DE102019123797A1 - Method for recognizing a pedaling movement behind a vehicle in order to open its trunk door - Google Patents

Abstract

The present invention relates to a method for detecting a pedaling movement behind a vehicle (10) for opening the trunk door, comprising the steps of detecting, with a proximity sensor system, a person (12) approaching the vehicle (10) at the rear with a vehicle radio key interacting with the proximity sensor system (100); Activating a distance sensor system (14) (200) on the rear of the vehicle (10), detecting, with the distance sensor system (14), a change in distance of a leg component (16) during a pedaling movement within a detection area (D) (300); evaluating the change in distance by means of a Control unit (400); opening the trunk door of the vehicle (10) (500). The present invention also relates to a vehicle support system with means for carrying out the steps of the method. The present invention also relates to a vehicle with the vehicle support system. The present invention also relates to a computer program. The present invention also relates to a data carrier signal which the computer program transmits. The present invention also relates to a computer-readable medium.

Description

The present invention relates to a method for recognizing a pedaling movement behind a vehicle in order to open its trunk door, with a vehicle-integrated vehicle support system for carrying out at least one step of the method.

The present invention also relates to a vehicle support system with means for carrying out the steps of the method.

The present invention also relates to a vehicle with the vehicle support system.

Furthermore, the present invention relates to a computer program, comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out steps of the method.

The present invention also relates to a data carrier signal which the computer program transmits.

The present invention also relates to a computer-readable medium, comprising instructions which, when executed by a computer, cause the computer to carry out steps of the method.

Methods for determining the presence of a person on a vehicle are generally known. For example, the patent discloses EP 1 143 092 B1 the use of ultrasonic parking sensors to open a trunk door. Specifically, the ultrasonic parking sensors only determine whether a person is present or whether they are below a certain distance.

Similarly, the patent discloses US 2018/0163454 the use of proximity sensors, capacitive or based on ultrasound. The amplitude is evaluated here. The duration for which the amplitude is above a threshold value is determined. This is used to estimate when a pedaling movement will end.

Finally, the patent discloses US 8,228,166 B2 the use of two proximity sensors, whereby ultrasonic sensors can also be used. A door is only activated if both proximity sensors strike within a certain time window.

In principle, the aforementioned systems and methods are suitable for opening trunk doors. However, this is usually time-based. This can be problematic or prone to failure.

On the basis of the above-mentioned prior art, the invention is therefore based on the object of specifying a method for detecting a pedaling movement behind a vehicle to open the trunk door, a vehicle support system, a vehicle, a computer program, a data carrier signal and a computer-readable medium that provides an improved Allow safe and reliable procedure to open the trunk door

The object is achieved according to the invention by the features of the independent claims. Advantageous refinements of the invention are given in the subclaims.

• Detektieren, mit einem Näherungssensorsystem, einer sich dem Fahrzeug hinterseitig nähernden Person mit einem mit dem Näherungssensorsystem wechselwirkenden Fahrzeugfunkschlüssel;
• Aktivieren eines am Fahrzeug hinterseitigen Abstandssensorsystems, sobald der Fahrzeugfunkschlüssel einen vordefinierten Schlüsselhöchstabstand zum Fahrzeug erreicht;
• Detektieren, mit dem Abstandssensorsystem, einer Abstandsänderung zwischen dem Abstandssensorsystem und einer Beinkomponente der Person während einer Tretbewegung innerhalb eines Detektionsbereichs;
• Auswerten der Abstandsänderung durch ein Steuergerät;
• Öffnen einer Kofferraumtür des Fahrzeugs, sofern das Auswerten der Abstandsänderung ergibt, dass die Abstandsänderung während der Tretbewegung innerhalb vordefinierter Tretparameter erfolgt.

