Control system for the contactless adjustment of a vehicle flap or vehicle door of a motor vehicle, motor vehicle, and set consisting of motor vehicle and id transmitter

Abstract

The invention relates to a control system (1) for the contactless adjustment of a vehicle flap (2) or vehicle door (3) of a motor vehicle (4). An electric motor (5) and a radar sensor arrangement (6, 6a, 6b) are provided. A control device (9) is designed to cause the adjustment of the vehicle flap (2) or vehicle door (3) on the basis of a control gesture carried out within a gesture detection space (8) and detected by the radar sensor arrangement (6) in a gesture detection mode. The radar sensor arrangement (6) can switch from an energy-saving mode into a gesture detection mode. The switch takes place after detection of a movement in a rough detection space (7). Pattern detection of the detected movement is carried out. The invention also relates to a motor vehicle and to a set.

Description

[0001] Control system for contactless adjustment of a vehicle flap or vehicle door of a motor vehicle, motor vehicle, as well as set consisting of motor vehicle and ID transmitter

[0002] The invention relates to a control system for the contactless adjustment of a vehicle flap or vehicle door of a motor vehicle. The invention also relates to a motor vehicle and a set consisting of a motor vehicle and an ID transmitter. The detection of an object, and in particular the detection of a control gesture, required for contactless adjustment, is realized within the scope of the present development using one or more radar sensor arrangements based on radar technology.

[0003] Radar technology has been known since the early 20th century. It is based on the principle of transmitting electromagnetic waves, receiving the echo of the transmitted electromagnetic waves, and evaluating the received signal according to various criteria as needed. Depending on the specific implementation, various pieces of information about the objects responsible for the reflected echo can be obtained. For example, radar technology can be used to locate an object relative to a radar sensor array, which is possible, among other things, based on distance information. Furthermore, information about the relative motion between the transmitter and the object, the absolute speed of either, or, depending on the design, alternatively or additionally, the object's contours can be obtained, for example, by utilizing the Doppler effect.The use of radar is becoming increasingly important in automotive technology. One reason for this is the desire to increase vehicle autonomy, which has driven the further development of sensors used in vehicles.

[0004] Radar sensor arrays for equipping vehicles, for example, are now offered as ready-to-install systems. In their current state of development, these ready-to-install systems provide a high degree of range and lateral resolution in object detection while requiring minimal installation space. Such ready-to-install radar sensor arrays are now available at comparatively low costs, making their use in series production for various applications increasingly attractive.

[0005] For various reasons, not least regulatory ones, ready-to-install radar sensor arrays can operate in the frequency range between 24 GHz and 81 GHz, with radar sensors operating in the range between 77 GHz and 81 GHz being a commonly used variant. These frequency ranges are sometimes referred to as mmWave in English, due to the wavelength of the emitted electromagnetic waves. Another increasingly common type of radar sensor array is UWB radar modules, which operate with ultra-wideband radar technology.

[0006] The use of radar sensors has the advantage that, due to their fundamental operating principle of using the echo of electromagnetic waves to acquire information, they can obtain information that goes beyond what can be achieved with other sensors, such as ultrasonic sensors. Compared to lidar systems, radar sensors have the advantage that the acquisition of

[0007] radar sensors come with lower costs.

[0008] With the increasing use of large numbers of sensors, for example on motor vehicles, the fundamental requirement of ensuring the longest possible operating time for these sensors becomes increasingly important. In this context, the aim is to minimize the electrical consumption of existing radar sensor systems without impairing their functionality, or at least without impairing it beyond an acceptable or absolutely necessary level.

[0009] The problem is solved with a control system for contactless adjustment of a vehicle flap or a vehicle door of a motor vehicle with the features of claim 1, with a motor vehicle with the features of claim 22, and with a set with the features of claims 23 or 24.

[0010] It is a control system for the contactless adjustment of a vehicle flap or vehicle door of a motor vehicle.

[0011] The control system features an electric motor coupled to the vehicle flap or vehicle door in order to automatically adjust the vehicle flap or vehicle door without contact.

[0012] Furthermore, a radar sensor array is installed on the vehicle for object detection. This could be, for example, a radar sensor array suitable for gesture recognition operating in the frequency range around 24 GHz, for example between 23 and 25 GHz, or in the frequency range around 60 GHz, for example between 59 and 61 GHz, or in the frequency range between 77 GHz and 81 GHz. The radar sensor array could, for example, be a radar sensor that is commercially available as a compact, ready-to-install module.

[0013] Alternatively, the radar sensor arrangement can be a module-based unit consisting of a radar sensor and an evaluation unit, which is designed, for example, as a microcontroller.

[0014] Coupled with the radar sensor arrangement and the electric motor is a control device which is designed to cause the adjustment of the vehicle flap or vehicle door by means of the electric motor, depending on a control gesture performed within a gesture detection area and detected by the radar sensor arrangement in a gesture detection mode.

[0015] If the radar sensor arrangement is, for example, a radar sensor such as a compact, ready-to-install module that is commercially available, the evaluation of the control gesture can take place, for example, in a vehicle-side control device, such as a central control unit or the control device mentioned above.

[0016] If the radar sensor arrangement is a module-based unit consisting of a radar sensor and an evaluation unit, which is designed, for example, as a microcontroller, the evaluation of the control gesture can be carried out, for example, in the microcontroller.

[0017] According to the invention, the radar sensor arrangement can assume at least two operating modes: a gesture detection mode and an energy-saving mode. The energy-saving mode is a mode that, compared to the gesture detection mode, exhibits reduced energy consumption by the radar sensor arrangement. This is achieved by accepting a reduction, for example, in the spatial and / or temporal resolution of the radar detection. For example, the radar sensor arrangement can be a radar sensor or comprise a radar sensor with a plurality of transmitting antennas and a plurality of receiving antennas. The energy-saving mode provides for the measure that, unlike the gesture detection mode, only a subset of the available transmitting antennas and / or a subset of the available receiving antennas are activated, which results in the desired reduced energy consumption.

[0018] According to the invention, the radar sensor arrangement is configured to switch from energy-saving mode to gesture detection mode depending on radar responses detected in energy-saving mode from a coarse detection area, i.e., a radar response resulting from the reflection of emitted radar signals back to the radar sensor arrangement in the coarse detection area. The inventive design of the radar sensor arrangement thus provides for two different types of detection in two operating modes: gesture detection in the regular mode and a less demanding detection method compared to gesture detection, for example, with regard to temporal and / or spatial resolution, which is particularly associated with lower energy consumption and is therefore suitable as an energy-saving mode.In the example above, where only a subset of the available transmitting antennas and / or a subset of the available receiving antennas are used for object detection, gesture recognition in gesture detection mode is no longer possible or only possible with reduced accuracy. However, the radar sensor array receives a radar response that differs from that of an object-free area when an object enters the coarse detection area, and can infer the entry of an object into the coarse detection area from this response. Alternatively or additionally, it can also be provided that a smaller bandwidth of the transmit frequencies is used in energy-saving mode, which makes the evaluation of the radar response less complex and thus improves energy efficiency.Preferably, in energy-saving mode only one transmitting antenna and one receiving antenna are activated, but with a higher transmit power than is available to either antenna in gesture recognition mode, so that the total transmit power is lower in energy-saving mode, but the transmit range is higher in energy-saving mode, which benefits the idea of ​​initial detection of an approach in energy-saving mode.

