System for detecting gestures in different capture regions in a stationary vehicle

Abstract

The invention relates to a system (1) for detecting gestures in different capture regions (8) in a stationary vehicle (5), comprising: - at least one first sensor device (41) for capturing the gestures in a first capture region (8') for activating a first vehicle function, - at least one second sensor device (42) for capturing the gestures in a second capture region (8'') for activating a second vehicle function, wherein the sensor devices (41, 42) are designed to be arranged on the vehicle (5) in different installation situations (7) for the different capture regions (8', 8''), wherein the sensor devices (41, 42) have a self-locating means (85) for determining their own installation situation (7) on the vehicle (5) themselves and for taking said installation situation into consideration when capturing the gestures and / or for activating the vehicle functions.

Description

[0001] Description

[0002] System for gesture recognition in different detection areas of a stationary vehicle

[0003] The present invention relates to a system for gesture recognition. Furthermore, the invention relates to a sensor device, a localization system, a method, and a computer program for this purpose.

[0004] State of the art

[0005] It is known that vehicles can be equipped with gesture recognition sensors. State-of-the-art technology includes, for example, optical sensors based on infrared or RGB technology. These sensors can recognize the driver's gestures and trigger corresponding actions, such as opening or closing windows or doors, or switching lights on or off.

[0006] Disclosure of the invention

[0007] Some existing solutions still have disadvantages, particularly regarding the accuracy and reliability of gesture recognition, as well as the technical effort required to set up and assemble the corresponding sensors.

[0008] It is therefore an object of the present invention to at least partially overcome the disadvantages described above and / or to provide an improved solution for gesture recognition in vehicles. In particular, it is an object of the present invention to ensure safe and efficient operation of the vehicle and / or to reduce the technical effort required for such solutions.

[0009] The invention relates to a system with the features of claim 1, a sensor device with the features of claim 10, a localization system with the features of claim 15, a method with the features of claim 16, and a computer program with the features of claim 19. Further features and details of the invention will become apparent from the respective dependent claims, the description, and the drawings. Features and details described in connection with the system according to the invention naturally also apply in connection with the sensor device, the localization system, the method, and the computer program according to the invention, and vice versa, so that a reciprocal reference is always possible with regard to the disclosure of the invention.

[0010] The invention relates in particular to a system for recognizing gestures in different detection areas, preferably in a stationary vehicle. The system can include at least one first sensor device for detecting gestures in a first detection area for activating a first vehicle function.

[0011] Furthermore, the system can have at least one second sensor device for capturing gestures in a second detection area for activating a second vehicle function.

[0012] The first and second detection areas can be arranged symmetrically to each other on the vehicle. For example, there could be a detection area on the left side and one on the right side of the vehicle.

[0013] It is conceivable that the system also has at least one further sensor device for capturing gestures in at least one further detection area for activating at least one further vehicle function.

[0014] The sensor devices can be designed to be positioned in different installation situations on the vehicle for the different detection areas. For example, the first detection area is located on the left side and the second on the right side, relative to the vehicle's direction of travel. Therefore, the first sensor device can also be positioned on the left side and the second on the right side of the vehicle (relative to the vehicle's direction of travel) to accommodate the different detection areas. Furthermore, the orientation of the sensor devices can also be adapted to the detection areas, resulting in different installation configurations.

[0015] Furthermore, the sensor devices may incorporate a self-localization mechanism to determine their own installation position on the vehicle and take this into account when capturing gestures and / or activating vehicle functions. In this way, the detection and / or activation can be automatically adapted to the specific installation situation. This has the advantage of allowing for more flexible arrangement and potentially enabling the use of an identical sensor device for different detection areas and / or applications.

[0016] The vehicle can be configured, for example, as a motor vehicle, passenger vehicle, truck, or at least partially autonomous vehicle. The vehicle can or must be stationary for gesture recognition to occur. This ensures safety for gestures performed on the vehicle's exterior, such as those used to open doors or hatches. For instance, an automated check of the vehicle's status or speed may be a prerequisite for activating a vehicle function or action. If the check reveals that the vehicle is not stationary, gesture recognition can be blocked. The system can therefore incorporate appropriate safety mechanisms to ensure that recognition occurs when the vehicle is stationary. This could include, for example, reading the vehicle's speed data.It is also conceivable that gesture recognition and / or the vehicle functions triggered by it are only activated by the vehicle when the vehicle is stationary.

[0017] Gestures are preferably understood to be individual movements or sequences of movements, which are characterized in particular by a specific movement pattern, a specific shape and / or orientation of the human body or limbs, including, but not limited to, types of gestures such as hand and arm movements, leg and foot movements, facial expressions, head movements and / or body postures, which serve to convey information, express feelings or communicate intentions.

[0018] It is also advantageous if the sensor devices are of identical design. This allows for a reduction in manufacturing and assembly costs.

[0019] The system according to the invention can, in particular for gesture recognition in different detection areas of a stationary vehicle, determine and take into account the installation situation of the respective sensor devices on the vehicle itself in order to configure and / or select the vehicle function to be activated. Additionally, self-localization can optionally be used to perform calibration and increase the accuracy of gesture recognition. The self-localization means that the sensor devices can, for example, precisely determine their own position on the vehicle and, based on this, correctly recognize gestures in the respective detection area. This enables reliable activation of vehicle functions, such as opening or closing and / or light or heating functions, depending on the installation situation of the sensor device and the gestures performed by the user.