According to the invention, a method for recognizing a pedaling movement behind a vehicle to open the trunk door is specified, with a vehicle-integrated vehicle support system for performing at least one step of the method, having the following steps:

• Detecting, with a proximity sensor system, a person approaching the rear of the vehicle with a vehicle radio key interacting with the proximity sensor system;
• Activating a distance sensor system on the rear of the vehicle as soon as the vehicle radio key reaches a predefined maximum key distance from the vehicle;
• Detecting, with the distance sensor system, a change in distance between the distance sensor system and a leg component of the person during a pedaling movement within a detection area;
• Evaluation of the change in distance by a control device;
• Opening a trunk door of the vehicle, provided that the evaluation of the change in distance shows that the change in distance occurs during the pedaling movement within predefined pedaling parameters.

The last step of the method according to the invention is logically carried out in the vehicle.

According to the invention, a vehicle support system with means for carrying out the steps of the method is also specified. The vehicle support system can be a vehicle support system for supporting autonomous or semi-autonomous driving of corresponding autonomous or semi-autonomous vehicles Have driver assistance system for supporting a driver of the vehicle in different driving situations.

Furthermore, according to the invention, a vehicle with the vehicle support system is specified. The vehicle is preferably a driver's ego vehicle.

Furthermore, according to the invention, a computer program is specified, comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out steps of the method. A computer program is a collection of instructions for performing a particular task, designed to solve a particular class of problems. A program's instructions are designed to be carried out by a computer, and it requires a computer to be able to run programs in order for it to function.

Furthermore, according to the invention, a data carrier signal is specified which the computer program transmits.

Furthermore, according to the invention, a computer-readable medium is specified, comprising instructions which, when executed by a computer, cause the computer to carry out steps of the method.

The basic idea of the present invention is therefore that the trunk door is opened based on distance. Specifically, this means that the change in distance between a leg component of a person, in particular their foot and / or lower leg, is recorded and evaluated. For this purpose, a corresponding reference point for continuous detection is established. If predefined pedaling parameters are adhered to, the trunk door can be opened. The advantage here is that by incorporating the change in distance, the error rate is reduced compared to a conventional system, for example based on time.

It is also essential that the person using the remote control key approaches the vehicle from behind, so that a sideways passage and a sudden detection do not cause the trunk to open accidentally, which would reduce reliability and safety. In the context of the invention, rear means that the rear, that is to say the rear part of the vehicle, forms the reference area. The movements are related to this stern area. It should therefore be ruled out that a person walks past the front of the vehicle and is also detected in this context. The essence of this feature is that it must be ensured that the person consciously wants to operate the trunk.

Furthermore, for increased security, it is provided that the method only takes place when the person using the vehicle radio key is actually in the vicinity of the vehicle, namely within a maximum key distance. Only then is the distance sensor system activated, so that this also saves energy.

The person performing the pedaling movement can either be the person in charge of the vehicle radio key or another person, provided that the person in charge of the vehicle radio key is within the maximum distance of the key.

The detection of the change in distance is limited to a leg component of a person. The leg component can be a foot, a lower leg, or both. The foot can be barefoot or shod. The leg component is followed for detection using previously known programming measures.

The change in distance is evaluated by a control unit. Control units, also known as ECU = electronic control unit or ECM = electronic control module, are electronic modules that are mainly installed in places where something has to be controlled or regulated. Control units are used in all electronic areas in the automotive sector. They are part of the embedded systems.

The trunk door of the vehicle therefore only opens if the evaluation of the change in distance shows that the change in distance occurs within predefined pedaling parameters during the pedaling movement. This means that a predefined sequence of movements has to take place with the leg component. This sequence of movements can form pedaling parameters.

According to an advantageous embodiment of the invention it is provided that the predefined pedaling parameters have at least four phases, namely a first phase, with no change in distance between the distance sensor system and the leg component taking place during the pedaling movement;
a second phase, wherein during the pedaling movement a change in distance takes place in such a way that the distance between the distance sensor system and the leg component becomes smaller;
a third phase, wherein a change in distance occurs during the pedaling movement in such a way that the distance between the distance sensor system and the leg component increases;
a fourth phase, with no change in distance between the distance sensor system and the leg component taking place during the pedaling movement. The first and fourth phases can be considered waiting be interpreted. The second phase means an approaching of the leg component and the third phase a subsequent removal of the leg component from the approached position. The aforementioned pedaling parameters are to be understood as a general step, that is, a quick snap of the foot or footwear and / or the lower leg. In connection with the further procedural measures, such a step is an easily executable and at the same time reliably detectable stepping movement. For example, in situations when a person is loaded with bags with both hands, such a kick can be done quickly and without great effort.