[0019] In particular, it can be provided that the coarse detection mode has a greater range from the vehicle than the gesture detection range. This can be achieved, for example, by a higher transmission power, which is used, in particular, to drive one of the transmitting antennas of the radar sensor arrangement for the transmission of a radar signal in the coarse detection mode, in order to promote energy savings. The transmission parameters in the coarse detection mode are therefore designed by those skilled in the art for long range with low energy consumption, whereby the energy consumption is reduced by transmitting radar signals at comparatively long time intervals, for example, at intervals between 1 second and 600 seconds, preferably between 5 seconds and 100 seconds.It may also be possible for the time intervals to be dependent on the time of day, so that, for example, longer intervals are scheduled at night than during the day, since there is less frequent need to access the vehicle at night. Finally, it may be possible to allow the user to change the time-dependent intervals via a user setting.

[0020] By default, the radar sensor array is in power-saving mode to limit higher energy consumption to periods when gesture detection is required or when a gesture is expected to be performed with increased probability. To enable the radar sensor array to switch advantageously from power-saving mode to gesture detection mode at appropriate times, it is configured to detect movement of an object within a coarse detection area while in power-saving mode, perform pattern recognition of the detected movement, and activate the switch from power-saving mode to gesture detection mode based on the result of the pattern recognition.

[0021] In gesture detection mode, a gesture performed within the gesture detection area is detected and then evaluated to determine whether it is a gesture intended for control. If so, the adjustment of the vehicle door or hatch is initiated. The radar sensor arrangement can, for example, re-enter energy-saving mode immediately after a detected control gesture. Alternatively or additionally, the radar sensor arrangement can be configured to return to energy-saving mode after a predetermined period, which can be, for example, a value between 10 seconds and 60 minutes, preferably between 1 minute and 30 minutes, and most preferably between 5 minutes and 20 minutes, without any detected control gesture.

[0022] The invention thus provides that a switch to active mode does not occur in every case of movement detected in energy-saving mode, but rather that the switch to active mode requires pattern recognition indicating that there is a reason to switch to active mode. The term pattern recognition includes, in particular, checking the motion data captured by the radar sensor response to see if it meets predefined conditions. Pattern recognition can be performed, for example, in a vehicle-side control device, such as a central control unit or the aforementioned control unit. If the radar sensor arrangement is a module consisting of a radar sensor and an evaluation unit, which is designed, for example, as a microcontroller, pattern recognition can be performed, for example, in the microcontroller.

[0023] A significant advantage of performing pattern recognition before switching to active mode is that the number of false triggers, i.e., activations into gesture recognition mode without a subsequent sender to be recorded or gesture to be evaluated, can be reduced.

[0024] Depending on the current operating situation of a vehicle, activation in gesture recognition mode is possible with varying degrees of reliability, depending on radar responses detected in coarse detection mode. For example, situations may arise in which an object's approach into the coarse detection area is detected very frequently, but due to the specific circumstances—contrary to the assumption described above—this is a special situation in which no operating action should be initiated in response to the detected approach of an object, and therefore gesture recognition of a control gesture is not required. These are situations in which objects frequently enter the vehicle's coarse detection area that are not the vehicle's regular operator.

[0025] An example of such a situation is a motor vehicle parked in a dense crowd. The dense crowd would frequently trigger the detection of an object approaching, particularly a person, within the radar's detection range. However, unlike in typical scenarios, the majority of these approaches result from people simply passing by without any actual control action, such as opening or closing a vehicle door. Therefore, in many cases, the radar sensor array would be activated without any control action being required; this is a false alarm.The false triggering of the radar sensor arrangement's activation is an activation of the radar sensor arrangement which is not followed by a gesture detection, in other words, no gesture detection occurs within a period of time which may be, for example, 5 seconds after the activation, or 120 seconds after the activation, or a period of time which lies between the two aforementioned values.

[0026] The radar sensor arrangement is particularly preferably configured to distinguish, by means of pattern recognition, a movement by an operator indicating that the operator is approaching the vehicle from a movement by the operator that does not indicate such an approach. Only when the pattern recognition detects a movement indicating an approach by the operator is the activation switch from energy-saving mode to gesture detection mode. It can be provided that, upon detection of a movement indicating an approach by the operator, the activation switch is performed immediately in response, meaning that the detection of the approach is a sufficient condition for triggering the activation switch.However, it can also be stipulated that the detection of the approach is a necessary condition, and that the activation only occurs if one or more further conditions are confirmed as fulfilled.

[0027] Pattern recognition can, for example, include the evaluation of a motion trajectory. For instance, it may be provided that a motion trajectory detected by the radar sensor array is recorded and evaluated for a specific period. For example, the evaluation of the motion trajectory by the radar sensor array or the evaluation device coupled to it, such as the control device, for example a central control unit or the aforementioned control unit, can be interpreted as indicating an approach by the operator if a motion vector describing the motion trajectory was directed towards the radar sensor array for the entire specified period or was detected deviating from it by no more than a maximum angle of deviation.

[0028] Alternatively or additionally, the pattern recognition may include or consist of an evaluation of the object's dimensions. For example, the evaluation may be interpreted as indicating an approach by the operator if the object's dimensions fall within typical human dimensions. Additionally or alternatively, it may be provided that an approach of the

[0029] The operator is excluded if the dimensions are not within typical human dimensions. For example, it may be stipulated that an operator's approach is excluded if the size of the object is smaller than a threshold value, where the threshold value is between 10 cm and 100 cm, or for example 50 cm, so that falling below the threshold value could, for example, be the approach of a fox or a cat, which would not require activation of the radar sensor arrangement.

[0030] Alternatively or additionally, the pattern recognition may include or consist of the detection of periodic changes. For example, the detection of periodic movements can rule out the possibility that the operator is approaching. This ensures, for instance, that periodic movements such as leaves moved by the wind are not misinterpreted as an approaching operator.

[0031] Alternatively or additionally, the pattern recognition may involve the evaluation of several detected objects, or consist of evaluating several detected objects. For example, if more than one object of approximately equal size is detected, an approach by the operator may be assumed not to be present. This may be based, for instance, on the assumption that in such a situation the vehicle is located in a crowd or a group of several objects, and that in such a situation an operator action is not expected, or at least less likely than it would appear based on the initial coarse detection.

[0032] Alternatively or additionally, the pattern recognition may include the evaluation of a time-dependent and / or day-dependent movement of the object, or consist of such an evaluation. For example, the detection of an operator's approach during the day may be based on different assumptions than at night.

[0033] Alternatively or additionally, the pattern recognition may include evaluating the object for features that distinguish it as a human from an animal and / or a non-living object. For example, the radar sensor array can differentiate between the heart rate of a human and that of an animal by evaluating the heart rate of an approaching living being. A heart rate above 100, for instance, can be used to assume that an animal, such as a dog or cat, is approaching, and in this case, the radar sensor array should not be activated.

