EP3540164B1 - Method for controlling a motorised closure element of a motor vehicle - Google Patents

Method for controlling a motorised closure element of a motor vehicle Download PDF

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Publication number
EP3540164B1
EP3540164B1 EP19166441.6A EP19166441A EP3540164B1 EP 3540164 B1 EP3540164 B1 EP 3540164B1 EP 19166441 A EP19166441 A EP 19166441A EP 3540164 B1 EP3540164 B1 EP 3540164B1
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EP
European Patent Office
Prior art keywords
closure element
operator
situation
operating
orientation
Prior art date
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Application number
EP19166441.6A
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German (de)
French (fr)
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EP3540164A1 (en
Inventor
Bernd Herthan
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
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Brose Fahrzeugteile SE and Co KG
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Publication of EP3540164A1 publication Critical patent/EP3540164A1/en
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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
    • 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
    • E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
    • 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
    • E05Y2400/852—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
    • E05Y2400/80—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
    • E05Y2900/531—Doors
    • 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
    • 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
    • E05Y2900/548—Trunk lids

Definitions

  • the invention relates to a method for controlling a motorized closure element arrangement of a motor vehicle according to the preamble of claim 1 and a control system for a motorized closure element arrangement according to the preamble of claim 9.
  • closure elements of such closure element arrangements can be, for example, doors, in particular side doors, flaps, in particular tailgates, boot lids, engine hoods, luggage compartment floors or the like of a motor vehicle.
  • closure element is to be understood broadly in the present case.
  • a drive arrangement is often assigned to the closure element of the closure element arrangement, by means of which the closure element can be opened and closed by a motor.
  • the triggering of the activation of the closure element arrangement particularly convenient for the operator, there is an increasing trend towards detecting a triggering operating situation by sensors.
  • An example of this is provided by the DE 10 2014 101 661 A1 , which relates to a method for controlling a motorized tailgate assembly of a motor vehicle.
  • the above method on which the invention is based, relates to the detection of a predetermined foot movement by the operator. It enables the reduction of false detections by detecting not only the operator's moving leg but also the operator's stationary leg.
  • the result of the detection of two body parts is a particularly high detection reliability overall.
  • the detection reliability is increased in that a movement of a body part of the upper body of the operator is detected.
  • the invention is based on the problem of specifying a method for controlling a motorized closure element arrangement of a motor vehicle, with which the detection reliability when detecting an operating situation is increased with little effort.
  • the invention is based on the fundamental finding that including the orientation of at least one part of the operator's body in the operating situation monitoring can lead to a particularly high detection reliability.
  • activation of the closure element arrangement is generally not desired when the operator's upper body is turned away from the closure element.
  • this can be detected by sensors, so that activation of the closure element arrangement is ruled out when the operator's upper body is turned away in the above manner.
  • an operating situation condition of the triggering operating situation is defined in that the alignment of at least one part of the operator's body about the vertical is within a predetermined permitted alignment range.
  • the orientation of the body part is therefore about the pivoting position of the body part about the vertical. From this pivot position, it is possible to determine whether the body part in question is facing the closure element or is facing away from the closure element.
  • the sensor arrangement is used to detect whether the alignment of the at least one part of the operator's body about the vertical is within the permitted alignment range. Depending on the result of this detection, the closure element arrangement is actuated.
  • an operating situation condition of the triggering operating situation is defined in that at least one part of the operator's body faces the closure element with its front side.
  • the body part can be, for example, the operator's upper body (claim 2), the operator's head (claim 3) or an operator's eye (claim 4).
  • the security of detection can be further increased in that the triggering operating situation, the detection of which leads to activation of the closure element arrangement, includes the alignment of two or more body parts of the operator.
  • the triggering operating situation includes not only a predetermined orientation of the upper body, but also a predetermined orientation of the operator's head.
  • a control system for a motorized closure element arrangement of a motor vehicle is claimed, which is used to carry out the above proposed method.
  • control system has a control arrangement and a sensor arrangement which interact with one another in order to implement the proposed method.
  • control arrangement and a sensor arrangement which interact with one another in order to implement the proposed method.
  • the proposed method serves to control a motorized closure element arrangement 1 of a motor vehicle 2 , which is equipped with a closure element 3 , a control arrangement 5 and a sensor arrangement 6 .
  • the closure element arrangement is also equipped with a drive arrangement 4 assigned to the closure element 3 for motorized adjustment of the closure element 3 .
  • the closure element 3 can be any type of closure element of a motor vehicle, as explained in the introductory part of the description.
  • the closure element 3 is the tailgate of a motor vehicle 2. All statements relating to a tailgate apply accordingly to all other types of closure elements.
  • controlling the motorized closure element arrangement means that the closure element 3 is adjusted by means of the drive arrangement 4 when it is actuated.
  • the actuation of the closure element arrangement 1 is thus always connected to energizing a drive motor of the drive arrangement 4 (not shown).
  • the closure element 3 of the closure element arrangement 1 is fully or partially between a fully closed position (in 1 shown in solid line) and one fully open position (in 1 shown in dashed line) by means of the drive assembly 4 adjustable.
  • an activation of the motorized closure element arrangement 1 only causes the closure element 3 to be pressed open, so that an engagement gap is formed between the closure element 3 and the motor vehicle body, into which the operator can intervene and further adjust the closure element 3 manually.
  • the term "actuating the motorized closure element arrangement” means that when it is actuated, a motor vehicle locking system (not shown here) associated with the closure element arrangement 1, in particular at least one associated motor vehicle lock, is adjusted by a motor.
  • the adjustment of the motor vehicle lock can be a motorized adjustment of the lock state, for example between the lock states “locked” and “unlocked”, so that the motor vehicle lock can be opened depending on the lock state. It is also conceivable that the adjustment of the motor vehicle lock causes the motor vehicle lock to open, so that the associated closure element 3 is released in the opening direction.
  • the adjustment of the motor vehicle lock can be an above pressing of the closure element 3 in the above sense.
  • motorized includes any adjustability with any type of actuator, in particular an electric actuator.
  • the sensor readings of the sensor arrangement 6 are monitored by the control arrangement 5 to determine whether a triggering operating situation is present.
  • the control arrangement 5 is therefore coupled to the sensor arrangement 6 in terms of control technology, so that the control arrangement 5 can be used to trigger the generation of corresponding sensor measurement values of the sensor arrangement 6 .
  • the sensor arrangement 6 can include distance sensors, imaging sensors or the like. Capacitive sensors have proven themselves as distance sensors. In this respect, the German application DE 10 2014 101 661 A1 of February 11, 2014 referenced, which goes back to the applicant and which is made the subject of the present application.
  • the sensor arrangement can also include a radar sensor, with which body parts of the operator, including their orientation, can be easily detected.
  • the sensor arrangement can include a camera-based sensor as the imaging sensor.
  • a 3D camera system is preferably used here, which has at least two camera sensors spaced apart from one another.
  • the sensor arrangement 6 serves to monitor the sensor measurement values of the sensor arrangement 6 to determine whether a triggering operating situation is present.
  • an operating situation is defined by at least one operating situation condition.
  • Such an operating situation condition can in principle relate to static parameters such as the current position, but also to dynamic parameters such as the movement of at least one part of the operator's body.
  • the control arrangement 5 activates the closure element arrangement 1 accordingly.
