EP4034738A1 - Système de capteur radar et procédé de déplacement sans contact d'une porte de véhicule par rapport à une carrosserie de véhicule - Google Patents

Système de capteur radar et procédé de déplacement sans contact d'une porte de véhicule par rapport à une carrosserie de véhicule

Info

Publication number
EP4034738A1
EP4034738A1 EP20786249.1A EP20786249A EP4034738A1 EP 4034738 A1 EP4034738 A1 EP 4034738A1 EP 20786249 A EP20786249 A EP 20786249A EP 4034738 A1 EP4034738 A1 EP 4034738A1
Authority
EP
European Patent Office
Prior art keywords
operating mode
radar sensor
sensor system
vehicle door
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20786249.1A
Other languages
German (de)
English (en)
Inventor
Christian Schmidt
Bernd Herthan
Carsten Topf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brose Fahrzeugteile SE and Co KG
Original Assignee
Brose Fahrzeugteile SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brose Fahrzeugteile SE and Co KG filed Critical Brose Fahrzeugteile SE and Co KG
Publication of EP4034738A1 publication Critical patent/EP4034738A1/fr
Pending legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05B—LOCKS; ACCESSORIES THEREFOR; HANDCUFFS
    • E05B81/00—Power-actuated vehicle locks
    • E05B81/54—Electrical circuits
    • E05B81/64—Monitoring or sensing, e.g. by using switches or sensors
    • E05B81/76—Detection of handle operation; Detection of a user approaching a handle; Electrical switching actions performed by door handles
    • E05B81/78—Detection of handle operation; Detection of a user approaching a handle; Electrical switching actions performed by door handles as part of a hands-free locking or unlocking operation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/763—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using acoustical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/80—User interfaces
    • E05Y2400/85—User input means
    • E05Y2400/856—Actuation thereof
    • E05Y2400/858—Actuation thereof by body parts, e.g. by feet
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/546—Tailboards, tailgates or sideboards opening upwards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/505—Systems of measurement based on relative movement of target using Doppler effect for determining closest range to a target or corresponding time, e.g. miss-distance indicator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
    • G01S7/4013—Means for monitoring or calibrating of parts of a radar system of transmitters involving adjustment of the transmitted power

Definitions

  • the invention relates to a system for the contactless adjustment of a vehicle door relative to a vehicle body according to the preamble of claim 1 and a method for the contactless adjustment of a vehicle door relative to a vehicle body.
  • Such a system comprises an adjusting device for adjusting the vehicle door, a radar sensor system for detecting a gesture to be performed by a user in the area of the vehicle door and a control device for controlling the adjusting device as a function of a detection by the radar sensor system.
  • a vehicle door can be, for example, a tailgate or a vehicle side door of a vehicle.
  • the radar sensor system is intended to detect that a user is in the area of the vehicle door, whereby the user has to perform a predetermined gesture, for example a kick gesture with his foot, to adjust the vehicle door, for example to open a tailgate, which is recognized accordingly by the radar sensor system and interpreted as an adjustment command.
  • a predetermined gesture for example a kick gesture with his foot
  • Such a radar sensor system is known, for example, from EP 3 141 433 B1 and DE 30 102007041 288 A1.
  • a radar sensor system that can perform a high-resolution measurement for spatial localization and movement of objects for gesture recognition and in this way enables gesture recognition usually has a comparatively high output and correspondingly a high energy requirement.
  • Such a radar sensor system is therefore usually only switched on when gesture recognition is to be carried out, but is in a switched off state when no adjustment movement is to be carried out on the vehicle door.
  • the radar sensor system is switched on as a function of recognition of a radio key that a user carries with him and that can be recognized by a vehicle system. If a radio key is recognized in the vicinity of the vehicle, the radar sensor system can be switched to its active state in order to carry out gesture recognition in the area of the vehicle door.
  • EP 3 141 433 B1 recognizes whether a mobile device of a user is located in a communication area of a motor vehicle in order to activate a radar sensor as a function of such recognition.