[0034] The measures mentioned above have the advantage of increasing the likelihood that the radar sensor array will be activated in cases where a control gesture is expected.

[0035] In a special case, pattern recognition can consist of exactly one of the above-mentioned variants of an evaluation, so that no additional evaluations take place.

[0036] In particular, it may be provided that a movement is considered an approach if the pattern recognition does not rule out the possibility of an approach.

[0037] According to a preferred embodiment, the radar sensor arrangement is coupled to a radio communication device mounted on the vehicle. The radio communication device is configured for radio communication with an operator's ID transmitter. A control means of the radio communication device, or a control means of the radar sensor arrangement, or the control unit, in additional coupling with the radio communication device, is configured to control the radio communication device to initiate radio communication with an ID transmitter configured for radio communication with the radio communication device in order to acquire position data and / or motion data from the ID transmitter. It can therefore be provided that, in addition to motion detection obtained with the radar sensor arrangement, additional communication data is acquired, which can be used to obtain information about whether an operator is approaching.For example, it may be possible to use RF communication, such as Bluetooth, and to infer the distance to the ID transmitter based on the signal strength received by the vehicle. It may also be possible to infer the approach of an operator as soon as a suitable ID transmitter is within range and its distance is below a certain threshold.

[0038] It can also be provided that a number N antennas are arranged on the vehicle, and RF communication is carried out with each of the N antennas, and that the operator's position is inferred by means of the control means or control device based on N-lateration or N-angulation. N denotes a positive integer.

[0039] Alternatively, the radio communication can also be UWB communication. It is particularly preferred that the radar sensor arrangement is configured to switch from energy-saving mode to gesture recognition mode only when position data and / or motion data from the ID transmitter validate the pattern recognition result. For example, plausibility of the pattern recognition by the position data of the ID transmitter can be assumed if a distance value of the object obtained by the radar sensor arrangement and a distance value of the ID transmitter obtained by radio communication differ from each other by no more than a predefined tolerance, for example, 10 percent of the larger of the two values.

[0040] By validating the pattern recognition results using radio communication, the probability that the activation of the radar sensor arrangement will be followed by the execution of a control gesture is advantageously increased.

[0041] Alternatively or additionally, the position data of the ID transmitter can be considered plausible as the result of pattern recognition at two points in time if an approach of the operator detected by the radar sensor array is confirmed by the distance values ​​of the ID transmitter obtained via radio communication, which show a smaller distance value at the later time than at the earlier time. For example, an initial distance measurement can take place at one point in time, and a second distance measurement can take place at a second time, for example, between 1 and 5 seconds later. Plausibility is then considered accepted if the second distance measurement yields a smaller distance value between the ID transmitter and the vehicle than the first distance measurement.The distance value can be, for example, an RSS I, which is larger in the second distance measurement, thus representing a smaller distance, than in the first. It can be stipulated, for instance, that radio communication for acquiring position data is triggered by the detection of an object's movement. In other words, when the object is detected by the radar sensor array, the control device or system triggers radio communication to acquire the position data. This ensures that the radar sensor array is not activated if the results of the radio communication do not strongly suggest a control action, thereby reducing energy consumption.

[0042] According to a further advantageous embodiment, at least one second radar sensor arrangement coupled to the first radar sensor arrangement is arranged on the motor vehicle, wherein a second coarse detection area covered by the second radar sensor arrangement and the coarse detection area covered by the first radar sensor arrangement are designed to be mutually non-overlapping. The second radar sensor arrangement is configured to detect movement of an object occurring in the second coarse detection area and, in response to such detection, to output a recognition signal understandable to the first radar sensor arrangement. After receiving the recognition signal, the radar sensor arrangement is configured to suppress the activation in gesture detection mode for a predetermined period following the receipt of the recognition signal.By providing more than one radar sensor array and thereby covering multiple coarse detection zones, a larger area around the vehicle is covered. Because the two coarse detection zones are designed to be non-overlapping, which is achieved in particular by the arrangement of the radar sensor arrays on the vehicle, it can be ruled out with a high degree of certainty that the same object will not be detected simultaneously by both radar sensor arrays. It is provided that if movement is detected by one of the two radar sensor arrays for a predetermined period, for example, a period between 1 second and 100 seconds, preferably between 5 seconds and 50 seconds, the activation of the other of the two radar sensor arrays is suppressed.This is based on the assumption that if movement is detected in two overlapping, freely oriented coarse detection areas, there is an increased probability that it is not an approaching operator, but rather another situation, such as a crowd of people moving around the vehicle. Based on this assumption, suppressing the activation of the other of the two radar sensor arrays reduces energy consumption by preventing activation in a situation where no gesture is likely to follow.

[0043] Alternatively, it can be provided that the activation of all radar sensor arrays on the vehicle is suppressed for a predetermined period, for example, a period between 1 second and 100 seconds, if movement has been detected by more than one of the radar sensor arrays within a predetermined period, for example, a period between 1 second and 50 seconds. The predetermined period can, for example, be considered a rolling period, so that the predetermined interval corresponds to the minimum distance between two movements, each detected by different radar sensor arrays.

[0044] According to a training document, activation in gesture recognition mode is intended to occur only after a minimum number of detected movements. Alternatively, activation in gesture recognition mode can be intended to occur only after a minimum number of detected proximitys.

[0045] By activating the radar sensor array only after a minimum number of detected movements, or alternatively, approaches, in one variant, and only after a minimum number of detected movements or approaches within a predefined time period, particularly a variable time period, the number of random false triggers is reduced. This is achieved at the cost of the minor disadvantage for the operator, who wishes to execute a control gesture, that they must perform several approaches over a longer period and thus potentially repeat them.

[0046] A particularly preferred development is one that provides for a variable minimum number of detected movements or approaches. With a variable minimum number of detected movements or approaches required for activation, the radar sensor array can adjust a trade-off between the highest possible sensitivity on the one hand and the lowest possible number of false triggers on the other, depending on the current position of the vehicle or its surroundings.

[0047] In a further developed implementation variant, the radar sensor arrangement may be configured to increase the minimum number of detected movements or approaches if the number of false triggers of the activation circuit exceeds a false trigger threshold within a predetermined time period. Thus, the number of false triggers can be recorded over a predetermined, particularly variable, time period (e.g., between 5 and 30 minutes), and then, if the number of false triggers exceeds a predetermined false trigger threshold, the minimum number of detected movements or approaches can be adjusted to a higher minimum number.A false trigger occurs when the radar sensor array is activated but no control gesture is detected within a specified follow-up period, for example, a period of length between 5 and 120 seconds.

[0048] In particular, the radar sensor arrangement can be configured to increase the minimum number of detected movements or approaches in predetermined steps if, in a given step, the number of false triggers of the activation circuit exceeds a false trigger threshold within a predetermined time period. By providing multiple steps for increasing the minimum number, the radar sensor arrangement can be adapted to situations with varying degrees of prevalence of false triggers, without unduly restricting the required sensitivity of the radar sensor arrangement in the first adaptation step.