  • the detection of an above triggering operating situation preferably results in the closure element 3 being adjusted in the opening direction, preferably into the completely open position, by means of the drive arrangement 4 .
  • the detection of a triggering operating situation when the closure element 3 is fully open preferably results in the closure element 3 being adjusted in the closing direction, preferably into the fully closed position, by means of the drive arrangement 4 .
  • An operating situation condition of the triggering operating situation is therefore defined in that the alignment of at least one part of the body O of the operator B about the vertical 7 is within a predetermined permitted alignment range A.
  • the vertical 7 is a geometric, vertically aligned axis about which the relevant part of the body O of the operator B can be swiveled—at least also.
  • the relevant body part O of the operator B is the upper body O of the operator B.
  • the term "upper body” is understood here as the torso of the body of the operator B.
  • the sensor arrangement 6 detects whether the alignment of the at least one body part O of the operator B about the vertical 7 is in the permitted alignment range A. Depending on whether the alignment of the at least one body part O of the operator B about the vertical 7 is within the permitted alignment range A or not, the closure element arrangement 1 is actuated. In a particularly preferred embodiment that is still to be explained, this means that the control of the closure element arrangement 1 in Figure 2a situation shown is fundamentally possible and in the in Figure 2b situation shown is excluded. A synopsis of these two representations already shows that the probability of undesired actuation of the closure element arrangement 1 can be reduced with the proposed solution by including the orientation of at least one body part O of the operator B in the triggering operating situation.
  • the sensor arrangement 6 can be implemented in very different ways.
  • the sensor arrangement 6 for detecting the orientation of the operator B has a camera-based sensor element 8, which is preferably constructed in the manner of a 3D camera. This makes it easily possible to determine the orientation of the respective body part O of the operator B in addition to the position.
  • a capacitive distance sensor 9 is additionally provided, which preferably extends across the width of motor vehicle 2 . With the capacitive distance sensor 9, an operator gesture, for example an in 1 suggested foot movement, capture well.
  • a transmitter/receiver unit 10 is provided, which can also be assigned to the sensor arrangement 6 in the present case.
  • the transmitter/receiver unit 10 is used for communication with a portable identification unit such as an electronic key or an ID card with an integrated RFID chip.
  • the transceiver unit 10 can be used not only to authenticate the operator B, but also to determine the distance between the operator B, who is wearing the portable identification unit 11 , and the transceiver unit 10 . That distance can basically be defined in the above sense as an operating situation condition of the triggering operating situation.
  • the relevant body part O is preferably assigned a reference plane R, which lies in the relevant body part O of the operator B. It is assumed here that each part of the body O of the operator B has a front and a back, in each case based on the forward viewing direction of the operator B.
  • the reference plane R is accordingly defined in such a way that one side of the reference plane R points forward and the other side of the reference plane R points backwards, which is expressed in each case by a corresponding orientation of the normal vectors of the surfaces of the reference planes R lying opposite one another.
  • a reference plane R defined in this way is indicated in the drawing for the upper body O of the operator B.
  • the reference plane R runs there, as described, through the body part O in question and has an orientation that is oriented towards the front or back of the upper body O of the operator B.
  • an operating situation condition of the triggering operating situation is defined by at least one part of the body O, here the upper body O of the operator B, facing the closure element 3 with its front side.
  • this is defined by the fact that the front of the relevant body part O of the operator B deviates from its alignment with a predetermined reference point P on the closure element 3 only within the permitted alignment range A.
  • This is preferably accomplished in that the forward-pointing normal vector N of the reference plane R of the relevant body part O lies within the permitted alignment range A.
  • the alignment area A is defined in that the alignment area A allows a permitted angular deviation from the exact alignment of the body part O to the reference point P in both pivoting directions about the vertical 7 .
  • the alignment range A is preferably in an angular range between 45° and 135°.
  • the reference point P is defined such that it lies essentially in the central area of the closure element 3 along the transverse axis 12 of the motor vehicle 2 .
  • the reference point P can be provided at other locations. It is also conceivable that several such reference points P are provided.
  • an operating situation condition of the triggering operating situation is defined here and preferably by the upper body O of the operator B facing the closure element 3 with its front side within the permitted alignment range A.
  • the detection of the alignment of the upper body O of the operator B is advantageous since the upper body O can be detected by sensors using comparatively simple means.
  • Figure 2a shows three situations in which the operator B is denoted by the references B I , B II and B III , respectively. In all three positions it can be seen that the relevant normal vectors N I , N II , and N III lie within the associated alignment range A I , A II and A III .
  • the proposed method can also be applied to other body parts O of the operator B.
  • an operating situation condition of the triggering operating situation can be defined in that the front of the head of the operator B faces the closure element 3 within the scope of the permitted alignment range A.
  • the same basic principle can be applied to other body parts O of the operator B, in particular to the lower body U of the operator B and/or to limbs such as operator B's legs.
  • Another part of the body O of the operator B is basically an eye of the operator B.
  • an operating situation condition of the triggering operating situation is defined by the fact that an eye of the operator B with its viewing direction within the permitted alignment range faces the closure element 3 is facing.
  • the sensor arrangement 6 preferably has a sensor element that can detect the viewing direction of the operator B's eye.
  • a number of approaches have become known from the prior art, which can possibly also cover both eyes of the operator B accordingly.
  • a triggering operating situation can include multiple operating situation conditions. These operating situation conditions are preferably logically linked to one another as part of the definition of the operating situation, in particular AND-linked and/or OR-linked. This can mean, for example, that the triggering operating situation includes the logical combination of the orientation of the upper body O of the operator B facing the closure element 3 with the orientation of the head of the operator B facing the closure element 3 . However, the triggering operating situation can also include other operating situation conditions.
  • a particularly good detection reliability results from the fact that the sensor arrangement 6 has a first sensor element, which is aimed at detecting a first operating situation condition of the triggering operating situation, and that the sensor arrangement 6 has at least one second sensor element, which is aimed at detecting at least one second operating situation condition predetermined situation.
  • a further operating situation condition relates to the above-mentioned alignment of the upper body O of the operator B, which is detected by the camera-based sensor element 8 . Only when both operating situation conditions have been detected in the sense of an AND operation is the closure element arrangement 1 activated, here for a motorized adjustment of the closure element 3 in the opening direction.
  • an operating situation condition of the triggering operating situation is defined by the fact that the position of the operator B does not change within a predetermined time window or only changes in a predetermined position range.
  • This predetermined position range is preferably a position range that is located in the immediate vicinity of the closure element 3 .
  • a further operating situation condition of the triggering operating situation is preferably defined in that the operator B moves out of a predetermined close range assigned to the closure element 3 and/or the motor vehicle 2 and then moves back into the close range.
  • Other operating situation conditions which in turn can be logically linked to one another, are conceivable.
  • a control system 14 for a motorized closure element arrangement 1 of a motor vehicle 2 is claimed as such, which is set up specifically for carrying out the proposed method mentioned above.
  • the proposed control system 14 has a control arrangement 5 and a sensor arrangement 6, with the sensor readings of the sensor arrangement 6 being monitored by the control arrangement 5 to determine whether a triggering operating situation as explained above is present, and with the control arrangement 5 triggering the closure element arrangement when the triggering operating situation is detected 1 triggers. Otherwise, the functioning of the control system 14 corresponds to an implementation of the above proposed method.