According to an advantageous embodiment of the invention it is provided that the opening of the trunk door of the vehicle is interrupted as soon as the vehicle radio key is further away from the vehicle than the predefined maximum key distance. This is a security measure. This is to prevent the trunk door from opening accidentally, for example. It is therefore a security-increasing measure. The interruption implies, for example, that the opening movement is simply canceled and that the trunk door remains in this position. However, it is also implied that the door simply closes or remains closed if the person has left the vehicle radio key before the opening process has begun.

According to an advantageous embodiment of the invention it is provided that the trunk door of the vehicle is or remains closed as soon as the vehicle radio key is further away from the vehicle than the predefined maximum key spacing. This is to prevent the trunk door from opening accidentally, for example. It is therefore a security-increasing measure. The door closes if it was already partially open. It remains closed if the person has left the vehicle radio key before the opening process has begun.

According to an advantageous embodiment of the invention it is provided that the leg component is a foot and / or lower leg. In particular, within the meaning of the invention, it is possible that no hard separation is made between foot and footwear. It is also possible that either the foot or footwear and the lower leg are or will be detected at the same time or only the lower leg. These leg components are no longer prevented from causing the trunk door to open, for example when carrying bags.

According to an advantageous embodiment of the invention it is provided that the predefined maximum key distance between the vehicle radio key and the vehicle is including 70 centimeters, preferably including 50 centimeters. It has been found that this enables reliable opening within the framework of the technically sensory possibilities, with an increased probability being prevented that unwanted, that is to say accidental, opening takes place.

According to an advantageous embodiment of the invention, it is provided that the distance sensor system is set up to carry out the method with a horizontal distance between the distance sensor system and the leg component of less than and including 70 centimeters, preferably less than and including 50 centimeters. It has been found that this enables safe and reliable opening within the framework of the technically sensory possibilities, with an increased probability being prevented that unwanted, ie accidental, opening takes place.

According to an advantageous embodiment of the invention it is provided that the distance sensor system is set up to carry out the method with a horizontal distance between the distance sensor system and the leg component greater than and including 40 centimeters, preferably greater than and including 45 centimeters. It has been found that this enables safe and reliable opening within the framework of the technically sensory possibilities, with an increased probability being prevented that unwanted, ie accidental, opening takes place.

According to an advantageous embodiment of the invention it is provided that the distance sensor system is an ultrasonic sensor system, the ultrasonic sensor system preferably having an image rate of 5 Hertz. An ultrasonic sensor system can, for example, already be present in the context of parking systems, so that no new, additional sensors need to be installed. It has also been found that the sensors are well suited for detecting the change in distance of a leg component.

According to an advantageous embodiment of the invention it is provided that during the first and / or fourth phase
at least 2 images, preferably at least 3 images, are detected at a frame rate of 5 Hertz, and / or
at most including 6 images, preferably including at most 5 images, can be detected at a frame rate of 5 Hertz. It has been found that, within this limit data frame, a pedaling movement can be easily distinguished from a running movement in an energy-saving manner.

According to an advantageous embodiment of the invention it is provided that during the second and / or third phase
at least 2 images, preferably at least 3 images, are detected at a frame rate of 5 Hertz, and / or
at most including 5 images, preferably including at most 4 images, can be detected at a frame rate of 5 Hertz. It has been found that, within this limit data frame, a pedaling movement can be easily distinguished from a running movement in an energy-saving manner.