[0049] Furthermore, the radar sensor arrangement can be designed, for example, to reset the minimum number of detected movements or approaches to its base value if, for a specified period without detection, the number of detected movements or approaches does not exceed a predetermined marginal value. This means that after a longer period...

[0050] If no movement or approach of an object is detected during a period of time, the minimum number of responses is reset to its originally intended base value. This approach has the advantage that, in the case of situations that only temporarily favor false triggers, the restoration of the original behavior with higher detection reliability is ensured after the end of these situations. An example of such a situation that favors false triggers is a vehicle parked in a busy pedestrian zone, where numerous movements are detected without triggering a gesture.

[0051] Alternatively, the radar sensor array can be configured to gradually reduce the minimum number of detected approaches in predefined steps if, in a given step, the number of detected movements or approaches does not exceed zero or a predefined marginal value for a predetermined detection-free period. This has the advantage of more stable behavior compared to an immediate reset to the ground state and allows, for example, the selection of shorter predefined detection-free periods.

[0052] In a further development of the radar sensor system, it can alternatively or additionally be provided that the radar sensor arrangement is configured to activate only after detecting a proximity parameter above a defined threshold. The dependency of radar responses detected in energy-saving mode from a coarse detection area thus consists in the fact that the radar sensor arrangement is only activated when it has been detected that a monitored proximity parameter has exceeded a predefined threshold. This proximity parameter can be any value dependent on the approach of an object, i.e., a potential operator. For example, the proximity parameter could be:

[0053] - an approach signal strength, in particular a received signal strength of a radar response received by a receiving antenna of the radar sensor arrangement, or

[0054] - a duration of an approach signal strength threshold exceedance, or

[0055] - a relationship dependent on the approach signal strength and / or the duration of exceeding the approach signal strength threshold.

[0056] This means, for example, that the radar sensor array is activated when the proximity signal strength exceeds a certain threshold. Alternatively, it means, for example, that the radar sensor array is activated when the proximity signal strength exceeds a certain threshold for a period that reaches or exceeds at least a predetermined minimum duration. More complex relationships between the proximity signal strength and the duration of the threshold exceedance can also be defined as a necessary, and in practice also sufficient, condition for activation.

[0057] In particular, it may be provided that the approximation parameter threshold is variable.

[0058] According to an advantageous further development, the radar sensor arrangement is designed to increase the proximity parameter threshold if the number of false triggers of the activation circuit exceeds a false trigger threshold within a predetermined time period. Similar to what was explained above in connection with the minimum number of detected movements or approaches, this configuration allows for flexible adaptation to changing site conditions.

[0059] According to an advantageous further development, the radar sensor arrangement is configured to increase the proximity parameter threshold in predetermined steps if, in a given step, the number of false triggers of the activation circuit exceeds a predetermined threshold within a given time period. This means that if a predetermined number of false triggers is exceeded within a predetermined time period, the system advances from the current step to the next higher predetermined step. The definition of the predetermined false triggers, the predetermined time period, and the proximity parameter thresholds provided for in the various steps must be determined in advance during the configuration of the control system, for example, by individually determining through empirical methods by weighing the tolerated false triggers against the loss of comfort accepted through sensitivity reduction.For this purpose, realistic tests can be conducted, possibly with feedback from test customers. For the present development, it is essential that a stepwise adaptation to different situations can be set, whereas the precise adjustment of various parameters to specific situations is subject to adjustment by the specialist. It can be provided that a number of levels are predefined, for example, between 5 and 20 levels, each representing different sensitivities of the system, and that the levels are assumed in a predetermined sequence, possibly until the highest level is reached. The system can then remain at this level until it switches back to the baseline state, for which possible measures will be described later.

[0060] In the event that no movements or approaches are detected during a predetermined detection-free period, preferably a sliding predetermined detection-free period, or if the number of detected movements or approaches does not exceed a predetermined marginal value, the approach parameter threshold of the radar sensor arrangement can be reset to its base value. For example, a reset to the base value can be provided if, for a minimum period, preferably a sliding minimum period with a value between 30 minutes and 12 hours, no more than a few approaches, for example, no more than 10, are detected.

[0061] Alternatively, the radar sensor arrangement can be configured to gradually reduce the proximity parameter threshold in predefined steps if, in each step, the number of detected movements or approaches does not exceed zero or a predefined marginal value for a given detection-free period. This has the advantage of more stable behavior compared to an immediate reset to the ground state and allows, for example, the selection of shorter predefined detection-free periods.

[0062] In one embodiment of the control system, the radar sensor arrangement may have a plurality of transmitting antennas and a plurality of receiving antennas, wherein the radar sensor arrangement is configured to activate only a subset of the available transmitting and receiving antennas in energy-saving mode, preferably exactly one transmitting antenna and exactly one receiving antenna. In this way, an effective energy saving is achieved with simple measures.

[0063] To enable rapid gesture recognition in cases where the detection sensitivity has been set low due to the current vehicle situation—meaning the minimum number of detected movements or approaches and / or the proximity parameter threshold are set to a high level—the radar sensor array can be configured to reset the minimum number of detected approaches and / or the proximity parameter threshold to their respective base values ​​in response to a reset signal. This reset signal can be issued, for example, by the vehicle's control unit coupled to the radar sensor array, perhaps in response to receiving a corresponding signal from an identification device (such as a key fob or smartphone) that is configured to output the corresponding signal and has been activated by the user.

[0064] To return to energy-saving mode after entering gesture recognition mode, various options can be provided. For example, the radar sensor arrangement can be configured to enter energy-saving mode if, over a predetermined period, preferably a sliding predetermined period, for example, a period with a length (all numerical values ​​inclusive) between 1 minute and 10 hours, preferably between 5 minutes and 5 hours, most preferably between 10 minutes and 1 hour, it has not successfully completed any gesture recognition, i.e., if no gesture intended to trigger the adjustment of the vehicle flap or vehicle door has been executed in front of the radar sensor.Alternatively or additionally, the radar sensor array may be configured to enter energy-saving mode when the vehicle's control unit transmits a corresponding energy-saving mode entry signal, for example, depending on a vehicle condition such as exceeding a minimum speed, or depending on the transmission of an energy-saving mode request triggered by the operator, for example, via a signal from a suitably configured identification device, which could be, for example, a key fob or a smartphone equipped with an app for operating the vehicle to request energy-saving mode. Time-dependent entry into energy-saving mode may also be provided.Preferably, the energy-saving mode is the default state of the radar sensor arrangement and is automatically resumed immediately after a gesture recognition or after a period of time, preferably a sliding one, between (each inclusive) 30 seconds and 5 minutes without gesture recognition.