  • the object of the present invention is to provide a system and method for the contactless adjustment of a vehicle door relative to a vehicle body, which, if necessary, can also do without recognition of a radio key or other communication device of a user.
  • the radar sensor system is designed to detect a movement in a detection area in the vicinity of the vehicle door in a first operating mode and to detect a gesture for adjusting the vehicle door in a second operating mode, the radar sensor system being designed when a movement is detected in the first operating mode to switch to the second operating mode.
  • the radar sensor system accordingly has two operating modes.
  • a first operating mode there is (only) a detection of a movement in the vicinity of the vehicle door.
  • the first operating mode is used to activate the second operating mode by switching to the second operating mode as a function of detection in the first operating mode.
  • gesture recognition takes place, so that the vehicle door is not adjusted until the second operating mode is activated by activating the adjusting device for electric motor adjustment.
  • the first operating mode can have a reduced energy consumption.
  • the first operating mode can thus be a low-energy mode that only requires a reduced amount of energy to be supplied to the vehicle.
  • gesture recognition requires, for example, high-resolution recognition and localization of an object in the area of the vehicle door.
  • the radar sensor system In the second operating mode, the radar sensor system has a considerable energy requirement for recognizing a gesture, with the result that the radar sensor system cannot be operated permanently in the second operating mode without significantly loading the energy supply of the vehicle, in particular a vehicle battery. For this reason, the radar sensor system in the present case has a first operating mode that has reduced energy consumption, so that operating the radar sensor system in the first operating mode over a longer period of time only leads to reduced stress on the vehicle's energy supply.
  • the radar sensor system switches from the first operating mode to the second operating mode in order to recognize a gesture possibly carried out by a user in the second operating mode and to initiate an activation of the adjusting device for the electric motor-driven adjustment of the vehicle door.
  • this enables a user (when the vehicle is unlocked or with other authentication) to approach a tailgate and open it without contact via the radar sensor system, in that the radar sensor system first detects an approach of the user to the tailgate in the first operating mode, then in the second operating mode is switched and when a predetermined gesture is carried out, for example a kick gesture, an adjustment of the tailgate, for example to open it, is initiated in the region of the tailgate.
  • a predetermined gesture for example a kick gesture
  • the radar sensor system can be designed to measure a speed of an object in the detection area in the first operating mode. Such a speed measurement can take place, for example, by means of a Doppler frequency measurement, in that the radar sensor system evaluates a Doppler frequency of a reflected received signal and deduces from this the speed of an object in the detection area.
  • the radar sensor system can be designed to send a transmission signal in the first operating mode with a frequency bandwidth that is reduced compared to the second operating mode.
  • the radar sensor system can work, for example, in a frequency range around 24 GHz or between 77-81 GHz. While a total available bandwidth is used in the second operating mode, for example to emit modulated transmission signals in pulse form or as continuous signals, in the first operating mode, for example, only part of the available bandwidth is used to ensure energy-efficient transmission of signals and to enable energy-efficient signal processing for evaluating received signals.
  • the radar sensor system can be designed to work as a continuous wave radar in the first operating mode, in that the radar sensor system transmits a continuous transmission signal at a predetermined transmission frequency.
  • a continuous wave radar also referred to as CW radar (CW: from the English "continuous wave"), is designed to send out a transmission signal in the form of an electromagnetic wave at a defined transmission frequency Patch antenna, the radar sensor system has defined directional characteristics and thus emits the continuous transmission signal in a predetermined spatial direction or in a predetermined spatial area.
  • the transmission signal can be unmodulated, for example, a speed of a moving object, in particular in an approach direction (radial to the radar sensor system), being able to be determined on the basis of a received reflection signal by evaluating a Doppler frequency.
  • energy consumption in the first operating mode can be reduced in that the radar sensor system in the first operating mode, for example, carries out a smaller number of measurements per unit of time compared to the second operating mode.
