bals & Vogel 8. Actuating device (100) according to one of the preceding claims, characterized in that the sensor device (20) has a second sensor unit (27), which is in particular constructed identically to the sensor unit (21), and / or that the sensor device (20) has a second electronic unit (28) which is designed to control a second sensor unit (27) in order to detect an actuating action of a user (300) in the at least one actuating region (I, II) and / or to detect an obstacle (H) in a movement region of the movable part (201). 9.Actuating device (100) according to one of the preceding claims, characterized in that the functional element (10) is designed to accommodate the second sensor unit (27) in such a way that, in a use position on the vehicle (200), an angular resolution with respect to a horizontal direction (x, y), in particular a vehicle longitudinal direction (x) or a vehicle transverse direction (y), is enabled, and / or that the second sensor unit (27) is designed and arranged on or in the functional element (10) in such a way that, in a use position on the vehicle (200), an angular resolution in an angular range (φ) for azimuth between 80° and 160°, preferably 170°, more preferably 180°, is enabled.

10. Actuating device (100) according to one of the preceding claims, characterized in that the second sensor unit (27) has a plurality of transmitting antennas (SA), which are designed in particular in such a way, e.g.in a row, to enable an angular resolution with respect to a vehicle vertical direction (z), preferably in a use position on the vehicle (200), and / or that the second sensor unit (27) has a plurality of receiving antennas (EA), which are arranged in particular in such a way, for example in a row, to enable an angular resolution with respect to a horizontal direction (x, y), for example a vehicle longitudinal direction (x) or a vehicle transverse direction (y), preferably in a use position on the vehicle (200). HU48872 Bals & Vogel 11. Actuating device (100) according to one of the preceding claims, characterized in that the second sensor unit (27) has at least one transceiver (SE), wherein in particular the transceiver (SE) is designed to operate the at least one, preferably several, e.g. two, transmitting antennas (SA) and the at least one, preferably several, e.g. four, receiving antennas (EA), and / or that the electronics unit (28) has at least one microcontroller (μc), wherein in particular the microcontroller (μc) 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. 12.Actuating device (100) according to one of the preceding claims, characterized in that the sensor device (20) has at least one further sensor element (23) for performing an optical measurement, an inductive measurement, and / or a capacitive measurement.

13. Actuating device (100) according to one of the preceding claims, characterized in that the sensor device (20) has a control device (25) designed to control the electronic unit (22), a second electronic unit (28), and optionally a further sensor element (23), to evaluate sensor signals, and to generate corresponding control signals for actuating the movable part (201) of the vehicle (200) depending on the evaluation. HU48872 Bals & Vogel 14. Actuating device (100) according to one of the preceding claims, characterized in that the sensor device (20) with the sensor unit (21), the electronics unit (22), a control device (25), and in particular a second sensor unit (27), a second electronics unit (28) and preferably a further sensor element (23) and optionally a lighting device (40) and / or a communication device (50), is designed in the form of a coherent electronic assembly, and / or 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), a control device (25), in particular a second sensor unit (27), a second electronics unit (28) and preferably a further sensor element (23) and optionally a lighting device (40) and / or a communication device (50). 15.Actuating device (100) according to one of the preceding claims, characterized in that the functional element (10) forms a housing 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 functional element (10) has a preferably openable cover element through which the sensor device (20) can be introduced within the functional element (10), wherein in particular the functional element (10) and / or the cover element are formed from a radar-transparent material, in particular plastic, preferably polymer.Actuating device (100) according to one of the preceding claims, characterized in that the functional element (10) has mounting means (11) for receiving and / or fastening the sensor device (20) in a form-fitting and / or force-fitting manner, wherein in particular the mounting means (11) are designed to clamp the carrier plate (24) of the sensor device (20) in or on the functional element (10), wherein preferably the mounting means (11) have a circumferential groove for the carrier plate (24) of the sensor device (20), in which groove the carrier plate (24) can be inserted. HU48872 Bals & Vogel 17. Actuating device (100) according to one of the preceding claims, characterized in that the actuating device (100) has a lighting device (40) 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). 18.Actuating device (100) according to one of the preceding claims, characterized in that the actuating device (100) comprises a communication device (50) 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) comprises an optical, acoustic and / or haptic communication interface. 19.Actuating device (100) according to one of the preceding claims, characterized in that the sensor device (20), in particular with the aid of the second sensor unit (27), is designed to detect an actuating action (H1, H2, H3, B1, B2) of a user (300) in the at least one actuating area (I, II), and / or that the sensor device (20), in particular with the aid of the sensor unit (21), is designed to detect an obstacle (H) in a movement area of ​​the movable part (201). HU48872 Bals & Vogel 20. Actuating device (100) according to one of the preceding claims, characterized in that the control device (25) is designed to control the second electronic unit (28), 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), a specific movement pattern (B1, B2), a body movement and / or a command, e.g. B. a voice command, in particular with the aid of the second sensor unit (27), in order to initiate unlocking and / or opening of the movable part (201) after 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 inside the vehicle (200). 21.Actuating device (100) according to one of the preceding claims, characterized in that the control device (25) is designed to control the second electronic unit (28), preferably in an actuation detection mode, to detect an actuation action (H1, H2, H3, B1, B2) of the user (300), e.g. in the form of a presence (H1), an approach (H2), a touch (H3), a specific movement pattern (B1, B2), in particular with the aid of the second sensor unit (27), in order to initiate a closing and / or locking of the movable part (201) after the detection, and / or in that the control device (25) is designed to control a further sensor element (23) to detect a touch (H3) on the functional element (10) in order to initiate a closing and / or locking of the movable part (201) after the detection. HU48872 Bals & Vogel 22. Actuating device (100) according to one of the preceding claims, characterized in that the control device (25) is designed to control the electronic unit (22), 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 the sensor unit (21), wherein in particular the control device (25) is designed 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). 23.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.