[0065] In one implementation, the gesture detection area is oriented at the rear of the vehicle between the lower edge of the bumper and the ground level, so that the control gesture can be executed as a foot kick. The radar sensor array then serves as a kick sensor, with the control unit, upon detection of a corresponding control gesture, sending a signal to the electric motor coupled to the vehicle's tailgate (designed as a trunk lid) to adjust the tailgate between a closed and an open position. The positioning of the coarse detection area can be professionally determined.In particular, if the radar sensor arrangement on the vehicle is arranged in a specific way, for example due to the positioning of the radar sensor arrangement for detecting the control gesture as a foot kick, the combination of a transmitting antenna and a receiving antenna for sole control in energy-saving mode can be selected which allows the proximity detection furthest away from the vehicle.

[0066] According to an advantageous embodiment, the radar sensor arrangement is coupled to a radio communication device mounted on the vehicle. The radio communication device is configured for radio communication with an operator's ID transmitter. A control element of the radio communication device, or a control element coupled to both the radio communication device and the radar sensor arrangement, is configured to output an activation signal to the radar sensor arrangement upon receiving a gesture recognition activation signal known to the control element, which was transmitted by the ID transmitter. The radar sensor arrangement, in turn, is configured to enter gesture recognition mode, preferably immediately, upon receiving the activation signal.The ID transmitter, by virtue of its ability to trigger the radar sensor array into active mode with a pre-defined gesture activation signal, thus empowers the operator to force the detection of a control gesture. This preferably occurs immediately, that is, by overriding the conditions intended for activation. The ID transmitter is therefore able to override all previously described activation requirements, including any temporary suppressions of activation resulting from automatic proximity detection, by manually actuating the ID transmitter. This advantageously provides the operator with a means to bypass activation of the radar sensor array that might be prevented under unfavorable conditions and to circumvent the activation process for executing a gesture.The activation can, for example, occur after receiving the gesture recognition activation signal for a period of time (inclusive) between 1 second and 5 minutes, preferably between 5 seconds and 30 seconds. During this period, gesture execution is convenient without the energy required for recognition increasing excessively.

[0067] One aspect of the invention comprises a motor vehicle comprising a vehicle flap and / or a vehicle door as well as a control system according to the invention or one of the further developments explained above.

[0068] Furthermore, a concept of the invention is illustrated by a set comprising a motor vehicle of the type mentioned above and an ID transmitter. The ID transmitter is configured for radio communication with a radio communication device of the motor vehicle. The motor vehicle is configured for radio communication with the ID transmitter. In particular, a control means of the radio communication device, or a control means of the radar sensor arrangement, or the control device, in additional coupling with the radio communication device, is configured to control the radio communication device to carry out radio communication with the ID transmitter.

[0069] In a preferred further training of a set of

[0070] The vehicle and ID transmitter are configured for radio communication with a radio communication device of the vehicle, and the vehicle is configured for radio communication with the ID transmitter. Additionally, the ID transmitter is equipped with a triggering device and configured to send a gesture recognition activation signal in response to activation of the triggering device. The triggering device can, for example, be a manually operated push button that is activated when pressed by the operator.Alternatively, the triggering device can be designed as a motion switch, for example, as an accelerometer arranged in the ID transmitter in conjunction with a control device arranged in the ID transmitter. Triggering occurs when the operator performs a movement that is detected by the accelerometer and corresponds to a trigger movement stored on the control device or on a storage device coupled to the control device. The gesture detection activation signal, which can be, for example, an RF signal (e.g., within the framework of Bluetooth communication) or UWB communication, can be detected by the vehicle's radio communication device after reception and used to put the radar sensor arrangement into gesture detection mode by outputting an activation signal.This design advantageously achieves that an operator can perform a control gesture at any time and that this can be recognized by the vehicle, so that even in a constellation in which a reduction in the sensitivity of the activation circuit of the radar sensor arrangement has been implemented, it is possible to force immediate gesture detection and recognition.Providing such a system, consisting of a vehicle and an ID transmitter, with a gesture recognition system that can be manually activated by the operator (independent of the detection and evaluation of one or more movements within the detection area and the resulting inferences), offers the particular advantage that, due to the gesture recognition being available at any time, at least manually, considerable compromises in pattern recognition or the evaluation of a movement to determine whether it represents an approaching operator can be avoided. This increases the reliability of the automatic proximity detection and, as a result, significantly reduces the energy consumption of the automatic proximity detection system.

[0071] Further details, features and advantages of the control system according to the invention will become apparent from the following description in conjunction with the figures, in which an exemplary embodiment of the invention is shown.

[0072] It is understood that the aforementioned and subsequently explained features can be used not only in the combinations specified, but also in other combinations or on their own. This shows:

[0073] Fig. 1: an exemplary embodiment of a control system according to the invention;

[0074] Fig. 2: an exemplary embodiment of the control system according to the invention of Fig. 1 in an environment with high object density;

[0075] Fig. 3: schematic representation of increasing the approximation parameter threshold;

[0076] Fig. 4: another embodiment of an inventive control system;

[0077] Fig. 5: Another embodiment of a control system according to the invention. Fig. 1 shows an embodiment of a control system 1 according to the invention. The control system 1 serves to adjust a vehicle flap 2 or vehicle door 3 of a motor vehicle 4 without contact. In Fig. 1, this is illustrated using the example of the vehicle flap 2 designed as a trunk flap.

[0078] Vehicle 4 is equipped with an electric motor 5, which is coupled to the vehicle flap 4 designed as a trunk flap.

[0079] Vehicle 4 is also equipped with a radar sensor arrangement 6 for detecting objects. In the illustrated embodiment, the radar sensor arrangement 6 is designed as a compact unit consisting of a radar sensor 6a and an evaluation unit 6b coupled to the radar sensor 6a. In the illustration, the orientation of the transmitting and receiving antennas (not shown in the figure) in the radar sensor 6a is such that gesture detection in gesture detection mode is possible when the gesture takes place within the gesture detection area 8. In gesture detection mode, the radar sensor 6a operates with its full temporal and spatial resolution, for which, in particular, the operation of most or all of the transmitting and receiving antennas present in the radar sensor 6a is used.This enables the best possible detection of a kicking movement, which is a prerequisite for evaluating the course of the kicking movement and consequently for deciding whether an output signal is issued depending on a gesture recognized as a kicking movement. Coupled with the radar sensor arrangement 6 and the electric motor 5 is a control unit 9, which can be a dedicated opening control or alternatively provided by the central vehicle control system. The control unit 9 is configured to recognize an output signal issued according to the above explanation, depending on the control gesture executed within the gesture detection area 8 and detected by the radar sensor arrangement 6 in gesture detection mode.When the control unit 9 detects the output signal, it initiates the adjustment of the vehicle flap as a result of receiving the output signal, for example opening or closing the vehicle flap, which is then carried out by means of the electric motor 5.

[0080] To minimize the energy consumption of the control system 1, the radar sensor arrangement 6 has at least two operating modes. In addition to the gesture recognition mode, the control system 1 has an energy-saving mode. For example, the radar sensor 6a contained in the radar sensor arrangement 6 can have a plurality of transmitting antennas and a plurality of receiving antennas, which is advantageous for time- and location-resolved data acquisition and is standard practice for commercially available radar sensors. In such a radar sensor 6a, the energy-saving mode can, for example, provide that only a subset of the available transmitting and receiving antennas is activated, preferably exactly one transmitting antenna and exactly one receiving antenna.This significantly reduces the energy consumption of the overall system, but for a rough detection to obtain information about whether an object is approaching, for example, an approach of a potential operator with the aim of causing a flap adjustment, the operation of only the subset of antennas with suitable positioning, which is easily possible for the expert through simple trial and error, is sufficient.