[0020] According to another advantageous feature, the sensor devices are designed to activate different vehicle functions, preferably controlling different vehicle components, depending on their detected installation location. This enables more flexible and adaptive control of vehicle functions, as the sensor devices can act differently and preferably address different vehicle components depending on their detected installation location on the vehicle. The identical design of the sensor devices and their self-localizing capability make it possible to use the same component for different installation situations.

[0021] Preferably, the different installation situations can define different installation locations. The sensor devices can be designed to be arranged symmetrically on the vehicle at the different installation locations.

[0022] Furthermore, the sensor devices can be designed to control different vehicle components, preferably those arranged symmetrically on the vehicle, depending on their self-determined installation location. These components can be activated, opened, closed, locked, and / or unlocked. In other words, the sensor devices can be designed to be mounted symmetrically on the vehicle in order to control different, but symmetrical, vehicle components at various installation locations. The self-localizing mechanism of the sensor devices allows them to determine their own position on the vehicle and take this into account when controlling the vehicle components. This enables more precise control of vehicle functions, especially when the system is used in different installation situations.

[0023] Furthermore, it is conceivable that the respective self-localization device is designed to set an identifier, preferably an address, for the respective sensor device depending on the determined installation situation. This address can preferably be used for addressing in a communication system, preferably a bus system, of the vehicle. In other words, the self-localization device can be designed to define or adapt an identifier, preferably an address, for the respective sensor device depending on the determined installation situation on the vehicle. This allows the respective sensor device to register in the communication system and take its position on the vehicle into account to ensure that the recognized gestures and / or the activation of the vehicle functions are correctly interpreted.

[0024] A further advantage is that the respective self-localizing device can be part of a localization system. Furthermore, the localization system can include at least one reference device for placement on the vehicle, in order to be detected and, in particular, recognized by the self-localizing device, especially as a spatial reference, and thus to determine the installation situation based on the reference. This results in a more precise understanding of the installation situation on the vehicle and therefore better recognition and, in particular, interpretation of gestures in different detection areas.

[0025] It is conceivable that the initial self-localization, i.e., the determination of its own installation position on the vehicle by the self-localization device, is performed to initially adjust and preferably calibrate the respective sensor device. Optionally, repeated recalibration or plausibility checks of the self-localization are conceivable. For example, this could detect if a previously recognized reference is no longer detectable or has changed.

[0026] Furthermore, the self-localizing means may be an algorithm designed to evaluate the detection by the respective sensor device and preferably to locate a reference means within the detection range. This allows for the efficient determination of the installation situation. The advantage of this is that the self-localizing means enables precise localization of the sensor device within the detection range, thus accurately determining the installation situation on the vehicle. The reference means can then be specifically designated as the reference to be detected.

[0027] A further advantage of the invention can be achieved if the sensor devices are designed to detect gestures in the form of foot and / or leg gestures and / or hand and / or arm gestures. This enables convenient operation of vehicle components such as doors or flaps like tailgates or front hatches.

[0028] Optionally, the first sensor device may be designed to activate the first vehicle function based on gesture recognition of the detected gestures, in order to control a first vehicle component. The first vehicle component is, for example, a left-side vehicle component, preferably a vehicle door. The first vehicle function is, for example, opening, unlocking, closing, or locking.

[0029] Furthermore, it is conceivable that the second sensor device is designed to activate a second vehicle function based on gesture recognition of the detected gestures, in order to control a second vehicle component. The second vehicle component is, for example, a right-side vehicle component, preferably a vehicle door. The second vehicle function is, for example, opening, unlocking, closing, or locking. The second vehicle function can be the same function (such as opening) as the first vehicle function, but it can involve a different vehicle component.

[0030] More generally, the respective vehicle function may include a control, and it is possible that the control includes unlocking and / or opening and / or locking and / or closing and / or displaying.

[0031] Furthermore, it is optionally provided that the first and / or second vehicle component includes at least one of the following: a door, a flap, a tailgate, a front flap, a display, light, air conditioning, a navigation device, a side mirror.

[0032] Thanks to the adaptive control provided by the system according to the invention, depending on the respective installation situation, even more complex processes on the vehicle, such as opening and closing doors or unlocking a flap, can be carried out safely and conveniently.

[0033] A further advantage of the invention can be achieved if the respective sensor device is designed as a radar sensor device to detect gestures using radar signals. This allows the sensor devices to achieve high accuracy in gesture detection across different detection ranges due to their radar signal acquisition capabilities. Furthermore, the use of radar signals enables the system to operate effectively even in environments with strong light or other disruptive influences on the sensor devices, which is advantageous for gesture recognition in the vehicle's exterior.

[0034] The respective sensor device can be configured via software, for example, through a specially developed interface with a user interface that allows the user to make various settings to define the gesture type and / or the detection range, and potentially also to optimize the sensor's performance and / or accuracy. Parameters such as sensitivity, measuring range, and data transmission rate can therefore also be adjusted via this interface. Optionally, the software can allow the saving of configuration profiles, which can then be quickly recalled for recurring detection tasks. A software function for performing diagnostics to verify the sensor's functionality is also conceivable.

[0035] Furthermore, the system can optionally be able to determine the user's intention based on gestures. This can be achieved, for example, by analyzing movements made before or after a specific gesture. This allows the system to consider the context in which the gesture was performed and thus ensure even more accurate gesture recognition.