  • a spatial resolution can be reduced in the first operating mode compared to the second operating mode. With a reduced number of measurements and also with a reduced resolution, the transmission power can be reduced and the signal processing can also be simplified, so that the first operating mode has a reduced energy consumption.
  • the number of measurements per unit of time in the first operating mode can be permanently set. However, it is also conceivable and possible to adaptively set the number of measurements in the first operating mode, for example on the basis of information that is obtained via a higher-level control system.
  • the measurement frequency can be adapted, for example, as a function of time or as a function of an operating state of the vehicle. For example, the number of measurements can be reduced at night compared to daytime operation. In addition, when the engine is running but the vehicle is stationary, the measurement frequency can be increased compared to when the vehicle is idle (with the engine switched off).
  • the radar sensor system is designed to detect, in the first operating mode, a movement that indicates a user is approaching the vehicle door, if a speed of an object is above a speed threshold and / or a signal strength of a reflected signal is above a signal strength threshold lies.
  • the radar sensor system thus only identifies such a movement as an approach of a user which differs sufficiently from conventional signals, in particular background signals and noise signals, and is above a threshold for this purpose. For example, it is only concluded that a user is approaching if the user approaches the vehicle door at a sufficiently high speed, which can be recognized, for example, by a Doppler frequency in a reflection signal. Additionally or alternatively, for example, it is only concluded that a user is approaching if reception of the reflection signal is sufficiently strong, thus a reflection signal with sufficient signal strength is received.
  • the radar sensor system is designed to only respond in the first operating mode to a movement that is based on a user approaching the Vehicle door indicates to recognize when the speed of the object is above the speed threshold but below an upper speed limit and / or when the signal strength of the reflected signal is above the signal strength threshold but below an upper signal strength limit.
  • an approach of a user should only be recognized if the speed of an object and / or the signal strength of a reflected signal is above a lower threshold but below an upper limit.
  • the radar sensor system thus identifies, for example, only such a movement as the approach of a user in which an object is moving at a speed above the speed threshold but below the upper speed limit. Only when the speed of the detected object is within the corridor defined by the lower speed threshold and the upper speed limit is an approach of a user recognized. In this way, for example, motion detection due to a passing vehicle can be suppressed.
  • the radar sensor system is designed to evaluate a direction of a movement of an object or location information on a moving object in the first operating mode and / or in the second operating mode.
  • the direction in which an object approaches the vehicle can be evaluated in the first operating mode.
  • an approach angle at which an object approaches the vehicle can be determined.
  • the first operating mode is only switched to the second operating mode when an object approaches the vehicle within a defined angular range.
  • An approach angle can be determined in the plane (azimuth).
  • An approach angle can also be determined in height (elevation). For example, it can be concluded that a user is approaching when a movement of an object is detected at or above a certain height, that is to say the object is greater than a predetermined height. For this purpose, it can be evaluated whether an approach is therefore taking place at an elevation angle that is greater than a lower limit angle. In this way, for example, triggering by animals can be avoided.
  • gesture recognition can only be carried out in an area within which a foot usually moves. Triggering by an arm movement can be excluded in this case, for example.
  • the approach angle for example an azimuth angle and / or an elevation angle, can also be evaluated in the second operating mode.
  • Such directional information can also be taken into account when recognizing a gesture, so that, for example, only a gesture that is carried out in a specific direction with respect to the vehicle is recognized as a permissible, triggering gesture.
  • Directional information can be obtained in the radar sensor system, for example, by measuring the angle using the monopulse method.
  • the radar sensor system has a monopulse antenna which is formed by an antenna group which has a multiplicity of individual antennas, for example patch antennas.
  • a plurality of received signals are formed from a transmitted measurement pulse from the radar sensor system, which signals enable the position of an object to be determined, in particular an angle determination, within the detection area defined by the antenna diagram.
  • the antenna group of the monopulse antenna is divided into a left and a right half.
  • each of the left and right antenna halves is divided into an upper and a lower half. This enables a three-dimensional angle determination, in particular for determining an azimuth angle and an elevation angle.
