System for identifying gestures

Abstract

The invention relates to a system (1) for identifying gestures of different types in a stationary vehicle (5), comprising: - at least one first sensor device (41) for detecting gestures of a first type, - at least one second sensor device (42) for detecting gestures of a second type, which differ from the gestures of the first type with respect to the body part of the user envisaged for making the gesture and / or the type and / or the sequence of at least one movement, wherein the first and second sensor devices (41, 42) are designed to be set for different detection regions (8) on the vehicle (5), wherein the different detection regions (8) are provided at different heights (h) in order to take into consideration the difference in the gesture types for gesture identification.

Description

[0001] Description

[0002] Gesture recognition system

[0003] The present invention relates to a system for gesture recognition. Furthermore, the invention relates to a sensor device, 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 drawbacks, particularly regarding the accuracy and reliability of gesture recognition, as well as the technical effort required for the design and installation of the corresponding sensors. It is therefore an object of the present invention to at least partially overcome the aforementioned disadvantages or to provide an improved gesture recognition solution. In particular, it is an object of the present invention to ensure safe and efficient vehicle operation and / or to reduce the technical effort required for such solutions.

[0008] The invention relates to a system with the features of claim 1, a sensor device with the features of claim 7, a method with the features of claim 12, and a computer program with the features of claim 15. 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 method, and the computer program according to the invention, and vice versa, so that mutual reference is always possible with regard to the disclosure of the invention. The invention relates in particular to a system for recognizing gestures of different kinds in a stationary vehicle.The vehicle can be configured as a motor vehicle, passenger vehicle, truck, or at least partially autonomous vehicle. The vehicle can or must be stationary for gesture recognition to function. This ensures safety when gestures are made on the exterior of the vehicle, such as those used to open doors or hatches. For example, 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.

[0009] 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.

[0010] The system may include at least one first sensor device for detecting gestures of a first kind, i.e., preferably limited or specialized to the first kind.

[0011] Furthermore, the system can include at least one second sensor device for detecting gestures of a second type, i.e., preferably limited to or specialized for the second type. The gestures of the second type can differ from gestures of the first type with regard to the body part of a user intended for executing the gesture (e.g., arm / hand or leg / foot) and / or the type and / or sequence of at least one movement.

[0012] It is further conceivable that the system according to the invention comprises at least one further sensor device for detecting gestures of at least one further type. More generally, the gestures of each type can differ from the gestures of the other types with regard to the body part of a user intended for executing the gesture and / or the type and / or sequence of at least one movement.

[0013] The respective sensor device can be specialized, for example, to recognize a specific type of gesture, such as hand or arm movements, or leg or foot movements. This specialization can be functional, for instance, by providing specific parameterization of the sensor device optimized for recognizing the characteristic patterns and shapes of these gestures. This enables more precise recognition and classification of movement patterns, intended information, emotional expression, and / or communicative intent. The parameterization for the first type of gesture, such as hand or arm movements, can be functionally different from the parameterization for the second type, such as leg or foot movements.

[0014] Furthermore, the first and second, and any subsequent, sensor devices can be configured to cover different detection areas on the vehicle. The detection areas themselves can also differ, depending on the types of gestures. For example, the different detection areas can be positioned at different heights to account for the different types of gestures for gesture recognition. It is therefore conceivable that the system according to the invention can effectively recognize a multitude of gestures by utilizing the differences in detection areas and heights to account for the various types of gestures.

[0015] Furthermore, it is conceivable that the first, second, and potentially subsequent sensor devices are identical in design. This allows for a reduction in the technical complexity of the sensor device itself for different applications on the vehicle that require the recognition of different gesture types and corresponding specialization of the sensor devices. In other words, the sensor devices can be functionally and / or mechanically specialized for different gesture types (e.g., with regard to orientation and / or installation height) without requiring any structural modifications to the sensor device. This means that the sensor devices can be flexibly adapted to the specific application even after manufacturing, for example, during assembly on the vehicle.