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Description

Die Erfindung betrifft ein Verfahren zur Ansteuerung einer motorischen Verschlusselementanordnung eines Kraftfahrzeugs gemäß dem Oberbegriff von Anspruch 1 sowie ein Steuersystem für eine motorische Verschlusselementanordnung gemäß dem Oberbegriff von Anspruch 9.The invention relates to a method for controlling a motorized closure element arrangement of a motor vehicle according to the preamble of claim 1 and a control system for a motorized closure element arrangement according to the preamble of claim 9.

Motorische Verschlusselementanordnungen haben sich in den letzten Jahren im Rahmen der Komfortsteigerung bei Kraftfahrzeugen weitgehend durchgesetzt. Bei den Verschlusselementen solcher Verschlusselementanordnungen kann es sich beispielsweise um Türen, insbesondere Seitentüren, Klappen, insbesondere Heckklappen, Heckdeckel, Motorhauben, Laderaumböden o. dgl. eines Kraftfahrzeugs handeln. Insoweit ist der Begriff "Verschlusselement" vorliegend weit zu verstehen. Dem Verschlusselement der Verschlusselementanordnung ist oft eine Antriebsanordnung zugeordnet, mittels der sich das Verschlusselement motorisch öffnen und schließen lässt. Um das Auslösen der Ansteuerung der Verschlusselementanordnung für den Bediener besonders komfortabel zu gestalten, wird zunehmend dazu übergegangen, eine auslösende Bediensituation sensorisch zu erfassen. Ein Beispiel hierfür liefert die DE 10 2014 101 661 A1 , die ein Verfahren zur Ansteuerung einer motorischen Heckklappenanordnung eines Kraftfahrzeugs betrifft.Motorized closure element arrangements have largely become established in recent years as part of the increase in comfort in motor vehicles. The closure elements of such closure element arrangements can be, for example, doors, in particular side doors, flaps, in particular tailgates, boot lids, engine hoods, luggage compartment floors or the like of a motor vehicle. In this respect, the term "closure element" is to be understood broadly in the present case. A drive arrangement is often assigned to the closure element of the closure element arrangement, by means of which the closure element can be opened and closed by a motor. In order to make the triggering of the activation of the closure element arrangement particularly convenient for the operator, there is an increasing trend towards detecting a triggering operating situation by sensors. An example of this is provided by the DE 10 2014 101 661 A1 , which relates to a method for controlling a motorized tailgate assembly of a motor vehicle.