[0036] Furthermore, the system can also recognize the strength or weakness with which a particular gesture is performed. This can be achieved, for example, by analyzing the speed, angle, or force with which the gesture was executed. A stronger gesture can, for instance, result in a greater mechanical impact than a weaker gesture, such as higher mechanical pressure on a door handle. This enables the system to achieve even more precise gesture recognition, more intuitive vehicle operation, and thus better decision-making. For example, the speed at which a vehicle action, such as opening or closing a door or hatch, is performed can be adjusted to the recognized strength of the gesture.

[0037] The sensor device can, for example, include a sensor such as an infrared or radar sensor capable of precisely capturing gestures like leg, foot, arm, or hand movements, or even finger movements. A vehicle function can then be activated based on this gesture recognition. By implementing a communication protocol such as a LIN protocol, the sensor device can be integrated into existing vehicle networks, ensuring reliable communication between the individual components. The sensor device can be designed to respond to specific gestures and transmit corresponding commands to the control unit.

[0038] Furthermore, it is conceivable that an interface between the respective sensor device and the vehicle's communication system is provided. This interface can potentially utilize a communication function / protocol, such as a LIN protocol, for bidirectional communication between the sensor device and the control unit, enabling the exchange and processing of real-time data. This allows the system to react immediately to dynamic changes in gestures and make corresponding adjustments. At least one open collector (OC) of the sensor device can be used to generate precisely time-controlled events. For example, the sensor device can use the OC to determine the exact time of gesture detection, thereby optimizing the accuracy and reaction speed of gesture recognition.

[0039] Furthermore, it can be provided that each sensor device receives a unique address for communication within the communication system. These addresses can be assigned and managed, for example, by the communication master, preferably a LIN master, thus ensuring that each component in the network can be addressed correctly. The addresses can comprise a fixed number range defined within the network and enable orderly and conflict-free communication. This ensures that data can be transmitted between the sensor device and the vehicle's control unit without interference or confusion, thereby increasing the reliability and efficiency of the entire system. In addition, self-assignment of addresses by the respective sensor device can also be provided.

[0040] The invention also includes a sensor device for recognizing gestures, preferably in a stationary vehicle.

[0041] The sensor device can include at least one sensor for capturing gestures, optionally in at least one first detection area or a second detection area, for activating at least one first or second vehicle function. The sensor device can be designed to be arranged in different installation situations on the vehicle for the different detection areas.

[0042] Furthermore, the sensor device can include a self-localization feature to determine its own installation position on the vehicle and to take this into account when detecting and / or recognizing gestures and / or activating vehicle functions. For example, a configuration such as the sensor device's address can be adjusted, which, when the activation of a vehicle function is initiated, determines which vehicle component is controlled, preferably opened or closed, by the vehicle function. The activation of the vehicle function can, for example, be triggered by gesture recognition.

[0043] The sensor device according to the invention offers the same advantages as those described in detail with reference to a system according to the invention. Furthermore, the sensor device can be suitable for use as part of a system according to the invention.

[0044] For example, the sensor may be designed as a radar sensor to detect gestures using radar signals. Therefore, by being configured as a radar system, the sensor device can enable more accurate gesture recognition across different detection ranges.

[0045] Furthermore, it is conceivable that the sensor device has a housing, preferably designed for flush mounting on the vehicle. The housing can be at least partially transparent to radar signals to enable reliable gesture detection.

[0046] Furthermore, the sensor device can have a mounting element that is adjustable relative to the sensor to align it with different detection areas during installation. The flush mounting on the vehicle and the partial transparency of the housing ensure optimal radar signal transmission for gesture detection.

[0047] In addition, the adjustable mounting device makes it possible to align the sensor to different detection areas, thereby increasing the precision in gesture recognition.

[0048] It is also optionally conceivable that the self-localization device is designed to evaluate at least one reference in the selected detection range of the sensor in order to determine its own installation situation.

[0049] The reference can be designed as a reference device specifically mounted on the vehicle for self-localization. In other words, a permanent placement of an object within the sensor device's field of view can be provided, for example, by limiting the physical opening angle. The evaluation can then include determining an angle and / or a distance and / or a spatial relationship between the sensor device and the reference device and / or determining an orientation and / or a measured size of the reference device.

[0050] The reference can also be an existing vehicle component. The evaluation can include determining an angle and / or distance between the sensor device and the existing vehicle component. To use the existing vehicle component as a reference, the sensor device can, for example, measure a signature of the vehicle component, such as radar characteristics. The vehicle component could be, for example, a bumper, a door handle, or the like.

[0051] The reference can also be defined as the ground on which the vehicle is located. The evaluation can then include determining the height of the sensor device relative to the ground (a "height above ground" can therefore be a parameter for self-localization).

[0052] Furthermore, determining the specific installation situation can also include determining the installation position of the sensor device. This can be achieved by evaluating the sensor device's data and, if necessary, by comparing it with a predefined specification. Advantageously, the invention may provide that the sensor device is designed for mounting on at least one of the following vehicle components:

[0053] A vehicle pillar, preferably A, B or C pillar,

[0054] A tailgate,

[0055] A bumper,

[0056] A door handle,

[0057] A headlight,

[0058] A side mirror,

[0059] A rearview mirror.

[0060] This has the advantage that the sensor device, by being attached to various vehicle components, can cover a variety of possible installation situations and is therefore flexible enough to cover different areas of application.

[0061] In another possibility, the sensor device can be part of a system according to the invention in order to be installed in vehicles at different installation locations and / or different vehicle components and thus to monitor gestures in different detection areas.