[0016] In this context, "identical in construction" can mean that the two or more sensor devices are identical in their design features, mechanical structure, electronic structure, materials, and / or functionalities. For example, they have the same dimensions, shape, electronics, and / or technical specifications. This ensures that both sensor devices offer the same performance and reliability under identical conditions.

[0017] Furthermore, the sensor devices of the system according to the invention can each be used individually, separately, or in combination on a vehicle. By combining the information from several sensor devices, the system can advantageously also recognize situations in which a user performs several spatially distant gestures in succession, which enables a further improvement in recognition accuracy and / or an increase in the recognition rate. In addition, the use of at least two sensor devices allows the system to react better to the meaning of the gestures.

[0018] Furthermore, it is possible that a vehicle action is triggered based on the detected gesture. For this purpose, the respective sensor device can, for example, have a communication interface to the vehicle's electronics. This can include, for example, a connection to a communication system, preferably the vehicle's bus system.

[0019] A further advantage can be achieved within the scope of the invention if the first sensor device is designed to detect and recognize gestures of the first type in the form of foot and / or leg gestures. This enables, for example, the opening of the tailgate by a convenient gesture, which can be performed at the bumper.

[0020] Furthermore, it is possible that the second sensor device is designed to detect and recognize second-type gestures in the form of hand and / or arm gestures. This enables the recognition of gestures that can occur at a higher level than at the bumper.

[0021] Furthermore, it is conceivable that the first and second, and possibly at least one further, sensor devices each have a configuration mechanism. This configuration mechanism can make it possible to adjust the respective detection range for the sensor device. Furthermore, the configuration mechanism can allow the respective sensor device to be parameterized, in particular configured, in different ways for the detection and recognition of different gesture types, while maintaining the same structural design. This achieves the advantage that the system according to the invention enables flexible and adaptable "on the fly" configuration. For example, the assignment of the application for a corresponding gesture type can be made only after or during assembly. The first sensor device can then, for example,One sensor is specialized for capturing foot and / or leg gestures, while the second sensor is specialized for capturing hand and / or arm gestures. This configurability of the sensors allows the system to be flexibly installed at different locations on the vehicle during initial assembly, and only then to adapt to different gesture types, thus ensuring more accurate recognition of the various gestures. The respective sensor can be configured in different ways, for example, while maintaining the same basic design, by adjusting the sensor's software settings. This could involve, for example, modifying the programming and / or configuration data of the sensor. The configuration data can be stored in a non-volatile, modifiable (i.e., not write-protected) data memory.To prevent manipulation, the data can be cryptographically protected.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Furthermore, it is conceivable that the first and second sensor devices, and possibly additional sensor device(s), each or jointly possess an electronic configuration mechanism to obtain different configuration data for capturing different types of gestures and / or in different detection areas. The configuration data can define parameters, particularly detection parameters such as at least one angle, especially the opening angle, and / or at least one section, and / or at least one distance, and / or at least one field of view, differently for the sensor devices. This offers the advantage that the sensor devices are able to adapt to the gesture to be detected and / or the detection area in a simple and efficient manner. As a result, they can be used for a wide variety of applications and situations, despite potentially having identical designs.

[0026] By adjusting the parameters, a user can optimize the functionality of the respective sensor device and, in particular, at least one sensor, preferably a radar sensor, of the respective sensor device for specific gesture types and environments.

[0027] The electronic configuration mechanism can include a software interface. Furthermore, the electronic configuration mechanism can incorporate electronic / electrical elements such as a wireless or wired interface for communication with other electronic devices or systems. This could be an Ethernet interface, a USB interface, a serial interface, a Bluetooth interface, or another suitable interface. The electronic configuration mechanism can also provide a user interface that offers the user a simple and intuitive way to configure the system. Additionally, the electronic configuration mechanism can provide data storage in which configuration data can be stored and / or modified.