[0081] A sufficient radar sensor arrangement is sufficient. Alternatively or additionally, the energy-saving mode can also be implemented by transmitting radar signals significantly less frequently in a given time unit than in gesture recognition mode, and only switching to a higher number of transmitted radar signals when gesture recognition mode is activated. It is also possible to provide a reduced transmission frequency bandwidth in energy-saving mode compared to gesture recognition mode. With expert parameter adjustment, one or more of these measures can provide an energy-saving mode with low energy consumption without unacceptable reductions in comfort.

[0082] The radar sensor array 6 is switched to a power-saving mode in situations where gesture recognition is less likely to be required. This power-saving mode can be the default mode, as it can be assumed that periods requiring flap adjustment represent only a small fraction of the total operating time.

[0083] From energy-saving mode, the radar sensor array 6 can be switched to gesture detection mode. This switchover occurs depending on the radar responses detected from a coarse detection area 7 in energy-saving mode. Thus, even in energy-saving mode, the environment is continuously or intermittently detected with radar waves at certain regular or irregular intervals. This is achieved by repeatedly emitting radar signals and receiving the reflected radar waves, i.e., the radar response.This radar monitoring in energy-saving mode can be performed with a reduced number of antennas, for example, exactly one transmitting antenna and one receiving antenna. In addition, a radar query of the environment can be performed with a reduced frequency of repetitions per unit of time, for example, with a repetition frequency of up to 5 queries per second or even lower, from 1 query per second or even significantly less, such as 1 query every 10 seconds or one query per unit of time, which is between 1 second and 60 seconds.

[0084] The radar sensor arrangement 6 is also configured to be activated in gesture detection mode after and in response to the detection of movement of an object in the coarse detection area 7. Before activation, however, pattern recognition is performed. This includes, for example, ruling out an approach by the operator if the operator's dimensions, as derived from the radar response, are not within typical human dimensions, and otherwise assuming that the operator is approaching. Only in the latter case is it assumed that an operator is approaching, and the gesture detection mode is activated. In one implementation, this activation occurs immediately; in another, activation occurs only upon fulfillment of additional conditions.

[0085] To prevent excessive fluctuations in the activation process and a high number of false triggers without subsequent gesture execution, a proximity parameter threshold is preferably defined. This threshold serves as an additional condition for activating the gesture detection mode. A continuously or intermittently monitored proximity parameter must exceed this threshold for activation to occur. This proximity parameter can be, for example, a proximity signal strength or, alternatively, a duration during which a proximity signal strength threshold is exceeded. In other words, a minimum duration during which a proximity signal strength threshold must be exceeded at least continuously must exceed a defined time threshold to enable activation.A condition derived from one or both of these two values ​​can also be required as an approximation parameter to be exceeded.

[0086] In order to ensure that the vehicle and its operability, as well as the vehicle's energy-saving effect, are maintained even under significantly changed environmental conditions, the approximation parameter threshold is variable in one implementation form.

[0087] For example, in a situation such as that shown in Fig. 2, it will frequently occur that the radar sensor arrangement 6 is activated even though a person entering the coarse detection area 7 does not actually intend to cause the flap to open. To avoid unnecessarily frequent activation of the radar sensor arrangement 6 in such cases, which is always accompanied by a temporarily increased energy consumption, the radar sensor arrangement 6 in the illustrated embodiment is designed to increase the proximity parameter threshold if the number of false activations within a predetermined time period exceeds a false activation threshold.

[0088] In the embodiment shown, the approach parameter threshold is increased as depicted in Fig. 3. The approach parameter threshold, abbreviated as "APS" in the coordinates of Fig. 3, is increased in predetermined steps if, in a given step, the number of false triggers of the active circuit exceeds a false trigger threshold within a predetermined time period. That is, if, for example, in the currently active step, the number n of false triggers exceeds a false trigger threshold within a given time period T, the approach parameter threshold is raised to the next step, where n is a positive integer. Starting from a ground state WO, after an initial increase it assumes the value W1 in step S1, and so on until the highest step S6 provided in this embodiment is reached with the value W6. In the figure.Figure 3 shows a preferred embodiment in which the values ​​WO to W6 are changed equidistantly on a linear scale; however, embodiments with non-equidistant changes are also possible, and in particular the number of steps can be different, for example a value between 3 and 100, preferably between 5 and 20. The radar sensor arrangement can be configured to reset the proximity parameter threshold to its basic value if, for a predetermined detection-free period, the number of detected proximitys does not exceed zero or a predetermined marginal value.

[0089] For example, if the approach parameter is a duration of exceeding the approach signal strength threshold, when placing the vehicle in a crowd, the situation may arise that the approach signal strength threshold, i.e., a predetermined threshold of the approach signal strength, is exceeded relatively frequently and for sufficiently long periods, even without the operator's intention to actuate it, in order to exceed the defined threshold for the duration, i.e., the approach parameter threshold. This, in turn, results in the radar sensor arrangement 6 being activated from energy-saving mode to gesture recognition mode without any intention to actuate it.In the described situation, gesture detection is not required in most cases following the activation of the radar sensor arrangement 6, since the approach was not initiated by an operator of the vehicle 4, but by randomly passing individuals from the relatively dense crowd. The activation of the radar sensor arrangement 6, followed by a predetermined period during which no control gesture is detected, is evaluated by the radar sensor arrangement 6 as a false trigger and registered accordingly. The number of false triggers per unit of time, preferably per rolling unit of time, i.e., the number of false triggers within the preceding period, which is preferably always of the same length, is registered by the radar sensor arrangement 6.If the radar sensor arrangement 6 detects that the number of false triggers of the active circuit exceeds a threshold, the so-called false trigger threshold, within a predetermined time period, it is deemed necessary to reduce the sensitivity of the system. The sensitivity of the active circuit is reduced, in particular, by increasing, for example, the threshold of the approach signal strength or, as described above, the threshold for the duration of the approach signal strength threshold exceedance, and / or a relationship dependent on one or both of these two quantities. This procedure is preferably carried out in stages, so that a sequential reduction in the system's sensitivity takes place.Depending on the implementation of the invention, this can continue until a state is reached in which the automatic activation of the radar sensor arrangement and the automatic door or flap opening are paused. To return to the initial state of automatic activation of the radar sensor arrangement and enabling automatic door or flap opening in response to a control gesture, a criterion for resetting the proximity parameter threshold is provided. This can be implemented, for example, by resetting the proximity parameter after the number of detected proximitys is zero or does not exceed a predetermined marginal value during a specified period.If, during a specified period without detection in coarse detection mode, no or very few object approaches are recorded, the sensitivity is reset to its baseline value. This is because, within the context of this development, this is based on the assumption that the vehicle situation has returned to a regular, non-exceptional state, for example, after leaving a location with a large crowd and entering a location without one. The reset can be performed gradually or in a single, direct step back to the baseline value.