[0062] The invention also relates to a localization system comprising at least one sensor device and at least one reference means. The reference means can be arranged on the vehicle within the detection range of the sensor device to serve as a reference for self-localization by the self-localization means of the sensor device. Thus, the localization system according to the invention offers the same advantages as those described in detail with reference to a system and a sensor device according to the invention. Furthermore, the localization system can be suitable for being part of a system according to the invention.

[0063] The invention also relates to a method for recognizing gestures, preferably in a stationary vehicle. This method can include receiving detection data, preferably radar data. The detection data can result from the detection of at least one sensor device of the vehicle in at least one detection area.

[0064] Furthermore, the procedure can include evaluating the received acquisition data with regard to at least one reference. For this purpose, the received acquisition data can be examined, for example, with regard to a signature, preferably a radar signature, which may be measured.

[0065] Furthermore, the procedure can include determining the installation situation of at least one sensor device based on the evaluation, in particular based on a result of the investigation and / or a classification of the investigated signature.

[0066] Furthermore, the procedure can include adapting a configuration for the respective sensor device, e.g. by adjusting an addressing.

[0067] Furthermore, the method can include operating the respective sensor device for gesture recognition in the respective detection area and for activating at least one vehicle function based on gesture recognition.

[0068] It is conceivable that the configuration is designed to take the installation situation into account when activating at least one vehicle function.

[0069] The method according to the invention offers the same advantages as those described in detail with reference to a system and / or a sensor device according to the invention. Furthermore, the method may be suitable for operating a system and / or a sensor device according to the invention.

[0070] Advantageously, the invention may provide that the detection is carried out as a radar detection, and that a signature is recognized on the basis of the radar data which is specific for radar properties of at least one vehicle element and / or reference means in the detection area of ​​the sensor device in order to determine the installation situation on the basis of the signature.

[0071] It is also advantageous to provide an electronic interface to a vehicle communication system in order to control the vehicle function for activation via the communication system. In other words, transmitting data via the interface can initiate the activation of the vehicle function. Depending on the determined installation situation, a unique identifier, such as an address, can be defined for the sensor device for addressing in the communication system. This enables the vehicle's control unit to decide, based on the identifier / address in the transmitted data, which vehicle component should be controlled according to the vehicle function. The invention also includes a device for data processing, comprising means for carrying out the steps of the inventive method.The device for data processing according to the invention thus offers the same advantages as have been described in detail with reference to a method according to the invention.

[0072] The invention also relates to a computer program, in particular a computer program product, comprising instructions that, when executed by a computer, cause the computer to execute the method according to the invention. The computer program according to the invention thus offers the same advantages as those described in detail with reference to a method according to the invention. Furthermore, the computer program can be at least partially non-volatile and / or available as downloadable software and / or as a cloud service and / or as an executable program and / or as a configuration file and / or as a program library and / or as source code and / or in compiled and / or encrypted and / or compressed form and / or in a combination thereof.

[0073] The computer can be a data processing device, preferably the data processing device according to the invention, and / or a microcontroller.

[0074] The data processing device according to the invention, and preferably the computer, can be configured to execute the computer program according to the invention. For this purpose, the data processing device according to the invention can have at least one processor. A non-volatile data storage medium can also be provided in which the computer program is stored and from which the computer program can be read by the processor for execution.

[0075] It is also conceivable that the data processing device according to the invention comprises at least one integrated circuit such as a microprocessor, an application-specific integrated circuit (ASIC), an application-specific standard product (ASSP), a digital signal processor (DSP), a field-programmable gate array (FPGA), or the like. The data processing device according to the invention can further comprise at least one interface for data exchange, e.g., an Ethernet interface, an interface for LAN (Local Area Network), WLAN (Wireless Local Area Network), a system-on-a-chip (SoC), or another radio interface such as for Bluetooth or near-field communication (NFC). Furthermore, the data processing device according to the invention can be implemented as one or more control units, i.e., also as a system of control units.The data processing device according to the invention can be implemented wholly or partially in a cloud and / or as a server in order to provide data processing for a local application via the interface. Accordingly, the data processing device according to the invention can also be designed as a distributed system. It is also possible for the data processing device according to the invention to be implemented as a mobile device, such as a smartphone.

[0076] The invention may also include a computer-readable storage medium comprising the computer program according to the invention. The storage medium is, for example, designed as a data storage device such as a hard drive and / or non-volatile memory and / or a memory card. The storage medium can, for example, be integrated into the computer and / or into the data processing device according to the invention.

[0077] Furthermore, the method according to the invention can also be implemented as a computer-implemented method. Alternatively or additionally, each or all of the disclosed method steps can optionally be computer-implemented and / or carried out automatically.

[0078] Further advantages, features, and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described in detail with reference to the drawings. The features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. The drawings show:

[0079] Fig. 1 shows a schematic side view of a vehicle and a system according to exemplary embodiments of the invention.

[0080] Fig. 2 shows a schematic top view of a vehicle and a system according to exemplary embodiments of the invention.

[0081] Fig. 3 shows a schematic view of a system according to exemplary embodiments of the invention.

[0082] Fig. 4 shows another schematic view of a system according to exemplary embodiments of the invention.

[0083] Fig. 5 is a schematic visualization of a method according to exemplary embodiments of the invention.