  • a communication device for example a radio key or a mobile device such as a mobile phone or the like
  • a communication device for example a radio key or a mobile device such as a mobile phone or the like
  • a sensitivity that is set on the radar sensor system can be permanently configured or can be adapted dynamically during operation.
  • one or more thresholds for example the speed threshold and / or the signal strength threshold, can be adjusted so that the sensitivity for detecting the approach of an object can be variably adjusted in the first operating mode.
  • different information can be used to adjust the sensitivity.
  • the radar system can be designed to use movement information obtained by the radar sensor system itself about a movement in the area of the vehicle door in order to set a sensitivity of the system on the basis of such movement information. From such movement information it can be derived, for example, whether there is generally a lot of movement in the area of the vehicle door, for example because a large number of objects are moving in the area of the vehicle door. Such a background movement can be caused, for example, by children playing in the area of the vehicle door, by vegetation, e.g.
  • the radar sensor system can be designed to adapt the sensitivity on the basis of information obtained by a further sensor device.
  • a further sensor device can be, for example, a rain sensor which indicates whether rain is occurring in the area of the vehicle, in particular also in the area of the vehicle door. Rain can are detected by the radar system as a movement in the area of the vehicle door, but should not lead to a switch to the second operating mode. Accordingly, when it rains, for example, the sensitivity in the first operating mode can be adapted, in particular reduced.
  • the radar sensor system can be designed to set the sensitivity for motion detection in the first operating mode on the basis of information received from a further vehicle system.
  • the further vehicle system can be a higher-level control system of the vehicle, which sends the radar sensor system, for example, information about whether and when the vehicle has been put into operation. If the vehicle has not been operated for a longer period of time, the sensitivity in the first operating mode can be reduced, for example, in order to reduce the probability of switching from the first operating mode to the second operating mode and thus to reduce the power requirement. If the radar sensor system is informed via the control system that the vehicle is in operation (for example when the engine is running but the vehicle is stationary), the sensitivity in the first operating mode can be increased, for example, in order to enable the probability of switching to the second operating mode to increase a gesture recognition.
  • the superordinate control system for example, information about the habits of a driver, for example normal operating times, can also be transmitted to the radar sensor system, so that the sensitivity in the first operating mode can be adapted as a function of such habits. If, for example, information about the fact that a user usually adjusts the vehicle door to open or close in a certain time window, for example in the morning or in the evening, is known and stored in a higher-level control system, the radar sensor system can use this information to determine the sensitivity in the first operating mode adapt so that the sensitivity is increased in the specific time windows, for example, in order to increase the probability of switching to the second operating mode.
  • the higher-level control system can also provide the radar sensor system with information, for example about the position of the vehicle, for example an angle of inclination and / or incline (pitch angle and roll angle), or an environmental condition, for example the temperature, in order to use it to obtain information about the Derive the surroundings of the vehicle, based on which the sensitivity can be adjusted.
  • information for example about the position of the vehicle, for example an angle of inclination and / or incline (pitch angle and roll angle), or an environmental condition, for example the temperature, in order to use it to obtain information about the Derive the surroundings of the vehicle, based on which the sensitivity can be adjusted.
  • the radar sensor system can be designed to use geolocation information to set a sensitivity for motion detection in the first operating mode.
  • Geolocation information contains information about where the vehicle is currently located, for example where the vehicle is currently parked. Based on the parking position of the vehicle and information derived therefrom about objects in the vicinity of the vehicle, a sensitivity in the first operating mode can be adjusted if, for example, it is known from the geolocation information that movable objects are present in the area of the vehicle door.
  • the radar sensor system can be designed to use time information to set a sensitivity for motion detection in the first operating mode.
  • the sensitivity can be adjusted based on information about the time of day.
  • the sensitivity can be set to a different value during the day than at night.
  • the adaptation of the sensitivity can include, for example, an adaptation of the threshold values.