24. Actuating device (100) according to one of the preceding claims, characterized in that different angular ranges (φ, ^) in elevation and azimuth are assigned to the sensor unit (21), in particular in an obstacle detection mode, and to the second sensor unit (27), in particular in an actuation detection mode. HU48872 Bals & Vogel 25. Actuating device (100) according to one of the preceding claims, characterized in that the control device (25) can be brought into a communication connection with a security device (120) of the vehicle (200) in order to verify an authorization of the user (300), and / or that the sensor device (20), e.g. by the control device (25) and / or by the security device (120) of the vehicle (200), can be switched on when an authorization of the user (300) has been positively verified, and / or that the second sensor unit (27), e.g. by the control device (25), can be switched on in order to detect an actuating action (H1, H2, H3, B1, B2) of the user (300) in the at least one actuating area (I, II) with the aid of the second sensor unit (27), and / or that the sensor unit (21), e.g.by the control device (25), can be switched on if an actuation action (H1, H2, H3, B1, B2) of the user (300) has been detected in the at least one actuation area (I, II) and / or a positive authorization query has taken place with the user (300), in order to detect an obstacle (H) in the movement area of ​​the movable part (201) with the aid of the first sensor unit (21).

26. Access system (110) for a vehicle (200), comprising at least one, in particular contactless, actuation device (100) according to one of the preceding claims. HU48872 Bals & Vogel 27. 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), using a, in particular contactless, actuating device (100) according to one of the preceding claims, wherein the sensor device (20), in particular using the second sensor unit (27), detects an actuating action (H1, H2, H3, B1, B2) of a user (300) in the at least one actuating area (I, II), and wherein the sensor device (20) uses the sensor unit (21) to detect an obstacle (H) in a movement area of ​​the movable part (201). 28.Method according to one of the preceding claims, characterized in that the sensor device (20) is switched to an obstacle detection mode and / or the sensor unit (21) is activated when an actuation action (H1, H2, H3, B1, B2) of the user (300) has been detected with the aid of the second sensor unit (27) and / or a positive authorization query has taken place with the user (300).

29. Actuation device (100) according to one of the preceding claims, characterized in that different angular ranges (φ, ^) in elevation and azimuth are assigned to the sensor unit (21), in particular in an obstacle detection mode, and to the second sensor unit (27), in particular in an actuation detection mode.

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