[0084] In the following figures, identical reference numerals are used for the same technical features even for different embodiments. Figure 1 shows a sensor device 41, 42 installed on a vehicle 5. This means, for example, that the sensor device 41, 42 can be integrated into or attached to a vehicle component 60 such as a door handle or a vehicle pillar. The sensor device 41, 42 is designed to detect gestures on the vehicle 5 in order to trigger a vehicle action depending on the detected gesture when the vehicle 5 is stationary. This makes it possible, for example, to open or close a vehicle component 60 such as the vehicle door or a hatch when a specific hand or arm gesture is detected.

[0085] The sensor device 41, 42 can include a sensor 40, which is in particular configured as a radar sensor to detect gestures using radar signals. In other words, the sensor, and preferably hand or foot gesture sensor, can be radar-based and thus differ from other detection technologies such as capacitive sensors.

[0086] It may be possible that the respective sensor device 41, 42 is arranged on the vehicle 5 in such a way that detection is only meaningful when the vehicle 5 is stationary. This applies in particular to the detection and recognition of gestures on the exterior of the vehicle 5, so that a user can, for example, gain access to the vehicle 5 via gestures.

[0087] Furthermore, the sensor device 41, 42 can have a housing 70 shown in Fig. 3, which is designed for mounting and / or flush mounting on the vehicle 5. To carry out a method 100 according to embodiments of the invention, a computer program 50 and a data processing device 10, such as a microcontroller, each shown in Fig. 4, can also be part of the sensor device 41, 42.

[0088] Furthermore, Fig. 3 also shows an interface 90 to a communication system 120. This enables the sensor device 41, 42 to send a command to trigger a vehicle action. For this purpose, the interface 90 can be electrically connected to the device 10 or be part of this device 10.

[0089] It is possible that the sensor device 41, 42, when mounted on the vehicle 5, was selected as one of several identical sensor devices 41, 42, which are used for different applications on the same vehicle 5 or on different vehicles 5. The different applications relate, for example, to:

[0090] The detection and / or recognition of gestures of different types, and / or the detection and / or recognition of gestures in different detection areas 8, and / or

[0091] A system for capturing and / or recognizing gestures to trigger different vehicle actions.

[0092] To adapt the sensor devices 41, 42 to their respective applications, they can each have a configuration mechanism 45. This mechanism can be configured to allow the respective sensor device 41, 42 to selectively recognize gestures of at least one first or one second type, or at least one further type, by the sensor 40.

[0093] The first sensor device 41 can, for example, be designed to detect and recognize gestures of the first type in the form of foot and / or leg gestures, and the second sensor device 42 can be designed to detect and recognize gestures of the second type in the form of hand and / or arm gestures. Since both sensor devices 41 and 42 can be structurally identical, it is therefore possible to select the same component for both foot and hand gestures. The sensor device simply needs to be configured differently and / or positioned / oriented differently on the vehicle.

[0094] Furthermore, the configuration mechanism 45 can be designed to provide the respective detection range 8 in an adjustable manner. In other words, the configuration mechanism 45 can adapt the detection range 8 to the specific desired application.

[0095] Overall, the configuration mechanism 45 allows the sensor device 41, 42 to be configured in different ways for the detection and recognition of different gesture types, while maintaining the same structural design. This has the advantage that the sensor device 41, 42 can be manufactured uniformly and provided for assembly for different applications.

[0096] The configuration mechanism 45 can be an electronic configuration mechanism 45 or be designed entirely as such, e.g., for transmitting configuration data. In this way, for example, the detection range 8 (and thus also the recognition range) of the sensor device 41, 42 can be adjusted via software. Parameters such as a sampling rate and / or a viewing range and / or a width of the detection range and / or a detection distance and / or an extent of the detection range (e.g., with a variable opening angle, such as 130 degrees) can be set. Furthermore, the parameterization may also include the adaptation of an algorithm for gesture recognition, such as the direction and / or sequence of movements that should lead to the recognition of a gesture (movements such as forward and backward or swiping across the field of view), a speed, distance, or angle of the movements, and / or other relevant parameters.the radar signals.

[0097] Furthermore, the configuration mechanism 45 can have or be designed as a mechanical configuration mechanism 45. The mechanical configuration mechanism 45 can make it possible to orient and / or arrange the sensor device 41, 42 differently on the vehicle 5 for the detection of different types of gestures and / or in the different detection areas 8, preferably by a mechanical adjustment of a sensor 40 of the sensor device 41, 42 relative to a fastening means 71 of the sensor device 41, 42 (see Fig. 3).

[0098] The settings, in particular the software-based parameterization, can be configured via the configuration mechanism 45, for example, during factory programming and / or end-of-line configuration of the vehicle 5. The parameters can be input from outside the sensor device 41, 42. It is also possible for different parameter sets to be pre-stored in the sensor device 41, 42 via a lookup table for retrieval in different applications. Mechanical adjustment can be performed, in particular, during assembly.

[0099] The sensor device 41, 42 shown in Fig. 1 can be a first sensor device 41 of the vehicle 5. After assembly on the vehicle 5, at least one further identical sensor device 42 can be provided in addition to the first sensor device 41, which, however, differs in its application. The second sensor device 42 can form a gesture recognition system with the first sensor device 41.

[0100] Figure 2 shows a system 1 according to embodiments of the invention already installed on a vehicle 5. The system 1 can enable gesture detection and recognition in different detection areas 8 on the vehicle 5. This has the advantage that the recognized gestures can trigger vehicle actions particularly conveniently and intuitively, for example, opening the tailgate or a door.