According to an advantageous embodiment of the invention it is provided that during the second and / or third phase only one pedaling movement with at least 8 centimeters total distance, preferably at least 10 centimeters total distance, and / or
a maximum of 13 centimeters total distance, preferably a maximum of 15 centimeters total distance, is taken into account. It has been found that, within this limit data frame, a pedaling movement can be easily distinguished from a running movement in an energy-saving manner.

According to an advantageous embodiment of the invention, it is provided that the trunk door is only opened if the leg component is at most including 15 centimeters total distance, preferably at most including 10 centimeters total distance, from the position of the leg component during the first phase. This means that the leg component is ultimately back in its original position, with a deviation of 15 or 10 centimeters. This is advantageous in order to ensure that it is a step in accordance with the method. Otherwise it is possible that the person carries out another movement activity in the vicinity of the vehicle. The geometric center point, for example, can be used as a reference point on the horizontal plane. However, other methods are also possible, for example tip detection.

According to an advantageous embodiment of the invention, it is provided that the distance sensor system is an ultrasonic sensor system, the ultrasonic sensor system having a plurality of ultrasonic sensor units, at least two ultrasonic sensor units being horizontally between 55 and 60 centimeters, preferably 57 centimeters, apart. The ultrasonic sensor units that detect the pedaling movement are particularly preferably arranged so as to extend centrally over the rear of the vehicle in order to cover the widest possible detection area. In concrete terms, this means that not all of the ultrasonic sensor units in the rear area need to be activated for the detection of the pedaling movement, so that energy is saved as a result. It has been found that as a result, as far as possible, the entire detection area can be recorded that is suitable for a pedaling movement of a person who wants to open the trunk door.

According to an advantageous embodiment of the invention it is provided that the distance sensor system is an ultrasonic sensor system, the ultrasonic sensor system having a plurality of ultrasonic sensor units, at least two ultrasonic sensor units being vertically between 50 and 58 centimeters inclusive, preferably 54 centimeters, from the ground of the vehicle. The ultrasonic sensor units that detect the pedaling movement are particularly preferably arranged so as to extend centrally over the rear of the vehicle in order to cover the widest possible detection area. In concrete terms, this means that not all of the ultrasonic sensor units in the rear area need to be activated for the detection of the pedaling movement, so that energy is saved as a result. It has been found that as a result, as far as possible, the entire detection area can be recorded that is suitable for a pedaling movement of a person who wants to open the trunk door.

The invention is explained in more detail below with reference to the attached drawing on the basis of preferred embodiments. The features shown can represent an aspect of the invention both individually and in combination. Features of various exemplary embodiments can be transferred from one exemplary embodiment to another.

• 1 eine schematische Seitenansicht eines ersten Schritts einer Tretbewegung nach einer bevorzugten Ausführungsform der Erfindung,
• 2 eine schematische Seitenansicht eines zweiten Schritts einer Tretbewegung nach einer bevorzugten Ausführungsform der Erfindung,
• 3 eine schematische Seitenansicht eines dritten Schritts einer Tretbewegung nach einer bevorzugten Ausführungsform der Erfindung,
• 4 eine schematische Seitenansicht eines vierten Schritts einer Tretbewegung nach einer bevorzugten Ausführungsform der Erfindung,
• 5 ein Flussdiagramm eines nach einer bevorzugten Ausführungsform der Erfindung,
• 6 eine schematische Draufsicht auf ein Fahrzeug mit einem Abstandssensorsystem und einer Vielzahl von Sensoreinheiten,
• 7 ein schematisches Diagramm zur Darstellung einer Abstandsänderung zwischen einem Abstandssensorsystem und einer Beinkomponente im Rahmen vordefinierter Tretparameter,
• 8 ein schematisches Diagramm nach 7 mit weiteren Bereichsgebieten, und
• 9 ein Verbindungsdiagramm zum Abstandssensorsystem als Zustandsmaschine.