  • a measurement frequency in the first operating mode that is to say the number of measurements per unit of time, can also be adapted.
  • the radar sensor system is designed to carry out pattern recognition of a movement in the first operating mode in order to distinguish a movement that does not indicate that a user is approaching the vehicle door from a movement that indicates that a user is approaching the vehicle door, to distinguish.
  • objects can move repeatedly in the area of the vehicle door, for example branches of trees or the like.
  • Such a movement can, for example, follow a specific pattern and is characterized, for example, by an alternating back and forth movement, which can be recognized accordingly by the radar sensor system.
  • a certain movement pattern in a recurring manner for example caused by a back and forth movement of an object
  • the radar sensor system can mask such a movement and not take it into account for switching to the second operating mode. Movement patterns that do not indicate a user and an approach to the vehicle door are thus distinguished from a movement of a user who is approaching the vehicle door.
  • a user can usually also perform a specific movement to approach the vehicle door and, for example, approach the vehicle door from a specific direction at a specific speed.
  • Information about such a movement pattern can be stored so that a movement recorded in the first operating mode can be compared with a predetermined pattern in order to identify an approach of a user to the vehicle door on the basis of such a pattern comparison.
  • the radar sensor system is designed to switch from the second operating mode to the first operating mode after a predetermined time. If no gesture is recognized in the second operating mode within a predetermined period of time, this indicates that an approach of a user to the vehicle door has been incorrectly recognized in the first operating mode and has been incorrectly switched to the second operating mode. Accordingly, it is switched back to the first operating mode after the predetermined period of time has expired.
  • the sensitivity in the first operating mode can then be adapted and, for example, reduced by the probability of switching to the second operating mode and avoid excessively frequent switching to the second operating mode. It is therefore dependent on whether a gesture is actually recognized in the second operating mode in response to a motion detection in the first operating mode, the sensitivity in the first operating mode adapted in order to switch to the second operating mode less frequently if an incorrect switch to the second operating mode is too frequent occurs.
  • the radar sensor system can have a third operating mode, which corresponds to a sleep mode.
  • the radar sensor system is in sleep mode switched off, so that no gesture recognition and no motion recognition takes place and thus the radar sensor system consumes no (or only very little) energy.
  • the radar sensor system can be switched to sleep mode, for example, if the vehicle is stationary for a long period of time.
  • the radar sensor system can be woken up from the idle mode, for example, via a wake-up signal that is fed to the radar sensor system via a bus system, for example a LIN bus.
  • the radar sensor system can, for example, be switched to the third operating mode when the vehicle is moving. If the vehicle stops, the radar sensor system can automatically be switched to the first operating mode by a bus signal via the bus system of the vehicle.
  • the system can also be combined with a communication device, for example a radio key or a mobile device such as a mobile phone or the like.
  • a communication device for example a radio key or a mobile device such as a mobile phone or the like.
  • the radar sensor system can, for example, switch directly to the second operating mode.
  • the radar sensor system can thus be switched to the second operating mode in order to enable gesture recognition, regardless of the recognition of an approach of a user in the first operating mode.
  • a sensitivity in the first operating mode can be adapted, for example by increasing a measurement frequency.
  • a communication device for example a radio key
  • the probability that the radar sensor system will switch from the first operating mode to the second operating mode is increased.
  • a key recognition mode can be switched to in the first operating mode, in which a vehicle communication system of the vehicle waits for communication with a communication device, for example a radio key. Becomes a If a communication device is recognized in the reception area of the vehicle communication system and a user is thus authenticated, the radar sensor system can be switched to the second operating mode.
  • a key recognition mode can be switched to in the first operating mode, in which a vehicle communication system of the vehicle waits for communication with a communication device, for example a radio key.
  • the radar sensor system can be switched to the second operating mode. If no communication device is recognized in the reception area of the vehicle communication system within a predetermined period of time and no user is thus authenticated, it is possible to switch back to the first operating mode of the radar sensor system. In this case, the vehicle door is opened in the second operating mode - even if a gesture has been recognized - only after authentication through recognition of a radio key.