[0101] It is possible, and illustrated by way of example in Fig. 2, that the sensor devices 41, 42 for gesture detection and recognition on the vehicle 5 have different installation configurations. This can, for example, relate to the installation locations in which the sensor devices 41, 42 cover the different detection ranges 8. It is possible, for example, that the respective sensor device 41, 42 is adapted for mounting and / or integration on / in at least one or at least two of the following vehicle components 61, 62: a vehicle pillar, preferably A-, B- or C-pillar, a tailgate, a bumper, a side mirror, a headlight, a door handle, a rearview mirror.

[0102] It can also be seen in Figures 1 and 2 that the sensor devices 41, 42 can be provided on different vehicle components 60 and / or at different heights h and / or on different sides of the vehicle 5. The different heights can be due, for example, to the height of a vehicle component 60 on which the respective sensor device is attached, such as the height h of the mounting location on the vehicle pillar shown in Figure 1 or the height h of a bumper (if the vehicle component is higher than on other vehicle types, then the sensor device can also be mounted higher). This allows for the flexible use of the sensor devices 41, 42, e.g., on different vehicle types.

[0103] In Fig. 2, the vehicle components 60 are a right-hand vehicle door 61 and a left-hand vehicle door 62 of the vehicle 5. The vehicle components 60 can thus be arranged symmetrically on the vehicle 5. Accordingly, the sensor devices 41, 42 can also be installed symmetrically on the vehicle 5, e.g., directly on or near the vehicle component 60 for which they are intended to be controlled via the vehicle action. This results in correspondingly different detection ranges 8', 8" for the sensor devices 41, 42.

[0104] System 1 can be configured to recognize different types of gestures in the stationary vehicle 5. For this purpose, the first sensor device 41 can be configured to detect gestures of a first type, and the second sensor device 42 can be configured to detect gestures of a second type. The gestures of the second type can differ from the gestures of the first type with regard to the body part of the user intended to perform the gesture and / or the type and / or sequence of at least one movement.

[0105] The first and second sensor devices 41, 42 can further be designed to be adjusted for the different detection areas 8 on the vehicle 5, wherein the different detection areas 8 can be provided at different heights h to take into account the difference in gesture types for gesture recognition.

[0106] Furthermore, due to the identical design of the sensor devices 41, 42, it may be necessary to adapt them for their specific application only during or after their installation on the vehicle 5. The specific application may include, for example, the detection and recognition of gestures of a certain type and / or detection within a specific detection range, e.g., at a specific height, and / or the triggering of a vehicle action for a specific vehicle component 60. More generally, the adaptation may concern parameters that arise from the different arrangement and / or application of the sensor devices 41, 42 on the vehicle 5.

[0107] For many applications, the sensor device 41, 42 should, for example, know on which side of the vehicle 5 it is installed. More generally, the sensor device 41, 42 should be able to recognize its installation situation 7. This is important, for example, so that when the vehicle action, especially a vehicle function, is activated, the left door opens on the left side and, correspondingly, the right door opens on the right side. The sensor device 41, 42 can, for example, adjust its own identifier / address when it detects on which side it is installed. This adjustment of the identifier / address can be implemented electronically, for example, by having an additional pin of interface 90, preferably in the connector, provide a signal to the sensor device 41, 42 for connection to the vehicle 5, indicating whether the sensor device 41, 42 is installed on the left or right side.In other words, it can be provided that the respective sensor device 41, 42 itself recognizes at which installation location 7 it has been mounted. This is possible, for example, by a localization system 80 and / or by a self-localization means 85 of the sensor device 41, 42, which then changes the address so that the sensor device 41, 42 is addressed as left or right sensor 40.

[0108] The respective sensor device 41, 42 can have a sensor 40 for detecting gestures, optionally in at least a first detection area 8' or a second detection area 8" for activating at least one first or second vehicle function. The sensor 40 is, for example, designed as a radar sensor. Furthermore, for the purpose of recognizing its own installation situation, a reference within the detection area can be detected and evaluated. The reference is, for example, a radar target such as a reflector. Radar targets are known, for example, for calibration, to check and adjust the accuracy and function of a radar system. These targets have known dimensions and reflection properties that make it possible to measure and calibrate the performance of the radar. In embodiments of the invention, radar targets can be used for adjusting and configuring the radar sensor on the vehicle.

[0109] The radar target 86 shown as an example in Fig. 3 can be mechanically constructed such that it has a fixed or adjustable structure made of materials that reflect radar waves. For example, metals are used for this purpose. The shape of the radar target can vary; for example, it can be spherical, cylindrical, or plate-shaped to simulate different radar cross-sections. Furthermore, it can be mounted on a tripod or other support on the vehicle 5 to allow adjustment of the radar target's height and angle, which enables reference detection and, if necessary, calibration of the radar sensor for different radar angles and scenarios.

[0110] Radar targets such as corner reflectors, particularly those with a pyramidal shape, can also be used as references. These can be used for both configuration and alignment. Corner reflectors are special types of radar targets, preferably pyramidal in shape, with three orthogonal faces. This design allows incoming radar waves to be reflected back in the direction from which they originated. This property makes them particularly useful for calibrating and aligning radar systems, as they provide very precise feedback on the radar's position and orientation. Corner reflectors are well-known for their use in geodesy, satellite navigation, and aerospace engineering to improve the accuracy and reliability of radar measurements.

[0111] In embodiments of the invention, one or more radar targets can be provided and designed as corner reflectors to serve as a reference for recognizing the installation situation.