It shows

• 1 a schematic side view of a first step of a pedaling movement according to a preferred embodiment of the invention,
• 2 a schematic side view of a second step of a pedaling movement according to a preferred embodiment of the invention,
• 3 a schematic side view of a third step of a pedaling movement according to a preferred embodiment of the invention,
• 4th a schematic side view of a fourth step of a pedaling movement according to a preferred embodiment of the invention,
• 5 a flow chart of a according to a preferred embodiment of the invention,
• 6th a schematic top view of a vehicle with a distance sensor system and a plurality of sensor units,
• 7th a schematic diagram showing a change in distance between a distance sensor system and a leg component within the framework of predefined pedaling parameters,
• 8th a schematic diagram according to 7th with further areas, and
• 9 a connection diagram to the distance sensor system as a state machine.

The 1 to 4th show the sequence of an exemplary pedaling movement in the context of a preferred method within the meaning of the invention for recognizing a pedaling movement behind a vehicle 10 to open its trunk door, with a vehicle-integrated vehicle support system for carrying out at least one step of the method, having the following steps, see 5 : Detecting, with a proximity sensor system, one of the vehicle 10 person approaching behind 12th with a vehicle radio key that interacts with the proximity sensor system 100 ;
Activate one on the vehicle 10 rear distance sensor system 14th 200 as soon as the vehicle radio key has reached a predefined maximum key distance S. to the vehicle 10 reached;
Detect with the distance sensor system 14th , a change in distance between the distance sensor system 14th and a leg component 16 during a pedaling movement within a detection area D. 300 ;
Evaluation of the change in distance by a control unit 400 ;
Opening a trunk door of the vehicle 10 500 , provided that the evaluation of the change in distance 400 shows that the change in distance during the pedaling movement takes place within predefined pedaling parameters.

According to an advantageous embodiment of the invention, as shown in FIGS 1 to 4th and 7th to 9 illustrated, provided that
the predefined pedaling parameters have at least four phases, namely a first phase, with no change in distance between the distance sensor system during the pedaling movement 14th and the leg component 16 he follows 510 ;
a second phase, with a change in distance taking place during the pedaling movement such that the distance A. between the distance sensor system 14th and the leg component 16 becomes less 520 ;
a third phase, with a change in distance taking place during the pedaling movement such that the distance A. between the distance sensor system 14th and the leg component 16 gets bigger 530 ;
a fourth phase, with no change in distance between the distance sensor system during the pedaling movement 14th and the leg component 16 he follows 540 .

A joint consideration of the 1 and 2 shows on the basis of the decreasing distance that the person 12th the vehicle 10 approaching the rear. This corresponds to step 100 of the procedure.

This is a on the vehicle 10 rear distance sensor system 14th activated 200 as soon as the vehicle radio key has reached a predefined maximum key distance S. to the vehicle 10 reached. The vehicle radio key is not explicitly drawn in, but is used by the person shown 12th guided.

3 shows the pedaling motion of the steps of the first, second and third phase 510 , 520 and 530 within the detection area D. summarized.

This is followed by the fourth phase, shown in 4th , with no change in distance between the distance sensor system during the pedaling movement 14th and the leg component 16 he follows 540 .

According to an advantageous embodiment of the invention it is provided that during the first and / or fourth phase
at least 2 images, preferably at least 3 images, are detected at a frame rate of 5 Hertz, and / or
at most including 6 images, preferably including at most 5 images, can be detected at a frame rate of 5 Hertz.

According to an advantageous embodiment of the invention it is provided that during the second and / or third phase
at least 2 images, preferably at least 3 images, are detected at a frame rate of 5 Hertz, and / or
at most including 5 images, preferably including at most 4 images, can be detected at a frame rate of 5 Hertz.

According to an advantageous embodiment of the invention it is provided that during the second and / or third phase only one pedaling movement with at least 8 centimeters total distance, preferably at least 10 centimeters total distance, and / or
a maximum of 13 centimeters total distance, preferably a maximum of 15 centimeters total distance, is taken into account.