[0028] Preferably, the configuration mechanism can be limited to the configuration at the time of assembly of the respective sensor device. Alternatively, the configuration can also be repeated regularly.

[0029] By adjusting configuration data, a user is able to define different (detection) parameters of the respective sensor device, such as the at least one angle, in particular opening angle, and / or the at least one section and / or the at least one distance and / or the at least one field of view for the sensor devices.

[0030] The opening angle refers, for example, to the angular range within which the sensor transmits and receives signals. This angle thus determines, in particular, how wide or narrow the sensor's detection range is. A wider opening angle, for instance, captures a larger area but with lower detail, while a narrower opening angle captures a smaller area with higher detail. It is possible, for example, for the detection range to be adjustable by several degrees and could encompass, say, 130 degrees.

[0031] The section preferably refers to the specific part of the detection area that the sensor is intended to analyze within its opening angle. This makes it possible to examine certain areas within the field of view in more detail.

[0032] The distance can be defined as the distance at which the sensor can detect objects and / or movements. This value can also be important for calibrating the sensor's performance to ensure that objects are detected within the desired range. It is advantageous if the distance setting on the sensor devices allows for adjustments in increments of one meter.

[0033] The field of view (FoV) refers specifically to the entire visible area that the sensor can cover. It includes the opening angle and the distance and defines what part of the environment the sensor can detect overall.

[0034] Furthermore, it is optionally provided that the first and second sensor devices, and optionally at least one further sensor device, each or jointly have a mechanical configuration mechanism to allow them to be oriented differently and / or positioned differently on the vehicle, preferably in height, for the detection of different types of gestures and / or in different detection areas, particularly during installation. This is preferably achieved by mechanically adjusting a sensor of the respective sensor device relative to a mounting element of the respective sensor device. This adjustment allows the sensor orientation to be adapted to the specific requirements of the different detection areas and / or gesture types, enabling more reliable and accurate recognition of different types of gestures.It is conceivable that one of the gesture types is a hand or arm gesture, which requires a larger detection range than another gesture type, such as a foot or leg gesture. For this purpose, the configuration mechanism can include a corresponding adjustment mechanism to change the spatial angle between at least one sensor of the sensor device and a mounting element of the sensor device attached to or attachable to the vehicle. The adjustment mechanism can, for example, include articulated arms and / or pivot pins.

[0035] Another option is to align the respective sensor device using servomotors or actuators of the configuration mechanism. These enable precise and accurate positioning of the sensor, allowing, for example, the desired opening angle, field of view, and / or distance to be set. Positioning can be remotely controlled or software-controlled, with the control system potentially integrated into the electronic configuration mechanism.

[0036] Furthermore, the mechanical configuration mechanism may also include hydraulic and / or pneumatic actuators to adjust the sensor device.

[0037] It may optionally be possible for the first sensor device to be designed to activate a first vehicle component based on gesture recognition of the detected gestures of the first type.

[0038] Furthermore, it is possible that the second sensor device is designed to activate the same first vehicle component or a second vehicle component based on gesture recognition of the detected gestures of the second type.

[0039] Activation may include unlocking and / or opening and / or locking and / or closing and / or displaying and / or controlling a vehicle function.

[0040] Furthermore, the first and / or second vehicle component can include at least one of the following: a door, a flap, a tailgate, a front flap, a display, lights, climate control, or a navigation system (with the display preferably located on the vehicle's B-pillar). This has the advantage that a user can conveniently and reliably operate various vehicle functions via gestures. For example, a foot gesture below the bumper can open the tailgate. This allows the user to have their hands free and thus, for instance, easily place luggage in the trunk while operating the tailgate. Similarly, a hand gesture in front of or above the tailgate can open or close it. This makes operating the vehicle even more intuitive and safer.