[0112] Together with at least one reference 86, the self-localizing means 85 can further form a localization system 80 for the respective sensor device 41, 42.

[0113] Furthermore, an initial reading of the reference and / or other characteristics specific to the installation situation can be provided for the recognition of the installation situation. For example, structural modifications to a holder or housing of the sensor device 41, 42 can also be used as a reference. Certain parameters of the installation situation can be recognized via the reference, such as an installation direction and / or an installation height and / or an orientation of the sensor device 41, 42.

[0114] It is possible that the detected installation location is determined in an initial check, e.g., during assembly, and then permanently stored from the initial check onward or can be overwritten by software. It is also possible that plausibility checks are performed repeatedly after the initial check to verify that the installation situation has remained unchanged. This could, for example, be performed after each ignition cycle. During the plausibility check, the reference can be re-evaluated and / or static characteristics in the field of view of sensor 40 on the vehicle can be detected. The installation situation can refer not only to the installation location but also, if applicable, to the installation height h. In other words, the localization system 80 or the self-localization device 85 can detect not only the location but also the height of the sensor device 41, 42. If the sensor device 41, 42 is, for example,If the self-localizing device 85 detects that it is installed high up, it can configure itself, for example, to detect and recognize hand or arm gestures. Otherwise, it can configure itself, for example, to detect and recognize foot or leg gestures.

[0115] Figure 4 further shows a computer program 50 comprising instructions which, when the computer program 50 is executed by a computer 10, such as a device 10 and in particular a microcontroller 10, cause it to execute the method 100 according to embodiments of the invention. A microcontroller 10 can also be considered a single-chip computer.

[0116] Figure 5 illustrates an exemplary method 100 for gesture recognition in a stationary vehicle 5. According to a first method step 101, detection data, preferably radar data, is received. This data results from the detection of at least one sensor device 40 of the vehicle 5 in at least one detection area 8. According to a second method step 102, the received detection data is evaluated with respect to at least one reference. According to a third method step 103, the installation situation of the at least one sensor device 41, 42 is determined based on the evaluation 102. According to a fourth method step 104, a configuration for the respective sensor device 40 is then adapted.Finally, according to a fifth process step 105, the operation of the respective sensor device 41, 42 for gesture recognition in the respective detection range 8 and for activating at least one vehicle function based on gesture recognition can be provided. It is possible that the configuration is designed to take the installation situation into account when activating the at least one vehicle function. For example, the configuration can be evaluated during activation to decide how the vehicle function is activated, e.g., which vehicle component is controlled for this purpose.

[0117] The preceding explanation of the embodiments describes the present invention solely by way of examples. Naturally, individual features of the embodiments can be freely combined with one another, provided this is technically feasible, without departing from the scope of the present invention. List of reference numerals

[0118] 1 system

[0119] Floor

[0120] vehicle

[0121] Vehicle element

[0122] Installation location

[0123] Detection areas

[0124] 10 Data processing device 0 Sensor 1 First sensor device 2 Second sensor device 5 Configuration mechanism 0 Computer program 0 Vehicle component 1 First vehicle component 2 Second vehicle component

[0125] 70 cases

[0126] 71 Fasteners

[0127] 8' first detection area

[0128] 8" second detection area

[0129] 80 Localization system

[0130] 85 Self-locating devices

[0131] 86 reference means

[0132] 90 interface

[0133] 100 procedures

[0134] 101 First procedural step

[0135] 102 second procedural step

[0136] 103 third procedural step

[0137] 104 fourth procedural step

[0138] 105 fifth procedural step

[0139] 106 sixth procedural step

[0140] 120 communication system h height

Claims

Claims 1. System (1) for recognizing gestures in different detection areas (8) of a stationary vehicle (5), comprising: at least a first sensor device (41) for detecting gestures in a first detection area (8') for activating a first vehicle function, at least a second sensor device (42) for detecting gestures in a second detection area (8") for activating a second vehicle function, wherein the sensor devices (41, 42) are designed to be arranged in different installation situations (7) on the vehicle (5) for the different detection areas (8', 8"), wherein the sensor devices (41, 42) have a self-localizing means (85) to determine their own installation situation (7) on the vehicle (5) and to take it into account when detecting gestures and / or for activating the vehicle functions.

2. System (1) according to claim 1, characterized in that the sensor devices (41, 42) are of identical construction, and that the sensor devices (41, 42) are designed to activate different vehicle functions depending on their determined installation situation (7), preferably to control different vehicle components (61, 62).

3. System (1) according to one of the preceding claims, characterized in that the different installation situations (7) define different installation locations (7), wherein the sensor devices (41 , 42) are designed to be arranged symmetrically on the vehicle (5) at the different installation locations (7), and, depending on their self-determined installation location (7), to control different vehicle components (61 , 62) which are provided symmetrically on the vehicle (5), preferably to activate and / or open and / or close and / or lock and / or unlock.

4. System (1) according to one of the preceding claims, characterized in that the respective self-localizing means (85) is designed to set a identifier, preferably an address, for the respective sensor device (41, 42) depending on the determined installation situation (7), wherein the address is preferably provided for addressing in a communication system (120), preferably a bus system, of the vehicle (5).

5. System (1) according to one of the preceding claims, characterized in that the respective self-localizing means (85) is part of a localization system (80), wherein the localization system (80) has at least one reference means (86) for arrangement on the vehicle (5) in order to be detected, in particular as a spatial reference, by the self-localizing means (85) and thus to determine the installation situation (7) on the basis of the reference.