[0090] Figure 4 shows another embodiment of a motor vehicle 4 with a control system 1. In addition to the features of the embodiment shown in Figures 1 and 2, the control system 1 of Figure 4 has a radio communication device 10 arranged on the vehicle, which is coupled to the radar sensor arrangement 6, in the example shown indirectly via the control unit 9. The radio communication device 10 is configured to perform radio communication with an ID transmitter 11 of an operator 12, for example, Bluetooth communication. The control unit 9, which is coupled to the radio communication device 10 and to the radar sensor arrangement 6, is configured to output an activation signal to the radar sensor arrangement 6 upon receipt of a gesture recognition activation signal from the ID transmitter 11 by the radio communication device.The radar sensor arrangement 6 is configured to enter gesture detection mode immediately upon receiving the activation signal, without requiring or preventing the automatic activation of gesture detection mode by means of parameters that might otherwise be queried.

[0091] Furthermore, radio communication with the ID transmitter can be used to further improve the activation of the radar sensor array in gesture recognition mode.

[0092] As in the example shown in Figs. 1 and 2, pattern recognition of the movement detected in the coarse detection area, more precisely: of the radar response indicating the movement, is also provided in the example shown in Fig. 4.

[0093] This consists, for example, of evaluating the movement pattern. For instance, after detecting the movement and after a predetermined time interval of, for example, between 0.1 and 2 seconds, a new radar detection can be performed by outputting a radar signal, receiving the radar response, and evaluating it. In a case where the distance of the object from the radar sensor array is smaller in the second evaluation than in the first, the conclusion can be drawn that there is an operator movement indicating that the operator is approaching the vehicle, and consequently, that there is no operator movement that does not indicate that the operator is approaching the vehicle.This fulfills a necessary condition for the activation of the radar sensor array from energy-saving mode to gesture detection mode, since the pattern recognition has detected a movement indicating an approach by the operator.

[0094] In the configuration shown in Fig. 4, the additional condition is that radio communication with the ID transmitter is carried out, and position and / or movement data of the ID transmitter are derived from this communication. For example, position data of the ID transmitter can be determined at two different times, and then an approach by the operator can be assumed if the distance values ​​obtained via radio communication from the ID transmitter confirm that the distance is smaller at the later time than at the earlier time. The radio communication can, for example, be carried out by the control unit 9 immediately following the respective acquisition of radar data. A distance value can, for example, be an RSS I value obtained via Bluetooth communication.

[0095] If the change in the RSS I values ​​is consistent with the change in the distance values ​​obtained by radar, this is considered to be a plausibility check of the pattern recognition by movement data from the ID transmitter and, as a result, the activation of the radar sensor arrangement into gesture detection mode is carried out immediately, or, in the case of further conditions for this, after their verification.

[0096] Figure 5 shows an embodiment of a control system in which, in addition to the radar sensor arrangement 6, a further radar sensor arrangement 6' is present, with both radar sensor arrangements being connected to the control unit 9. Both radar sensor arrangements 6 and 6' each have a coarse detection area 7 and 7' respectively, with the two coarse detection areas 7 and 7' being arranged on opposite sides of the motor vehicle 4, so that the coarse detection areas 7 and 7' are designed to be non-overlapping. When the second radar sensor arrangement detects a movement of an object, for example a cat 13, taking place in the second coarse detection area, it outputs a detection signal in response to such detection that is understandable to the first radar sensor arrangement.The radar sensor arrangement 6 is configured to suppress activation in gesture recognition mode for a predetermined period after receiving the detection signal. This has the advantage that, in situations such as that shown in Fig. 2, where the vehicle is in a crowd, the number of false triggers is reduced. Furthermore, the radar sensor arrangement 6' will not switch to gesture recognition mode because, upon detecting movement in the gesture recognition area 7', it performs pattern recognition. This pattern recognition, based on a comparison of the object's size and shape with reference data stored on the control unit 9, leads to the conclusion that no human operator is approaching, thus rendering gesture recognition unnecessary.

[0097] The control system according to the invention provides the possibility of advantageously implementing gesture recognition based on radar detection in a low-energy manner. This is achieved by providing two operating modes, whereby the more energy-intensive gesture recognition mode is only activated when pattern recognition, optionally combined with radio communication data, suggests the approach of an operator. To further optimize energy reduction, the recognition sensitivity of the control system is varied depending on its operation.

Claims

Patent claims 1. Control system (1) for contactless adjustment of a vehicle flap (2) or vehicle door (3) of a motor vehicle (4), comprising an electric motor (5) coupled to the vehicle flap (2) or vehicle door (3) for adjusting the vehicle flap (2) or vehicle door (3), a radar sensor arrangement (6) for detecting objects located in the area of ​​the vehicle flap (2) or vehicle door (3) for detecting a control gesture to be performed by an operator, a control device (9) coupled to the radar sensor arrangement (6) and the electric motor (5), wherein the control device (9) is configured to cause the adjustment of the vehicle flap (2) or vehicle door (3) by means of the electric motor (5) depending on a control gesture performed within a gesture detection area (8) and recognized by the radar sensor arrangement (6) in a gesture detection mode,wherein the radar sensor arrangement (6) can assume at least two operating modes, namely the gesture detection mode and an energy-saving mode, wherein the radar sensor arrangement (6) is configured to activate from the energy-saving mode to the gesture detection mode, to detect in the energy-saving mode a movement of an object taking place in a coarse detection area (7), and to perform pattern recognition of the detected movement, and to perform the activation from the energy-saving mode to the gesture detection mode depending on the result of the pattern recognition.

2. Control system (1) according to claim 1, wherein the pattern recognition comprises the evaluation of a motion sequence of the movement, and / or the pattern recognition comprises the evaluation of the dimensions of the object, and / or the pattern recognition comprises the detection of periodic changes, and / or the pattern recognition comprises the evaluation of a number of several detected objects, and / or the pattern recognition comprises the evaluation of a time-dependent and / or day-dependent movement of the object, and / or the pattern recognition comprises the evaluation of the object for features that make the object distinguishable as a human being from an animal and / or a non-living object.

3. Control system (1) according to claim 1 or according to claim 2, wherein the radar sensor arrangement (6) is configured to distinguish, by means of pattern recognition, a movement of an operator indicating that the operator is approaching the motor vehicle from a movement of an operator that does not indicate that the operator is approaching the motor vehicle, and to perform the activation switch from the energy saving mode to the gesture detection mode only when the pattern recognition has detected a movement indicating that the operator is approaching.

4. Control system (1) according to one of the preceding Claims, characterized by, that the radar sensor arrangement (6) is coupled to a radio communication device (10) arranged on the vehicle, wherein the radio communication device (10) is configured for radio communication with an ID transmitter (11) of an operator (12), wherein a control means of the radio communication device (10) or a control means of the radar sensor arrangement (6) or the control device (9) , in additional coupling with the radio communication device (10) , is configured to perform radio communication with an ID transmitter configured for radio communication with the radio communication device (10) (11) to be controlled for the acquisition of position data and / or movement data of the ID transmitter (11) .