[0041] It is also possible that the respective sensor device is designed as a radar sensor device to detect gestures using radar signals. The respective sensor device can, for example, be designed as a radar sensor device for gesture recognition by comprising one or more radar sensors that can transmit and receive radar signals, preferably in the form of electromagnetic waves. One or more antennas of the sensor device can be arranged to detect the received radar signals and forward them to electronics within the sensor device. The electronics can process the received radar signals and extract the relevant information for gesture recognition. Various methods can be used for this purpose, such as Doppler and / or phase-shift analysis.Signal processing can optionally be performed in real time to ensure fast and reliable gesture recognition. The sensor device can also be combined with other sensors, such as cameras or infrared sensors, to enable even more precise gesture recognition through sensor fusion.

[0042] The invention also relates to a sensor device for recognizing gestures of different kinds, preferably in a stationary vehicle.

[0043] The sensor device according to the invention can have at least one sensor for detecting gestures of at least one first type and / or one second type and / or at least one further type. Furthermore, the sensor device according to the invention can have a configuration mechanism designed to selectively configure the sensor device to recognize gestures of at least one first type, one second type, or one of the further types.

[0044] The sensor device according to the invention thus offers the same advantages as those described in detail with reference to a system according to the invention. Furthermore, the sensor device may be suitable for use in a system according to the invention.

[0045] Furthermore, the sensor device according to the invention can have a housing designed for flush mounting on the vehicle. The housing can be designed to integrate seamlessly into the vehicle body, thus providing an aerodynamic solution. The flush mounting of the housing optimally protects the sensor device from external influences such as wind and rain, thereby increasing its reliability and durability.

[0046] According to a further advantage, the sensor of the sensor device according to the invention can be designed as a radar sensor in order to detect gestures of different kinds by using radar signals. The housing of the sensor device can be at least partially transparent to the radar signals in order to enable reliable detection.

[0047] The sensor device can also include a mounting element that is movable relative to the sensor and, in particular, adjustable to align the sensor with different detection areas. In other words, the sensor device can be equipped with a mounting element that enables secure and stable installation on the vehicle while simultaneously allowing the sensor to be positioned relative to the mounting element. To enable flush mounting, the mounting element can be integrated into the housing design. For example, a frame or bracket integrated into the housing can be provided for this purpose. Alternatively, the mounting element can also be designed as a separate component and attached to the housing using screws or other suitable fasteners.

[0048] A configuration mechanism for the respective sensor device, or the sensor device according to the invention, may be provided, which includes an adjustment mechanism for aligning and / or adjusting the sensor device on the vehicle—and thus the detection range of the sensor device. For this purpose, the adjustment mechanism may optionally be mechanically connected to the mounting means. The adjustment mechanism may, for example, include articulated arms or pins for alignment. Furthermore, servomotors or actuators may optionally be provided to enable electrical alignment and positioning. It is also conceivable that the adjustment mechanism includes a rail or guide structure to allow the adjustment. The use of adjusting screws or springs is also possible in the adjustment mechanism. It is conceivable that the adjustment is carried out taking into account the software settings.It is also conceivable that the correct adjustment is automatically checked by the software setting, preferably depending on a software-defined specialization for a specific gesture type. For this purpose, for example, sensors could be provided on the adjustment mechanism and evaluated by the software.

[0049] Furthermore, it is optionally provided that the configuration mechanism has a digital mechanism, i.e., in particular, that a software interface allows for the software-based setting of a detection area in which the gestures are detected, and / or the software-based setting of an algorithm with which the detected gestures are recognized, and / or the software-based parameterization of the sensor with which the gestures are detected.

[0050] Several algorithms can be used to detect gestures with a radar sensor. One example is the Hidden Markov Model (HMM) algorithm, which uses a statistical method to calculate the probability of a specific gesture being performed. Another example is an artificial neural network (ANN) algorithm, which uses pattern recognition to identify gestures. The parameters used for these algorithms can vary depending on the application. Some of the parameters that can be used for gesture detection by the radar sensor are the beam angle, the field of view, the number of sensors used, the sensitivity, the sampling rate, or the number of features used for gesture detection. Adjusting these parameters may be necessary.The configuration mechanism makes it possible to specialize the sensor device with the radar sensor for the detection of a specific type of gesture.