Finally the trunk door of the vehicle 10 open 500 , provided that the evaluation of the change in distance 400 shows that the change in distance during the pedaling movement occurred within predefined pedaling parameters. The Opening the trunk door of the vehicle 10 is not shown.

According to an advantageous embodiment of the invention it is provided that the trunk door is only opened when the leg component 16 during the fourth phase at most including 15 centimeters total distance, preferably at most including 10 centimeters total distance from the position of the leg component 16 is removed during the first phase. Here is the leg component 16 when comparing the 2 and 4th symbolically shown in the same position.

According to an advantageous embodiment of the invention, as shown in FIGS 1 to 4th shown provided that the leg component 16 is a footwear. An unshod foot and / or a lower leg are also possible.

The 7th and 8th show the detection results of the change in distance of such a pedaling movement.

According to an advantageous embodiment of the invention it is provided that the opening of the trunk door of the vehicle 10 500 is interrupted as soon as the vehicle radio key is removed from the vehicle 10 away than the predefined maximum key spacing S. .

According to an advantageous embodiment of the invention it is provided that the trunk door of the vehicle 10 500 is or remains closed as soon as the remote control key is removed from the vehicle 10 away than the predefined maximum key spacing S. .

6th shows a plan view of a vehicle 10 with a large number of individual sensor units of a distance sensor system 14th . According to an advantageous embodiment of the invention, it is provided that the distance sensor system 14th is an ultrasonic sensor system, wherein the ultrasonic sensor system preferably has a frame rate of 5 Hertz.

According to an advantageous embodiment of the invention is according to 6th symbolically represented that the distance sensor system 14th is an ultrasonic sensor system, wherein the ultrasonic sensor system has a plurality of ultrasonic sensor units, wherein at least two ultrasonic sensor units are horizontally between 55 and 60 centimeters inclusive, preferably 57 centimeters apart.

According to an advantageous embodiment of the invention it is provided that the distance sensor system 14th is an ultrasonic sensor system, wherein the ultrasonic sensor system has a plurality of ultrasonic sensor units, wherein at least two ultrasonic sensor units vertically between 50 and 58 centimeters inclusive, preferably 54 centimeters from the ground of the vehicle 10 are away.

According to an advantageous embodiment of the invention it is provided that the predefined maximum key spacing S. between the vehicle radio key and the vehicle 10 is 70 centimeters inclusive, preferably 50 centimeters inclusive. This is symbolic in 9 explained.

According to an advantageous embodiment of the invention it is provided that the distance sensor system 14th the method is set up to be carried out at a horizontal distance A. between the distance sensor system 14th and the leg component 16 less than and including 70 centimeters, preferably less than and including 50 centimeters. This is the maximum distance that can be detected A_max between the distance sensor system 14th and the leg component 16 to 8th . This means that no measurement results are included in the evaluation of the change in distance by the control unit 400 are included that are not within this limit.

According to an advantageous embodiment of the invention it is provided that the distance sensor system 14th the method is set up to be carried out at a horizontal distance A. between the distance sensor system 14th and the leg component 16 greater than and including 40 centimeters, preferably greater than and including 45 centimeters. This is according to 8th the smallest yet reliably detectable distance A_limit between the distance sensor system 14th and the leg component 16 . This means that no measurement results are included in the evaluation of the change in distance by the control unit 400 are included that are not within this limit.

The steps of the first phase, with no change in distance between the distance sensor system during the pedaling movement 14th and the leg component 16 he follows 510 and the step of the fourth phase, wherein no change in distance between the distance sensor system during the pedaling movement 14th and the leg component 16 he follows 540 , as in the 8th shown by way of example, one tolerance each Tolerance_1 or tolerance 2. Standing still of the leg component can be within this tolerance 16 deviate from the above specifications.

For example, a difference in the data can be plus / minus 10 percent inclusive.