Das obige Verfahren, von dem die Erfindung ausgeht, betrifft die Erfassung einer vorbestimmten Fußbewegung des Bedieners. Es ermöglicht die Reduktion von Fehlerfassungen, indem nicht nur das sich bewegende Bein des Bedieners, sondern auch das stillstehende Bein des Bedieners detektiert wird. Durch die Detektion zweier Körperteile ergibt sich im Ergebnis eine besonders hohe Erfassungssicherheit insgesamt.The above method, on which the invention is based, relates to the detection of a predetermined foot movement by the operator. It enables the reduction of false detections by detecting not only the operator's moving leg but also the operator's stationary leg. The result of the detection of two body parts is a particularly high detection reliability overall.

Bei einem weiteren bekannten Verfahren zur Ansteuerung einer motorischen Heckklappenanordnung ( DE 10 2013 010 994 A1 ), gemäß dem Oberbegriff des Anspruchs 1, wird die Erfassungssicherheit dadurch erhöht, dass eine Bewegung eines Körperteils des Oberkörpers des Bedieners erfasst wird.In another known method for controlling a motorized tailgate arrangement ( DE 10 2013 010 994 A1 ), According to the preamble of claim 1, the detection reliability is increased in that a movement of a body part of the upper body of the operator is detected.

Die bekannten Verfahren haben sich in der Praxis bewährt speziell für den Fall, dass eine vorbestimmte Bedienerbewegung, insbesondere eine Bedienergeste, genutzt wird, um die Ansteuerung der jeweiligen Verschlusselementanordnung auszulösen. Eine Herausforderung ergibt sich, wenn die für das Auslösen der Ansteuerung vorgesehenen Bedienerbewegungen nicht so ausgeprägt wie eine Fußbewegung sind, oder, wenn für das Auslösen der Ansteuerung überhaupt keine Bedienerbewegung vorgesehen ist. Besonders im letztgenannten Fall lässt sich mit den bekannten Verfahren eine hohe Erfassungssicherheit nur mit großem Aufwand umsetzen.The known methods have proven themselves in practice, especially in the event that a predetermined operator movement, in particular an operator gesture, is used to trigger the actuation of the respective closure element arrangement. A challenge arises when the operator motions intended to trigger the trigger are not as pronounced as foot motion, or when no operator motion is intended to trigger the trigger at all. Particularly in the last-mentioned case, a high level of detection reliability can only be implemented with great effort using the known methods.

Der Erfindung liegt das Problem zugrunde, ein Verfahren zur Ansteuerung einer motorischen Verschlusselementanordnung eines Kraftfahrzeugs anzugeben, mit dem die Erfassungssicherheit bei der Erfassung einer Bediensituation mit geringem Aufwand gesteigert wird.The invention is based on the problem of specifying a method for controlling a motorized closure element arrangement of a motor vehicle, with which the detection reliability when detecting an operating situation is increased with little effort.

Das obige Problem wird bei einem Verfahren gemäß dem Oberbegriff von Anspruch 1 durch die Merkmale des kennzeichnenden Teils von Anspruch 1 gelöst.The above problem is solved in a method according to the preamble of claim 1 by the features of the characterizing part of claim 1.

Der Erfindung liegt die grundsätzliche Erkenntnis zugrunde, dass die Einbeziehung der Ausrichtung zumindest eines Körperteils des Bedieners in die Bediensituationsüberwachung zu einer besonders hohen Erfassungssicherheit führen kann. Beispielsweise ist eine Ansteuerung der Verschlusselementanordnung in der Regel nicht gewünscht, wenn der Oberkörper des Bedieners dem Verschlusselement abgewandt ist. Mit der vorschlagsgemäßen Lösung kann dies sensorisch erfasst werden, so dass eine Ansteuerung der Verschlusselementanordnung bei in obiger Weise abgewandtem Oberkörper des Bedieners ausgeschlossen wird.The invention is based on the fundamental finding that including the orientation of at least one part of the operator's body in the operating situation monitoring can lead to a particularly high detection reliability. For example, activation of the closure element arrangement is generally not desired when the operator's upper body is turned away from the closure element. With the proposed solution, this can be detected by sensors, so that activation of the closure element arrangement is ruled out when the operator's upper body is turned away in the above manner.

Im Einzelnen wird ganz allgemein vorgeschlagen, dass eine Bediensituationsbedingung der auslösenden Bediensituation dadurch definiert ist, dass die Ausrichtung zumindest eines Körperteils des Bedieners um die Vertikale in einem vorbestimmten erlaubten Ausrichtungsbereich liegt. Es geht bei der Ausrichtung des Körperteils also um die Schwenklage des Körperteils um die Vertikale. Aus dieser Schwenklage ergibt sich, ob das betreffende Körperteil dem Verschlusselement zugewandt oder vom Verschlusselement abgewandt ist.In detail, it is generally proposed that an operating situation condition of the triggering operating situation is defined in that the alignment of at least one part of the operator's body about the vertical is within a predetermined permitted alignment range. The orientation of the body part is therefore about the pivoting position of the body part about the vertical. From this pivot position, it is possible to determine whether the body part in question is facing the closure element or is facing away from the closure element.

Vorschlagsgemäß ist es weiter vorgesehen, dass mittels der Sensoranordnung erfasst wird, ob die Ausrichtung des mindestens einen Körperteils des Bedieners um die Vertikale im erlaubten Ausrichtungsbereich liegt. In Abhängigkeit vom Ergebnis dieser Erfassung wird die Ansteuerung der Verschlusselementanordnung vorgenommen.According to the proposal, it is further provided that the sensor arrangement is used to detect whether the alignment of the at least one part of the operator's body about the vertical is within the permitted alignment range. Depending on the result of this detection, the closure element arrangement is actuated.