[0051] It may also be possible that the sensor device according to the invention, or the respective sensor device, is adapted for attachment to at least two of the following vehicle components:

[0052] A vehicle pillar, preferably A, B or C pillar,

[0053] A tailgate,

[0054] A bumper,

[0055] A side mirror,

[0056] A headlight,

[0057] A door handle,

[0058] A rearview mirror.

[0059] This can have the advantage that the sensor device can be mounted at various locations on the vehicle, making it suitable for different vehicle types and ensuring optimal gesture detection in the vehicle's surroundings. Furthermore, the sensor device's adaptation to the aforementioned vehicle components allows for simple and cost-effective installation, as no complex additional brackets are required. This enables quick and easy installation of the sensor device in various vehicle models.

[0060] In another possibility, the sensor device can be part of a system according to the invention, enabling it to be installed in vehicles at different locations and / or in different vehicle components, thus recognizing gestures of different kinds. The invention also relates to a method for recognizing gestures of different kinds in a stationary vehicle, comprising:

[0061] Receiving configuration data,

[0062] Adapting at least one parameter of at least one sensor for capturing gestures of either at least one first type or one second type or at least one further type, wherein the adaptation is provided such that either the first or second or at least one further type of gesture is captured and recognized, wherein the choice may be provided depending on the configuration data.

[0063] Adapting at least one parameter of at least one algorithm for recognizing gestures of either at least the first type or the second type or one of at least one further type, wherein the adaptation is provided such that either the first or the second or at least one further type of gesture is selectively captured and recognized, wherein the choice may be provided depending on the configuration data.

[0064] Receiving acquisition data, preferably radar data, resulting from the acquisition by at least one sensor based on the adapted parameterization,

[0065] The algorithm evaluates the received data based on the adapted parameterization.

[0066] Recognition of gestures based on the evaluation.

[0067] The method according to the invention thus 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 can be suitable for operating a system and / or a sensor device according to the invention. The at least one sensor can be part of a sensor device according to the invention. Additionally, the invention may provide that the detection is carried out as radar detection, and / or that a vehicle action, in particular a vehicle function, is executed based on the detected gestures.

[0068] Preferably, the evaluation process can include querying the configuration data in order to modify at least one gesture-type-dependent parameter, preferably a threshold value. This has the advantage that the sensor or sensor device can be specialized for capturing a specific gesture type.

[0069] The invention also relates to a data processing device comprising means for carrying out the steps of the method according to the invention. The data processing device according to the invention thus offers the same advantages as those described in detail with reference to a method according to the invention.

[0070] 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.

[0071] The computer can be a data processing device, preferably the data processing device according to the invention.

[0072] The device for data processing according to the invention, and preferably the computer, can be configured to execute the computer program according to the invention.

[0073] For this purpose, the device according to the invention can have at least one processor for data processing. 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.

[0074] It is also conceivable that the data processing device according to the invention comprises at least one integrated circuit such as a microcontroller, 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.

[0075] 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.

[0076] 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.

[0077] 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:

[0078] Fig. 1 shows a schematic side view of a vehicle and a system according to exemplary embodiments of the invention.

[0079] Fig. 2 shows a schematic top view of a vehicle and a system according to exemplary embodiments of the invention.

[0080] Fig. 3 shows a schematic view of a system according to exemplary embodiments of the invention.

[0081] Fig. 4 shows another schematic view of a system according to exemplary embodiments of the invention.

[0082] Fig. 5 is a schematic visualization of a method according to exemplary embodiments of the invention. In the following figures, identical reference numerals are used for the same technical features even in different exemplary embodiments.

[0083] 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 allows, for example, a vehicle component 60, such as the vehicle door or a hatch, to be opened or closed upon detection of a specific hand or arm gesture.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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: the detection and / or recognition of gestures of different types, and / or the detection and / or recognition of gestures in different detection ranges 8, and / or

[0089] A system for capturing and / or recognizing gestures to trigger different vehicle actions.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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).