5. Control system according to claim 4, wherein the control system has N antennas arranged on the vehicle, and radio communication with the ID transmitter is carried out via each of the N antennas, in particular RSSI determination, wherein position data and / or motion data of the ID transmitter are determined by means of N-angulation and / or N-lateration, in particular based on RSSI data, and / or wherein the radio communication is an RF communication, for example a Bluetooth communication, or an LF communication or a UWB communication.

6. Control system (1) according to claim 4 or according to claim 5, wherein the radar sensor arrangement (6) is set up, only then switches from the energy saving mode to the To switch to gesture capture mode when position data is available and / or movement data of the ID transmitter (11) to validate the result of the pattern recognition.

7. Control system (1) according to claim 6, wherein the position data of the ID transmitter (11) are plausibly assumed to be the result of pattern recognition if a distance value of the object obtained by means of the radar sensor arrangement (6) and a distance value of the ID transmitter (11) obtained by means of radio communication do not deviate from each other by more than a predetermined tolerance, and / or the position data of the ID transmitter (11) are plausibly assumed to be the result of pattern recognition at two times if an approach of the operator (12) detected by means of the radar sensor arrangement (6) is confirmed by the distance values ​​of the ID transmitter (11) obtained by means of radio communication, which at the later time have a smaller distance value than at the earlier time.

8. Control system (1) according to one of the preceding claims, wherein, in addition to the radar sensor arrangement (6), at least one second radar sensor arrangement (6') coupled to the radar sensor arrangement (6) is arranged on the motor vehicle (4), wherein a second coarse detection area (7') covered by the second radar sensor arrangement (6') and the coarse detection area (7') covered by the radar sensor arrangement (6) are designed to be non-overlapping, wherein the second radar sensor arrangement (6') is configured to detect a movement of an object taking place in the second coarse detection area (7') and, in response to such detection, to output a detection signal understandable to the first radar sensor arrangement (6), wherein the radar sensor arrangement (6) is configured to suppress the activation in gesture detection mode for a predetermined period after receiving the recognition signal in response to the detection of movement.

9. Control system (1) according to one of the preceding claims, wherein the radar sensor arrangement (6) is configured to activate the gesture detection mode only after detection of a minimum number of detected movements, preferably detected approach movements.

10. Control system (1) according to claim 9, characterized in that the minimum number of detected movements, preferably detected approach movements, is variable.

11. Control system (1) according to claim 10, characterized in that the radar sensor arrangement (6) is configured to increase the minimum number of detected movements, preferably detected approaches, when the number of false triggers of the active circuit exceeds a false trigger threshold in a predetermined time period.

12. Control system (1) according to claim 10 or according to claim 11, characterized in that the radar sensor arrangement (6) is configured to increase the minimum number of detected movements, preferably detected approaches, in predetermined steps if, in a respective step, the number of false triggers of the activation circuit exceeds a false trigger threshold in a predetermined time period.

13. Control system (1) according to one of claims 9 to 12, characterized in that the radar sensor arrangement (6) is configured to reset the minimum number of detected movements, preferably detected approaches, to its basic value if, for a predetermined detection-free period, the number of detected movements, preferably detected approaches, does not exceed zero or a predetermined marginal value, or that the radar sensor arrangement (6) is configured to reduce the minimum number of detected movements, preferably detected approaches, in predetermined steps if, in a respective step, for a predetermined detection-free period, the number of detected movements, preferably detected approaches, does not exceed zero or a predetermined marginal value.

14. Control system (1) according to one of the preceding claims, characterized in that the radar sensor arrangement (6) is configured to activate the radar sensor arrangement (6) only after a detection of an approach parameter above an approach parameter threshold.

15. Control system (1) according to claim 14, characterized in that the approach parameter threshold is variable.

16. Control system (1) according to claim 15, characterized in that the radar sensor arrangement (6) is configured to increase the proximity parameter threshold when the number of false triggers of the active circuit in a a specified time period exceeds a false trigger threshold.

17. Control system (1) according to claim 15 or according to claim 16, characterized in that the radar sensor arrangement (6) is configured to increase the proximity parameter threshold stepwise in predetermined steps if, in a respective step, the number of false triggers of the active circuit in a predetermined time period exceeds a false trigger threshold.

18. Control system ( 1 ) according to one of claims 15 to 17 , characterized in that the radar sensor arrangement ( 6 ) is configured to reset the approach parameter threshold to its basic value if, for a predetermined detection-free period, the number of detected movements, preferably detected approaches, does not exceed zero or a predetermined marginal value, or that the radar sensor arrangement ( 6 ) is configured to reduce the approach parameter threshold stepwise in predetermined steps if, in a respective step, for a predetermined detection-free period, the number of detected movements, preferably detected approaches, does not exceed zero or a predetermined marginal value.

19. Control system ( 1 ) according to one of claims 15 to 18 , characterized in that the approach parameter is an approach signal strength or the approach parameter is a duration of an approach signal strength threshold exceedance or the The approach parameter is a relationship derived from the approach signal strength and / or the duration of exceeding the approach signal strength threshold.

20. Control system (1) according to one of the preceding claims, characterized in that the radar sensor arrangement (6) has a plurality of transmitting antennas and a plurality of receiving antennas, wherein the radar sensor arrangement is configured to control only a subset of the available transmitting antennas and receiving antennas in energy-saving mode, preferably exactly one transmitting antenna and exactly one receiving antenna.

21. Control system (1) according to one of the preceding claims, characterized in that the radar sensor arrangement is coupled to a radio communication device arranged on the vehicle (4), wherein the radio communication device is configured for radio communication with an ID transmitter (11) of an operator (12), wherein a control means of the radio communication device (10) or a control means coupled to the radio communication device and to the radar sensor arrangement (6) is configured to output an activation signal to the radar sensor arrangement (6) upon receipt of a gesture recognition activation signal known to the control means by the radio communication device, wherein the radar sensor arrangement (6) is configured to enter the gesture recognition mode upon receipt of the activation signal, preferably immediately.

22. Motor vehicle (4) comprising a vehicle flap (2) and / or a vehicle door (3) and a control system (1) according to one of claims 1 to 21.

23. Set comprising motor vehicle (4) according to claim 22 and ID transmitter (11) , wherein the ID transmitter (11) is configured for radio communication with a radio communication device of the motor vehicle (4) and the motor vehicle (4) is configured for radio communication with the ID transmitter (11).

24. Set comprising a motor vehicle (4) comprising a vehicle flap (2) and / or a vehicle door (2) and a control system (1) according to claim 21, and an ID transmitter (11) comprising the ID transmitter (11) being configured for radio communication with a radio communication device (10) of the motor vehicle (4) and the motor vehicle (4) being configured for radio communication with the ID transmitter, wherein the ID transmitter has a triggering means, and the ID transmitter (11) is configured to output a gesture detection activation signal in response to actuation of the triggering means.

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