Mit der vorschlagsgemäßen Lösung lässt sich ein großer Teil von Fehlauslösungen der Verschlusselementanordnung vermeiden, da die Ausrichtung zumindest eines Körperteils des Bedieners einen Anhaltspunkt dafür gibt, ob die Ansteuerung der Verschlusselementanordnung gerade gewünscht ist oder nicht.With the proposed solution, a large proportion of incorrect triggering of the closure element arrangement can be avoided, since the orientation of at least one part of the operator's body provides an indication of whether activation of the closure element arrangement is currently desired or not.

Vorschlagsgemäß ist eine Bediensituationsbedingung der auslösenden Bediensituation dadurch definiert, dass zumindest ein Körperteil des Bedieners mit seiner Vorderseite dem Verschlusselement zugewandt ist. Bei dem Körperteil kann es sich beispielsweise um den Oberkörper des Bedieners (Anspruch 2), um den Kopf des Bedieners (Anspruch 3) oder um ein Auge des Bedieners (Anspruch 4) handeln.According to the proposal, an operating situation condition of the triggering operating situation is defined in that at least one part of the operator's body faces the closure element with its front side. The body part can be, for example, the operator's upper body (claim 2), the operator's head (claim 3) or an operator's eye (claim 4).

Bei der weiter bevorzugten Ausgestaltung gemäß Anspruch 5 lässt sich die Erfassungssicherheit weiter erhöhen, indem die auslösende Bediensituation, deren Erfassung zu einer Ansteuerung der Verschlusselementanordnung führt, die Ausrichtung zweier oder mehrerer Körperteile des Bedieners umfasst. Beispielsweise kann es vorteilhaft sein, dass die auslösende Bediensituation nicht nur eine vorbestimmte Ausrichtung des Oberkörpers, sondern auch eine vorbestimmte Ausrichtung des Kopfes des Bedieners umfasst.In the further preferred embodiment according to claim 5, the security of detection can be further increased in that the triggering operating situation, the detection of which leads to activation of the closure element arrangement, includes the alignment of two or more body parts of the operator. For example, it can be advantageous that the triggering operating situation includes not only a predetermined orientation of the upper body, but also a predetermined orientation of the operator's head.

Nach einer weiteren Lehre gemäß Anspruch 9 wird ein Steuersystem für eine motorische Verschlusselementanordnung eines Kraftfahrzeugs beansprucht, das der Durchführung des obigen, vorschlagsgemäßen Verfahrens dient.According to a further teaching according to claim 9, a control system for a motorized closure element arrangement of a motor vehicle is claimed, which is used to carry out the above proposed method.

Wesentlich ist nach der weiteren Lehre, dass das Steuersystem eine Steuerungsanordnung sowie eine Sensoranordnung aufweist, die zur Umsetzung des vorschlagsgemäßen Verfahrens miteinander wechselwirken. Insoweit darf auf alle Ausführungen zu dem vorschlagsgemäßen Verfahren verwiesen werden.According to the further teaching, it is essential that the control system has a control arrangement and a sensor arrangement which interact with one another in order to implement the proposed method. In this respect, reference may be made to all statements on the proposed method.

Im Folgenden wird die Erfindung anhand einer lediglich ein Ausführungsbeispiel darstellenden Zeichnung näher erläutert. In der Zeichnung zeigt

Fig. 1
den Heckbereich eines Kraftfahrzeugs mit einer motorischen Verschlusselementanordnung, sowie mit einem, dem Verschlusselement zugeordneten, vorschlagsgemäßen Steuersystem in einer Seitenansicht,
Fig. 2
den Heckbereich des Kraftfahrzeugs gemäß Fig. 1 mit drei Bediensituationen, a) in denen der Bediener dem Verschlusselement zugewandt ist und b) in denen der Bediener dem Verschlusselement abgewandt ist, jeweils in einer Ansicht von oben.
The invention is explained in more detail below with reference to a drawing that merely shows an exemplary embodiment. In the drawing shows
1
the rear area of a motor vehicle with a motorized closure element arrangement and with a proposed control system assigned to the closure element in a side view,
2
according to the rear area of the motor vehicle 1 with three operating situations, a) in which the operator faces the closure element and b) in which the operator faces away from the closure element, each in a view from above.

Das vorschlagsgemäße Verfahren dient der Ansteuerung einer motorischen Verschlusselementanordnung 1 eines Kraftfahrzeugs 2, die mit einem Verschlusselement 3, einer Steuerungsanordnung 5 sowie einer Sensoranordnung 6 ausgestattet ist. Hier und vorzugsweise ist die Verschlusselementanordnung auch mit einer dem Verschlusselement 3 zugeordneten Antriebsanordnung 4 zur motorischen Verstellung des Verschlusselements 3 ausgestattet.The proposed method serves to control a motorized closure element arrangement 1 of a motor vehicle 2 , which is equipped with a closure element 3 , a control arrangement 5 and a sensor arrangement 6 . Here, and preferably, the closure element arrangement is also equipped with a drive arrangement 4 assigned to the closure element 3 for motorized adjustment of the closure element 3 .