  • the radar sensor system can also be used for other vehicle functions, for example for a distance measuring system that is used as part of a parking assistant, or for collision protection when the vehicle door is opened.
  • the information about the surroundings of the vehicle obtained by means of the radar sensor system can also be forwarded to a higher-level control system of the vehicle, so that the higher-level control system receives information about a movement in the area of the vehicle door and about the presence of objects in the area of the vehicle door.
  • the object is also achieved by a method for the contactless adjustment of a vehicle door relative to a vehicle body, which has: Detection of a gesture to be carried out by a user in the area of the vehicle door by a radar sensor system and control of an adjusting device for adjusting the vehicle door by a control device as a function of a Detection by the radar sensor system. It is provided that the radar sensor system detects a movement in a detection area in the vicinity of the vehicle door in a first operating mode and detects a gesture for adjusting the vehicle door in a second operating mode, the radar sensor system in the second when a movement is detected in the first operating mode Operating mode switches.
  • Fig. 1 is a schematic view of a vehicle with one on one
  • FIG. 2 is a schematic view of a vehicle depicting a user performing a gesture to open a vehicle door;
  • FIG. 3 is a graphical view of a transmission signal and reflection signals of a radar sensor system
  • Fig. 4 is a schematic view of an embodiment of a
  • FIG. 1 shows a schematic view of a vehicle 1 which has a vehicle door 11, which is arranged pivotably with respect to a vehicle body 10, in the form of a tailgate arranged at the rear of the vehicle 1.
  • the vehicle door 11 can be adjusted relative to the vehicle body 10 via an electromotive adjusting device 2, for example in the form of a spindle drive or the like, in order to move the vehicle door 11 along an opening direction O from a closed position to an open one To bring position or, conversely, to close against the opening direction O from an open position.
  • an electromotive adjusting device 2 for example in the form of a spindle drive or the like
  • a control device 4 is used to control the adjustment device 2.
  • Signals can be detected via a radar sensor system 3 in order to detect an approach of a user U in a detection area E on the vehicle door 11 and, if the user makes a predetermined gesture, for example a kick gesture with his foot (see FIG. 2) Performs area of the vehicle door 11, an adjustment of the To initiate vehicle door 11, for example opening of vehicle door 11, in that control device 4 is actuated to actuate adjustment direction 2.
  • a predetermined gesture for example a kick gesture with his foot (see FIG. 2)
  • the radar sensor system 3 which is shown in an exemplary embodiment in FIG. 4, has different operating modes, which in particular can enable keyless access to the vehicle door 11 and contactless adjustment of the vehicle door 11 without, for example, a radio key.
  • the radar sensor system 3 according to FIG. 4 is connected to an energy supply 8 of the vehicle 1, for example a vehicle battery, and has a transmitting and receiving device 30 and a control and evaluation unit 31.
  • the transmitting and receiving device 30 can, for example, be an antenna, for example in the form of a patch antenna with a predetermined directional characteristic for transmitting and receiving signals T, R in the detection area E, as well as electrical circuits for signal amplification and signal filtering for transmitting and receiving Signals T, R have.
  • transmission signals T can be transmitted in a predetermined frequency range and reception signals R can be received via the transmission and reception device 30.
  • the radar sensor system 3 can work, for example, in a frequency range around 24 GHz or between 77 and 81 GHz and send and receive signals T in different channels and process assigned received signals R.
  • the control and evaluation unit 31 is used, for example, to modulate transmission signals T and to evaluate received signals R in order to derive information about a movement and localization of an object in the detection area E based on the reception signals R.
  • the control and evaluation unit 31 is designed to operate the radar sensor system 3 in a first operating mode 32 in which the energy consumption of the radar sensor system 3 is reduced.
  • a first operating mode 32 an approach of a user U to the vehicle door 11 is to be detected, for this purpose the radar sensor system 3 in the first operating mode 32 is operated, for example, as a continuous wave radar (so-called CW radar) and a transmission signal T in the form of a continuous, unmodulated signal emits a predetermined transmission frequency.