[0096] 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 imported 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] Furthermore, an initial reading of the reference and / or other characteristics specific to the installation situation can be provided for the recognition of the specific 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.

[0112] It is possible that the detected installation location is determined during an initial check, e.g., during assembly, and then permanently stored from that initial check onward, or that it 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 scheduled after each ignition cycle. During the plausibility check, the reference can be re-evaluated and / or static peculiarities within the field of view of sensor 40 on the vehicle can be detected.

[0113] The installation situation can affect not only the installation location but also, if applicable, the installation height h. In other words, the localization system 80 or the self-locating device 85 can detect not only the location but also the height of the sensor device 41, 42. If the sensor device 41, 42 detects, for example, through the self-locating device 85, that it is installed high up, then 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.

[0114] 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.

[0115] Figure 5 illustrates a method 100 for recognizing different types of gestures in a stationary vehicle 5. According to a first method step 101, configuration data is received. According to a second method step 102, at least one parameter of at least one sensor 40 is adjusted to detect gestures of either at least one type or a second type. According to a third method step 103, at least one parameter of at least one algorithm for recognizing gestures is adjusted to detect either at least one type or a second type. The adjustments 102 and 103 can be configured such that either the first or second type, or at least one other type of gesture, is detected and recognized, with the selection depending on the configuration data.According to a fourth process step 104, acquisition data, preferably radar data, is received, which results from the acquisition by at least one sensor 40 based on the adapted parameterization. According to a fifth process step 105, the received acquisition data is evaluated by the algorithm based on the adapted parameterization. Then, according to a sixth process step 106, gesture recognition is provided based on the evaluation 105.

[0116] 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.

[0117] Reference symbol list

[0118] 1 system

[0119] 2 floors

[0120] 5 vehicles

[0121] 6 Vehicle element

[0122] 7 Installation location

[0123] 8 detection areas

[0124] 10. Data processing device

[0125] 40 Sensor

[0126] 41 first sensor device

[0127] 42 second sensor device

[0128] 45 Configuration mechanism

[0129] 50 computer programs

[0130] 60 vehicle components

[0131] 61 first vehicle component

[0132] 62 second vehicle component

[0133] 70 cases

[0134] 71 Fasteners

[0135] 8' first detection area

[0136] 8" second detection area

[0137] 80 Localization system

[0138] 85 Self-locating devices

[0139] 86 reference means

[0140] 90 interface

[0141] 100 procedures

[0142] 101 First procedural step

[0143] 102 second procedural step

[0144] 103 third procedural step

[0145] 104 fourth procedural step

[0146] 105 fifth procedural step

[0147] 106 sixth procedural step

[0148] 120 communication system h height

Claims

Claims 1. System (1) for recognizing different types of gestures in a stationary vehicle (5), comprising: at least a first sensor device (41) for detecting gestures of a first type, at least a second sensor device (42) for detecting gestures of a second type, which differ from the gestures of the first type with respect to the body part of a user intended for executing the gesture and / or the type and / or sequence of at least one movement, wherein the first and second sensor devices (41, 42) are designed to be adjusted for different detection areas (8) on the vehicle (5), wherein the different detection areas (8) are provided at different heights (h) to take into account the difference in the types of gestures for gesture recognition, wherein the first and second sensor devices (41, 42) are of identical construction.

2. System (1) according to claim 1, characterized in that the first sensor device (41) is designed to detect and recognize gestures of the first type in the form of foot and / or leg gestures, and that the second sensor device (42) is designed to detect and recognize gestures of the second type in the form of hand and / or arm gestures, wherein the first and second sensor devices (41, 42) each have a configuration mechanism (45) to provide the respective detection area (8) in an adjustable manner and to be configured in different ways for the detection and recognition of the different types of gestures, while maintaining the identical design.