Bei dem Verschlusselement 3 kann es sich um alle Arten von Verschlusselementen eines Kraftfahrzeugs handeln, wie im einleitenden Teil der Beschreibung erläutert worden ist. Hier und vorzugsweise handelt es sich bei dem Verschlusselement 3 um die Heckklappe eines Kraftfahrzeugs 2. Alle Ausführungen zu einer Heckklappe gelten für alle anderen Arten von Verschlusselementen entsprechend.The closure element 3 can be any type of closure element of a motor vehicle, as explained in the introductory part of the description. Here, and preferably, the closure element 3 is the tailgate of a motor vehicle 2. All statements relating to a tailgate apply accordingly to all other types of closure elements.

Der Begriff "Ansteuerung der motorischen Verschlusselementanordnung" bedeutet in einer ersten bevorzugten Ausgestaltung, dass bei einer Ansteuerung das Verschlusselement 3 mittels der Antriebsanordnung 4 verstellt wird. Die Ansteuerung der Verschlusselementanordnung 1 ist damit stets mit einem Bestromen eines nicht dargestellten Antriebsmotors der Antriebsanordnung 4 verbunden. Im Einzelnen ist das Verschlusselement 3 der Verschlusselementanordnung 1 im Rahmen einer Ansteuerung ganz oder teilweise zwischen einer vollständig geschlossenen Stellung (in Fig. 1 in durchgezogener Linie dargestellt) und einer vollständig geöffneten Stellung (in Fig. 1 in gestrichelter Linie dargestellt) mittels der Antriebsanordnung 4 verstellbar. Grundsätzlich kann es auch vorgesehen sein, dass eine Ansteuerung der motorischen Verschlusselementanordnung 1 lediglich ein Aufdrücken des Verschlusselements 3 bewirkt, so dass ein Eingriffsspalt zwischen Verschlusselement 3 und Kraftfahrzeugkarosserie entsteht, in den der Bediener eingreifen und die weitere Verstellung des Verschlusselements 3 manuell vornehmen kann.In a first preferred embodiment, the term “controlling the motorized closure element arrangement” means that the closure element 3 is adjusted by means of the drive arrangement 4 when it is actuated. The actuation of the closure element arrangement 1 is thus always connected to energizing a drive motor of the drive arrangement 4 (not shown). In detail, the closure element 3 of the closure element arrangement 1 is fully or partially between a fully closed position (in 1 shown in solid line) and one fully open position (in 1 shown in dashed line) by means of the drive assembly 4 adjustable. In principle, it can also be provided that an activation of the motorized closure element arrangement 1 only causes the closure element 3 to be pressed open, so that an engagement gap is formed between the closure element 3 and the motor vehicle body, into which the operator can intervene and further adjust the closure element 3 manually.

Der Begriff "Ansteuerung der motorischen Verschlusselementanordnung" bedeutet in einer zweiten bevorzugten Ausgestaltung, dass bei einer Ansteuerung ein der Verschlusselementanordnung 1 zugeordnetes, hier nicht dargestelltes Kraftfahrzeugschließsystem, insbesondere mindestens ein dazugehöriges Kraftfahrzeugschloss, motorisch verstellt wird. Die Verstellung des Kraftfahrzeugschlosses kann eine motorische Verstellung des Schlosszustands, beispielsweise zwischen den Schlosszuständen "verriegelt" und "entriegelt", sein, so dass in Abhängigkeit von dem Schlosszustand ein Öffnen des Kraftfahrzeugschlosses möglich ist. Denkbar ist weiter, dass die Verstellung des Kraftfahrzeugschlosses das Öffnen des Kraftfahrzeugschlosses bewirkt, so dass das zugeordnete Verschlusselement 3 in Öffnungsrichtung freigegeben wird. Schließlich kann die Verstellung des Kraftfahrzeugschlosses ein obiges Aufdrücken des Verschlusselements 3 in obigem Sinne sein.In a second preferred embodiment, the term "actuating the motorized closure element arrangement" means that when it is actuated, a motor vehicle locking system (not shown here) associated with the closure element arrangement 1, in particular at least one associated motor vehicle lock, is adjusted by a motor. The adjustment of the motor vehicle lock can be a motorized adjustment of the lock state, for example between the lock states “locked” and “unlocked”, so that the motor vehicle lock can be opened depending on the lock state. It is also conceivable that the adjustment of the motor vehicle lock causes the motor vehicle lock to open, so that the associated closure element 3 is released in the opening direction. Finally, the adjustment of the motor vehicle lock can be an above pressing of the closure element 3 in the above sense.

Der Begriff "motorisch" umfasst vorliegend jedwede Verstellbarkeit mit einem irgendwie gearteten, insbesondere elektrischen, Aktuator.In the present case, the term “motorized” includes any adjustability with any type of actuator, in particular an electric actuator.

Die Sensormesswerte der Sensoranordnung 6 werden mittels der Steuerungsanordnung 5 daraufhin überwacht, ob eine auslösende Bediensituation vorliegt. Die Steuerungsanordnung 5 ist also steuerungstechnisch mit der Sensoranordnung 6 gekoppelt, so dass mittels der Steuerungsanordnung 5 die Erzeugung entsprechender Sensormesswerte der Sensoranordnung 6 ausgelöst werden kann. Die Sensoranordnung 6 kann je nach Anwendungsfall Abstandssensoren, bildgebende Sensoren o. dgl. umfassen. Als Abstandssensoren haben sich kapazitive Sensoren bewährt. Insoweit darf auf die deutsche Anmeldung DE 10 2014 101 661 A1 vom 11. Februar 2014 verwiesen werden, die auf die Anmelderin zurückgeht und die insoweit zum Gegenstand der vorliegenden Anmeldung gemacht wird.The sensor readings of the sensor arrangement 6 are monitored by the control arrangement 5 to determine whether a triggering operating situation is present. The control arrangement 5 is therefore coupled to the sensor arrangement 6 in terms of control technology, so that the control arrangement 5 can be used to trigger the generation of corresponding sensor measurement values of the sensor arrangement 6 . Depending on the application, the sensor arrangement 6 can include distance sensors, imaging sensors or the like. Capacitive sensors have proven themselves as distance sensors. In this respect, the German application DE 10 2014 101 661 A1 of February 11, 2014 referenced, which goes back to the applicant and which is made the subject of the present application.