9 shows a connection diagram with the individual phases 510 , 520 , 530 and 540 of the distance sensor system 14th as a state machine for the preferred pedaling movement after the 7th and 8th . According to this, a basic state consists in the fact that basically nothing happens. The first phase is called waiting, with no change in distance between the distance sensor system during the pedaling movement 14th and the leg component 16 he follows 510 . The wait occurs only when the leg component 16 has been detected and a constant distance A. to the distance sensor system 14th with the maximum key spacing S. remains undershot by the vehicle radio key. Once the leg component 16 can no longer be detected, i.e. is considered lost, or their distance A. to the distance sensor system 14th is not constant, the process is interrupted and nothing happens. The second phase then takes place, with a change in distance taking place during the pedaling movement in such a way that the distance A. between the distance sensor system 14th and the leg component 16 becomes less 520 , and the third phase, wherein a change in distance takes place during the pedaling movement in such a way that the distance A. between the distance sensor system 14th and the leg component 16 gets bigger 530 . The second and third phases are called the pedaling movement. If the pedaling movement is too slow, the first phase is initiated again. If the pedaling movement takes place within predefined parameters, the fourth phase is initiated, with no change in distance between the distance sensor system during the pedaling movement 14th and the leg component 16 he follows 540 . The distance sensor system 14th has its activity and nothing happens. Next can be independent of the distance sensor system 14th the trunk door of the vehicle 10 be opened 500 .

List of reference symbols

10

vehicle

12th

person

14th

Distance sensor system

16

Leg component

100

Detecting, with a proximity sensor system, a person approaching the rear of the vehicle with a vehicle radio key interacting with the proximity sensor system

200

Activation of a distance sensor system on the rear of the vehicle as soon as the vehicle radio key reaches a predefined maximum key distance from the vehicle

300

Detecting, with the distance sensor system, a change in distance between the distance sensor system and a leg component during a pedaling movement within a detection area

400

Evaluation of the change in distance by a control unit

500

Opening a trunk door of the vehicle, provided that the evaluation of the change in distance shows that the change in distance occurs during the pedaling movement within predefined pedaling parameters

510

first phase, with no change in distance between the distance sensor system and the leg component taking place during the pedaling movement

520

second phase, wherein a change in distance takes place during the pedaling movement in such a way that the distance between the distance sensor system and the leg component becomes smaller

530

third phase, wherein a change in distance takes place during the pedaling movement in such a way that the distance between the distance sensor system and the leg component increases

540

fourth phase, with no change in distance between the distance sensor system and the leg component taking place during the pedaling movement

A.

Distance between the distance sensor system and the leg component

A_max

Maximum distance to be detected between the distance sensor system and the leg component

A_limit

At least detectable distance between the Distance sensor system and the leg component

D.

Detection area

S.

Key spacing

Tolerance_1

Tolerance range for the first phase

Tolerance_2

Tolerance range for the fourth phase

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• EP 1143092 B1 [0007]
• US 2018/0163454 [0008]
• US 8228166 B2 [0009]

Claims (20)