3. System (1) according to one of the preceding claims, characterized in that the first and second sensor devices (41, 42) each or jointly have an electronic configuration mechanism (45) to obtain different configuration data for the detection of different types of gestures and / or in the different detection areas (8), which preferably define at least one angle, in particular opening angle, and / or at least one section and / or at least one distance and / or at least one field of view for the sensor devices (41, 42) differently.

4. System (1) according to one of the preceding claims, characterized in that the first and second sensor device (41, 42) each or jointly have a mechanical configuration mechanism (45) to be oriented differently and / or arranged differently on the vehicle 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 respective sensor device (41, 42) in relation to a fastening means (71) of the respective sensor device (41, 42).

5. System (1) according to one of the preceding claims, characterized in that the first sensor device (41) is configured to activate a first vehicle component based on gesture recognition of the detected gestures of the first type, and that the second sensor device (42) is configured to activate the same first vehicle component (61) or a second vehicle component (62) based on gesture recognition of the detected gestures of the second type, wherein the activation comprises unlocking and / or opening and / or locking and / or closing and / or displaying and / or controlling a vehicle function, 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, wherein the display is preferably provided on the B-pillar of the vehicle 5.

6. 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.

7. Sensor device (41, 42) for detecting different types of gestures in a stationary vehicle (5), comprising: - at least one sensor (40) for detecting gestures of at least one type and / or one type, a configuration mechanism (45) which is designed to adjust the sensor device (41 , 42) to selectively detect gestures of at least one type or one type by the sensor (40).

8. Sensor device (41, 42) according to claim 7, characterized in that the sensor (40) is designed as a radar sensor to detect gestures of different types by using radar signals, wherein the sensor device (41, 42) has a housing (70) designed for flush mounting on the vehicle (5), 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).

9. Sensor device (41, 42) according to claim 7 or 8, characterized in that the configuration mechanism (45) has a digital mechanism which, through a software interface, enables: a software-based setting of a detection area (8) in which the gestures are detected, and / or a software-based setting of an algorithm with which the detected gestures are recognized, and / or a software-based parameterization of the sensor (40) with which the gestures are detected.

10. Sensor device (41, 42) according to one of claims 7 to 9, characterized in that the sensor device (41, 42) is adapted for attachment to at least two of the following vehicle components (60): A vehicle pillar, preferably A, B or C pillar, A tailgate, A headlight, A bumper, A side mirror, A door handle, A rearview mirror.

11. Sensor device (41, 42) according to one of claims 7 to 10, characterized in that the sensor device (41, 42) is part of a system (1) according to one of claims 1 to 6, in order to be installed in vehicles (5) at different locations and / or in different vehicle components (60) and thus to recognize gestures of different types.

12. Method (100) for detecting different types of gestures in a stationary vehicle (5), comprising: Receiving (101) configuration data, - Adjusting (102) at least one parameter of at least one sensor (40) for the detection of gestures of either at least one first type or one second type, - Adapting (103) at least one parameter of at least one algorithm for recognizing gestures of either at least the first type or the second type, wherein the adaptations (102, 103) are provided such that either the first or the second or at least one further type of gesture is selectively captured and recognized, wherein the choice is provided depending on the configuration data, Receiving (104) of acquisition data, preferably radar data, which result from the acquisition by the at least one sensor (40) based on the adapted parameterization, - Evaluation (105) of the received acquisition data by the algorithm based on the adapted parameterization, Recognition (106) of gestures based on the evaluation (105).

13. Method (100) according to claim 12, characterized in that the detection is carried out as radar detection, and that a vehicle action is executed on the basis of the detected gestures.

14. Method (100) according to one of claims 12 or 13, characterized in that during the evaluation (105) the configuration data are queried in order to change at least one gesture-type-dependent parameter, preferably threshold value, for the evaluation (105).

15. Computer program (50), comprising instructions which, when the computer program (50) is executed by a computer, cause it to execute the method (100) according to any one of claims 12 to 14.

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