Die Sensoranordnung kann auch einen Radarsensor umfassen, mit dem sich Körperteile des Bedieners, einschließlich deren Ausrichtung, leicht erfassen lassen.The sensor arrangement can also include a radar sensor, with which body parts of the operator, including their orientation, can be easily detected.

Schließlich kann die Sensoranordnung als bildgebenden Sensor einen kamerabasierten Sensor umfassen. Hier findet vorzugsweise ein 3D-Kamerasystem Anwendung, das mindestens zwei voneinander beabstandete Kamerasensoren aufweist.Finally, the sensor arrangement can include a camera-based sensor as the imaging sensor. A 3D camera system is preferably used here, which has at least two camera sensors spaced apart from one another.

Die Sensoranordnung 6 dient wie oben angedeutet der Überwachung der Sensormesswerte der Sensoranordnung 6 daraufhin, ob eine auslösende Bediensituation vorliegt. Eine solche Bediensituation ist vorschlagsgemäß durch mindestens eine Bediensituationsbedingung definiert. Eine solche Bediensituationsbedingung kann grundsätzlich statische Parameter wie die aktuelle Position, aber auch dynamische Parameter wie die Bewegung mindestens eines Körperteils des Bedieners betreffen. Bei der Erfassung einer derart definierten Bediensituation wird mittels der Steuerungsanordnung 5 eine entsprechende Ansteuerung der Verschlusselementanordnung 1 vorgenommen.As indicated above, the sensor arrangement 6 serves to monitor the sensor measurement values of the sensor arrangement 6 to determine whether a triggering operating situation is present. According to the proposal, such an operating situation is defined by at least one operating situation condition. Such an operating situation condition can in principle relate to static parameters such as the current position, but also to dynamic parameters such as the movement of at least one part of the operator's body. When an operating situation defined in this way is detected, the control arrangement 5 activates the closure element arrangement 1 accordingly.

Die Erfassung einer obigen, auslösenden Bediensituation führt bei vollständig geschlossenem Verschlusselement 3 vorzugsweise dazu, dass das Verschlusselement 3 mittels der Antriebsanordnung 4 in Öffnungsrichtung, vorzugsweise in die vollständig geöffnete Stellung, verstellt wird. Andersherum führt die Erfassung einer auslösenden Bediensituation bei vollständig geöffnetem Verschlusselement 3 vorzugsweise dazu, dass das Verschlusselement 3 mittels der Antriebsanordnung 4 in Schließrichtung, vorzugsweise in die vollständig geschlossene Stellung, verstellt wird.When the closure element 3 is completely closed, the detection of an above triggering operating situation preferably results in the closure element 3 being adjusted in the opening direction, preferably into the completely open position, by means of the drive arrangement 4 . Conversely, the detection of a triggering operating situation when the closure element 3 is fully open preferably results in the closure element 3 being adjusted in the closing direction, preferably into the fully closed position, by means of the drive arrangement 4 .

Wesentlich für die vorschlagsgemäße Lösung ist eine ganz spezielle Definition einer Bediensituation. Eine Bediensituationsbedingung der auslösenden Bediensituation ist demnach dadurch definiert, dass die Ausrichtung zumindest eines Körperteils O des Bedieners B um die Vertikale 7 in einem vorbestimmten erlaubten Ausrichtungsbereich A liegt. Bei der Vertikalen 7 handelt es sich hier um eine geometrische, vertikal ausgerichtete Achse, um die sich das betreffende Körperteil O des Bedieners B - jedenfalls auch - schwenken lässt. Hier und vorzugsweise handelt es sich bei dem betreffenden Körperteil O des Bedieners B um den Oberkörper O des Bedieners B. Unter dem Begriff "Oberkörper" wird vorliegend der Rumpf des Körpers des Bedieners B verstanden.A very specific definition of an operating situation is essential for the proposed solution. An operating situation condition of the triggering operating situation is therefore defined in that the alignment of at least one part of the body O of the operator B about the vertical 7 is within a predetermined permitted alignment range A. The vertical 7 is a geometric, vertically aligned axis about which the relevant part of the body O of the operator B can be swiveled—at least also. Here, and preferably, the relevant body part O of the operator B is the upper body O of the operator B. The term "upper body" is understood here as the torso of the body of the operator B.

Wesentlich für die vorschlagsgemäße Lösung ist weiter, dass mittels der Sensoranordnung 6 erfasst wird, ob die Ausrichtung des zumindest einen Körperteils O des Bedieners B um die Vertikale 7 im erlaubten Ausrichtungsbereich A liegt. In Abhängigkeit davon, ob die Ausrichtung des zumindest einen Körperteils O des Bedieners B um die Vertikale 7 im erlaubten Ausrichtungsbereich A liegt oder nicht, wird die Ansteuerung der Verschlusselementanordnung 1 vorgenommen. In besonders bevorzugter und noch zu erläuternder Ausgestaltung bedeutet dies, dass die Ansteuerung der Verschlusselementanordnung 1 in der in Fig. 2a gezeigten Situation grundsätzlich möglich ist und in der in Fig. 2b gezeigten Situation ausgeschlossen ist. Eine Zusammenschau dieser beiden Darstellungen zeigt bereits, dass die Wahrscheinlichkeit einer ungewünschten Ansteuerung der Verschlusselementanordnung 1 mit der vorschlagsgemäßen Lösung reduziert werden kann, indem die Ausrichtung zumindest eines Körperteils O des Bedieners B in die auslösende Bediensituation mit einbezogen wird.It is also essential for the proposed solution that the sensor arrangement 6 detects whether the alignment of the at least one body part O of the operator B about the vertical 7 is in the permitted alignment range A. Depending on whether the alignment of the at least one body part O of the operator B about the vertical 7 is within the permitted alignment range A or not, the closure element arrangement 1 is actuated. In a particularly preferred embodiment that is still to be explained, this means that the control of the closure element arrangement 1 in Figure 2a situation shown is fundamentally possible and in the in Figure 2b situation shown is excluded. A synopsis of these two representations already shows that the probability of undesired actuation of the closure element arrangement 1 can be reduced with the proposed solution by including the orientation of at least one body part O of the operator B in the triggering operating situation.