A method for detecting a pedaling movement behind a vehicle (10) to open the trunk door, with a vehicle-integrated vehicle support system for performing at least one step of the method, comprising the following steps: - Detecting, with a proximity sensor system, a person (12) approaching the rear of the vehicle (10) with a vehicle radio key (100) interacting with the proximity sensor system; - Activation of a distance sensor system (14) (200) on the rear of the vehicle (10) as soon as the vehicle radio key reaches a predefined maximum key distance (S) from the vehicle (10); - Detecting, with the distance sensor system (14), a change in distance between the distance sensor system (14) and a leg component (16) during a pedaling movement within a detection area (D) (300); - Evaluation of the change in distance by a control device (400); - Opening a trunk door of the vehicle (10) (500), provided that the evaluation of the change in distance (400) shows that the change in distance occurs during the pedaling movement within predefined pedaling parameters. Procedure according to Claim 1 , characterized in that the predefined pedaling parameters have at least four phases, namely - a first phase, with no change in distance between the distance sensor system (14) and the leg component (16) taking place during the pedaling movement (510); - a second phase, wherein during the pedaling movement a change in distance takes place in such a way that the distance (A) between the distance sensor system (14) and the leg component (16) becomes smaller (520); - A third phase, wherein a change in distance takes place during the pedaling movement in such a way that the distance (A) between the distance sensor system (14) and the leg component (16) increases (530); - A fourth phase, with no change in distance between the distance sensor system (14) and the leg component (16) taking place (540) during the pedaling movement. Procedure according to Claim 1 or 2 , characterized in that the opening of the trunk door of the vehicle (10) (500) is interrupted as soon as the vehicle radio key is further away from the vehicle (10) than the predefined maximum key distance (S). Method according to at least one of the preceding claims, characterized in that the trunk door of the vehicle (10) (500) is or remains closed as soon as the vehicle radio key is further away from the vehicle (10) than the predefined maximum key distance (S). Method according to at least one of the preceding claims, characterized in that the leg component (16) is a foot and / or lower leg. Method according to at least one of the preceding claims, characterized in that the predefined maximum key distance (S) between the vehicle radio key and the vehicle (10) is including 70 centimeters, preferably including 50 centimeters. The method according to at least one of the preceding claims, characterized in that the distance sensor system (14) is set up to carry out the method at a horizontal distance (A) between the distance sensor system (14) and the leg component (16) of less than and including 70 centimeters, preferably less than and including 50 Centimeter. The method according to at least one of the preceding claims, characterized in that the distance sensor system (14) is set up to carry out the method at a horizontal distance (A) between the distance sensor system (14) and the leg component (16) greater than and including 40 centimeters, preferably greater than and including 45 Centimeter. Method according to at least one of the preceding claims, characterized in that the distance sensor system (14) is an ultrasonic sensor system, the ultrasonic sensor system preferably having an image rate of 5 Hertz. Method according to at least one of the Claims 2 to 9 , characterized in that during the first and / or fourth phase at least 2 images, preferably at least 3 images, are detected at a frame rate of 5 Hertz, and / or at most including 6 images, preferably including at most 5 images, at a frame rate of 5 Hertz can be detected. Method according to at least one of the Claims 2 to 10 , characterized in that during the second and / or third phase at least 2 images, preferably at least 3 images, are detected at a frame rate of 5 Hertz, and / or at most including 5 images, preferably including at most 4 images, at a frame rate of 5 Hertz can be detected. Method according to at least one of the Claims 2 to 10 , characterized in that during the second and / or third phase only one pedaling movement with a total distance of at least 8 centimeters, preferably a total distance of at least 10 centimeters, and / or a total distance of at most 13 centimeters, preferably a total distance of at most 15 centimeters, is taken into account. Method according to at least one of the Claims 2 to 11 , characterized in that the trunk door is only opened if the leg component (16) is removed from the position of the leg component (16) during the first phase during the fourth phase at most including 15 centimeters in total, preferably at most including 10 centimeters in total distance. Method according to at least one of the preceding claims, characterized in that the distance sensor system (14) is an ultrasonic sensor system, the ultrasonic sensor system having a plurality of ultrasonic sensor units, at least two ultrasonic sensor units being horizontally between 55 and 60 centimeters, preferably 57 centimeters, apart. The method according to at least one of the preceding claims, characterized in that the distance sensor system (14) is an ultrasonic sensor system, the ultrasonic sensor system having a plurality of ultrasonic sensor units, at least two ultrasonic sensor units vertically between 50 and 58 centimeters inclusive, preferably 54 centimeters from the ground of the vehicle (10) are removed. Vehicle support system with means for recognizing a pedaling movement behind a vehicle (10) for opening the trunk door of the vehicle, for carrying out the method according to at least one of the preceding claims. Vehicle with a vehicle support system according to the preceding claim. Computer program, comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out a method according to at least one of the preceding claims. Data carrier signal which the computer program according to the preceding claim transmits. Computer-readable medium, comprising instructions which, when executed by a computer, cause the computer to carry out a method according to at least one of the preceding claims.

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