  • CW radar continuous wave radar
  • a transmission signal T in the form of a continuous, unmodulated signal emits a predetermined transmission frequency.
  • a movement of an object can be measured using a Doppler frequency, for example.
  • a transmission signal T can be transmitted at a predetermined frequency f 1, for example at 79 GHz.
  • a so-called Doppler shift occurs in a reception signal R1, R2, which causes the reception signal R1, R2 to have a frequency difference to the transmission signal T.
  • An object moving away radially causes, for example, a frequency shift in the received signal R2 towards a reduced frequency fD2.
  • an approaching object causes a frequency shift in the received signal R1 towards an increased frequency fD1.
  • a speed in the radial direction to the radar sensor system 3 can be determined from the magnitude of the frequency shift, so that the speed of an object relative to the radar sensor system 3 can be measured by Doppler frequency measurement.
  • the radar sensor system 3 switches to a second operating mode 33 in which gesture recognition is carried out.
  • the energy consumption is reduced. This can be achieved, for example, in that in the first operating mode 32 measurements are carried out with a reduced frequency, a spatial resolution is also limited and an operating mode is simplified in that the radar sensor system 3 works, for example, as a continuous wave radar and, for example, only speed information is measured.
  • the second operating mode 33 a measurement is carried out with high temporal and spatial resolution, so that a gesture that is performed by a user U, for example by moving a foot F in the area of a predetermined spatial area, can be recognized with sufficient accuracy to be able to use a such gesture recognition to cause an adjustment of the vehicle door 11.
  • the energy requirement is increased because, for example, the measurement frequency is increased, the frequency range can also be increased and, moreover, more complex signal processing takes place.
  • a sensitivity of the radar sensor system 3 in the first operating mode 32 can be permanently set.
  • a positive Doppler frequency indicates that an object is approaching.
  • the sensitivity in the first operating mode 32 can be adapted dynamically during operation.
  • the sensitivity can be adapted as a function of the time of day, as a function of a geolocation of the vehicle, as a function of sensor data from a further sensor 6, for example a rain sensor, as a function of a vehicle condition or as a function of further information.
  • a sensitivity can be set higher during the day than at night.
  • objects that may be found in the vicinity of the vehicle can be taken into account on the basis of geolocation information in order to adapt the sensitivity.
  • a further sensor 6 for example a rain sensor
  • information from a further sensor 6 can be taken into account in order to reduce the sensitivity of the radar sensor system 3 in the event of rain (which leads to signals received by the radar sensor system 3).
  • the sensitivity setting it can be taken into account, for example, whether the vehicle's engine is switched on or not, what position the vehicle is currently in or what habits of a user U of a higher-level control system, for example the control device 4, are known, to adjust the sensitivity based on habits, for example a temporal use.
  • the threshold values in particular the speed threshold value and the signal strength threshold value
  • a measurement frequency can be adjusted, i.e. the number of measurements per time unit.
  • the radar sensor system 3 can have, for example, a position information evaluation 311, by means of which geolocation data are evaluated, and a configuration module 312, in the context of which the threshold values are adapted.
  • the radar sensor system 3 can carry out a pattern recognition by a pattern recognition module 310.
  • a pattern recognition for example, patterns that do not indicate the approach of a user U can be identified.
  • a movement pattern that indicates a moving branch of a tree can be identified, for example on the basis of a recurring movement that includes a forward movement and a backward movement and also has a comparatively low received signal strength.
  • Such a pattern can, for example, be masked out and not taken into account in a motion detection for determining the approach of a user U.
  • An approach can usually be associated with a constant movement towards the vehicle door 11, which takes place with a comparatively high signal strength. Such a movement can be recognized by comparison with a reference pattern and identified as an approach of a user U.
  • the radar sensor system 3 switches to the second operating mode 33.