6. System (1) according to one of the preceding claims, characterized in that the respective self-localizing means (85) is an algorithm which is designed to evaluate the detection by the respective sensor device (41, 42) and preferably to locate a reference means (86) in the detection area (8) in order to determine the installation situation (7) in this way.

7. System (1) according to one of the preceding claims, characterized in that the sensor devices (41, 42) are designed to detect gestures in the form of foot and / or leg gestures and / or hand and / or arm gestures.

8. System (1) according to one of the preceding claims, characterized in that the first sensor device (41) is configured to activate the first vehicle function based on gesture recognition of the detected gestures in order to control a first vehicle component, and that the second sensor device (42) is configured to activate the second vehicle function based on gesture recognition of the detected gestures in order to control a second vehicle component (62), wherein the control preferably comprises unlocking and / or opening and / or locking and / or closing and / or displaying, wherein the first and / or second vehicle component (60) comprises at least one of the following: a door, a flap, a tailgate, a front flap, a display, light, air conditioning, a navigation device, a side mirror.

9. System (1) according to one of the preceding claims, characterized in that the respective sensor device (41, 42) is designed as a radar sensor device to detect the gestures by using radar signals.

10. Sensor device (41, 42) for detecting gestures in a stationary vehicle (5), comprising: at least one sensor (40) for detecting the gestures optionally in at least a first detection area (8') or a second detection area (8") for activating at least one first or second vehicle function, wherein the sensor device (41, 42) is designed to be arranged in different installation situations (7) on the vehicle (5) for the different detection areas (8), wherein the sensor device (41, 42) has a self-localizing means (85) to determine its own installation situation (7) on the vehicle (5) and to take it into account when detecting and / or recognizing the gestures and / or for activating the vehicle function.

11. Sensor device (41, 42) according to claim 10, characterized in that the sensor (40) is designed as a radar sensor to detect gestures by using radar signals, wherein the sensor device (41, 42) has a housing (70) designed for flush mounting on the vehicle (5) and is at least partially transparent to radar signals, wherein the sensor device (41, 42) has a fastening means (71) that is adjustable relative to the sensor (40) in order to align the sensor (40) to different detection areas (8) during installation.

12. Sensor device (41, 42) according to claim 10 or 11, characterized in that the self-localizing means (85) is configured to evaluate at least one reference in the selected detection range (8) of the sensor (40) in order to determine its own installation situation (7), wherein the reference is configured as at least one of the following: a device attached to the vehicle (5) specifically for self-localization Reference means (86), wherein the evaluation preferably comprises determining an angle and / or a distance and / or a spatial ratio of the sensor device (41, 42) to the reference means (86) and / or determining an orientation and / or a depicted size of the reference means (86), an existing vehicle element (6), wherein the evaluation preferably comprises determining an angle and / or a distance of the sensor device (41, 42) to the existing vehicle element (6), a ground (2) on which the vehicle (5) is located, wherein the evaluation preferably comprises determining a height of the sensor device (41, 42) relative to the ground (2), wherein the determination of its own installation situation (7) preferably also includes determining the installation position of the sensor device (41, 42).

13. Sensor device (41, 42) according to one of claims 10 to 12, characterized in that the sensor device (41, 42) is designed for attachment to at least one of the following vehicle components (60): A vehicle pillar, preferably A, B or C pillar, A tailgate, A bumper, A headlight, A door handle, A side mirror, A rearview mirror.

14. Sensor device (41, 42) according to one of claims 10 to 13, characterized in that the sensor device (41, 42) is part of a system (1) according to one of claims 1 to 9, in order to be installed in vehicles (5) at different installation locations and / or different vehicle components (60) and thus to monitor gestures in different detection areas (8).

15. Localization system (80) comprising: a sensor device (41, 42) according to any one of claims 10 to 14, - at least one reference means (86) which is designed to be arranged on the vehicle (5) in the detection range (8) of the sensor device (41 , 42) in order to serve as a reference for self-localization by the self-localization means (85) of the sensor device (41, 42).

16. Method (100) for recognizing gestures in a stationary vehicle (5), comprising: Receiving (101) detection data, preferably radar data, resulting from a detection by at least one sensor device (40) of the vehicle (5) in at least one detection area (8), - Evaluating (102) the received acquisition data with respect to at least one reference, Determine (103) an installation situation of the at least one sensor device (41 , 42) based on the evaluation (102), - Adapting (104) a configuration for the respective sensor device (40), Operating (105) the respective sensor device (41 , 42) for gesture recognition in the respective detection area (8) and for activating at least one vehicle function based on gesture recognition, wherein the configuration is provided to take the installation situation into account when activating the at least one vehicle function.

17. Method (100) according to claim 16, characterized in that the detection is carried out as a radar detection, and that a signature is recognized on the basis of the radar data which is specific for radar properties of at least one vehicle element (6) in the detection area (8) of the sensor device (41, 42) in order to determine the installation situation on the basis of the signature.

18. Method (100) according to one of claims 16 or 17, characterized in that an electronic interface (90) to a communication system (120) of the vehicle (5) is provided in order to control the vehicle function for activation via the communication system (120), wherein, depending on the determined installation situation, a unique identifier for the sensor device (41, 42) is defined for addressing in the communication system (120).

19. Computer program (50), comprising instructions which, when the computer program (50) is executed by a computer (10), cause it to execute the method (100) according to any one of claims 16 to 18.

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