  • gesture recognition takes place, with an adjustment when a gesture that is assigned to an adjustment command for adjusting the vehicle door 11 is recognized the vehicle door 11 is initiated by activating the adjusting device 2.
  • the radar sensor system 3 switches back to the first operating mode, with a sensitivity in the first operating mode 32 then being able to be reduced, for example, by the probability of a To reduce switching to the second operating mode 33 and thus to avoid incorrect switching to the second operating mode 33 if possible.
  • the radar sensor system 3 can have a third operating mode, which corresponds to a sleep mode. In the third operating mode, the radar sensor system 3 is switched off so that no movement or gesture recognition takes place.
  • the radar sensor system 3 can be switched into the idle mode, for example, via a signal that is received via a bus system 7 of the vehicle, whereby a wake-up signal from a radar system 3 can also be sent via the bus system 7 in order to wake the radar system 3 out of the idle mode and in to switch the first operating mode 32.
  • the radar sensor system 3 is switched to the idle mode, for example, when the vehicle is traveling. In addition, it is possible to switch to sleep mode if the vehicle has been out of service for a longer period of time, for example for several days.
  • the system can also be combined with recognition of an additional communication device 5 of a user (see FIG. 1).
  • a communication device 5 can be designed, for example, as a radio key or by a mobile device, for example a mobile telephone. If a communication device 5 is detected by a detection system of the vehicle 1, the radar sensor system 3 can, for example, switch directly to the second operating mode 33; alternatively, the radar system 3 can switch to the first operating mode 32, for example with increased sensitivity.
  • the vehicle door can be a tailgate, a vehicle side door, an engine hood, a cover for a storage area (for example in the case of a pick-up truck) or the like.
  • a vehicle door can be arranged on a vehicle body so as to be pivotable, but optionally also displaceable.
  • the first operating mode can thus have a reduced energy consumption and thus not place excessive demands on an energy supply for the vehicle over a longer period of time.
  • the first operating mode is used to recognize an approach of a user in order to be able to enter To switch to the second operating mode as a function of such a recognition, in which a gesture recognition can then be carried out.

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Abstract

L'invention concerne un système de déplacement sans contact d'une porte de véhicule (11) par rapport à une carrosserie de véhicule (10), lequel système comprend un dispositif de déplacement à moteur électrique (2) servant à déplacer la porte de véhicule (11), un système de capteur radar (3) servant à détecter un geste à exécuter par un utilisateur (U) dans la zone de la porte de véhicule (11) et un dispositif de commande (4) servant à commander le dispositif de déplacement (2) en fonction d'une détection effectuée par le système de capteur radar (3). Selon l'invention, le système de capteur radar (3) est conçu pour, dans un premier mode de fonctionnement (32), détecter un mouvement dans une zone de détection (E) dans un environnement de la porte de véhicule (11) et, dans un second mode de fonctionnement (33), détecter un geste visant à déplacer la porte de véhicule (11), ledit système de capteur radar (3) étant conçu pour passer au second mode de fonctionnement (33) en cas de détection d'un mouvement dans le premier mode de fonctionnement (32).
EP20786249.1A 2019-09-23 2020-09-22 Système de capteur radar et procédé de déplacement sans contact d'une porte de véhicule par rapport à une carrosserie de véhicule Pending EP4034738A1 (fr)

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DE102019214496.9A DE102019214496A1 (de) 2019-09-23 2019-09-23 System und Verfahren zum berührungslosen Verstellen einer Fahrzeugtür relativ zu einer Fahrzeugkarosserie
PCT/EP2020/076354 WO2021058449A1 (fr) 2019-09-23 2020-09-22 Système de capteur radar et procédé de déplacement sans contact d'une porte de véhicule par rapport à une carrosserie de véhicule

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EP (1) EP4034738A1 (fr)
JP (1) JP2022549287A (fr)
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CN114365009A (zh) 2022-04-15
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US20230018226A1 (en) 2023-01-19
WO2021058449A1 (fr) 2021-04-01

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