Wie oben angesprochen kann die Sensoranordnung 6 auf ganz unterschiedliche Weise realisiert sein. Hier und vorzugsweise weist die Sensoranordnung 6 zur Erfassung der Ausrichtung des Bedieners B ein kamerabasiertes Sensorelement 8 auf, das vorzugsweise nach Art einer 3D-Kamera aufgebaut ist. Hierdurch ist es ohne Weiteres möglich, neben der Position auch die Ausrichtung des jeweiligen Körperteils O des Bedieners B zu ermitteln. Hier und vorzugsweise ist zusätzlich ein kapazitiver Abstandssensor 9 vorgesehen, der sich vorzugsweise über die Breite des Kraftfahrzeugs 2 erstreckt. Mit dem kapazitiven Abstandssensor 9 lässt sich eine Bedienergeste, beispielsweise eine in Fig. 1 angedeutete Fußbewegung, gut erfassen.As mentioned above, the sensor arrangement 6 can be implemented in very different ways. Here and preferably, the sensor arrangement 6 for detecting the orientation of the operator B has a camera-based sensor element 8, which is preferably constructed in the manner of a 3D camera. This makes it easily possible to determine the orientation of the respective body part O of the operator B in addition to the position. Here, and preferably, a capacitive distance sensor 9 is additionally provided, which preferably extends across the width of motor vehicle 2 . With the capacitive distance sensor 9, an operator gesture, for example an in 1 suggested foot movement, capture well.

Schließlich ist eine Sende-/Empfangseinheit 10 vorgesehen, die vorliegend auch der Sensoranordnung 6 zugeordnet sein kann. Die Sende-/Empfangseinheit 10 dient der Kommunikation mit einer portablen Identifikationseinheit wie einem elektronischen Schlüssel oder einer ID-Karte mit integriertem RFID-Chip. Mittels der Sende-/Empfangseinheit 10 lässt sich nicht nur der Bediener B authentifizieren, sondern auch die Entfernung des Bedieners B, der die portable Identifikationseinheit 11 trägt, zu der Sende-/Empfangseinheit 10 ermitteln. Diese Entfernung kann grundsätzlich in obigem Sinne als Bediensituationsbedingung der auslösenden Bediensituation definiert sein.Finally, a transmitter/receiver unit 10 is provided, which can also be assigned to the sensor arrangement 6 in the present case. The transmitter/receiver unit 10 is used for communication with a portable identification unit such as an electronic key or an ID card with an integrated RFID chip. The transceiver unit 10 can be used not only to authenticate the operator B, but also to determine the distance between the operator B, who is wearing the portable identification unit 11 , and the transceiver unit 10 . That distance can basically be defined in the above sense as an operating situation condition of the triggering operating situation.

Bei der Bestimmung der Ausrichtung eines Körperteils O des Bedieners B wird dem betreffenden Körperteil O vorzugsweise eine Referenzebene R zugeordnet, die in dem betreffenden Körperteil O des Bedieners B liegt. Dabei wird davon ausgegangen, dass jedes Körperteil O des Bedieners B eine Vorderseite und eine Rückseite, jeweils bezogen auf die vorwärtige Blickrichtung des Bedieners B, aufweist. Die Referenzebene R wird entsprechend so definiert, dass eine Seite der Referenzebene R nach vorne und die andere Seite der Referenzebene R nach hinten weist, was sich jeweils durch eine entsprechende Ausrichtung der Normalenvektoren der sich gegenüberliegenden Oberflächen der Referenzebenen R äußert. Eine derart definierte Referenzebene R ist in der Zeichnung für den Oberkörper O des Bedieners B angedeutet. Die Referenzebene R läuft dort wie beschrieben durch das betreffende Körperteil O hindurch und weist eine Orientierung auf, die an der Vorder- bzw. Rückseite des Oberkörpers O des Bedieners B orientiert ist.When determining the alignment of a body part O of the operator B, the relevant body part O is preferably assigned a reference plane R, which lies in the relevant body part O of the operator B. It is assumed here that each part of the body O of the operator B has a front and a back, in each case based on the forward viewing direction of the operator B. The reference plane R is accordingly defined in such a way that one side of the reference plane R points forward and the other side of the reference plane R points backwards, which is expressed in each case by a corresponding orientation of the normal vectors of the surfaces of the reference planes R lying opposite one another. A reference plane R defined in this way is indicated in the drawing for the upper body O of the operator B. The reference plane R runs there, as described, through the body part O in question and has an orientation that is oriented towards the front or back of the upper body O of the operator B.

Von besonderer Bedeutung ist vorliegend eine Ausgestaltung, bei der es darauf ankommt, dass zumindest ein Körperteil O des Bedieners B mit seiner Vorderseite dem Verschlusselement 3 zugewandt ist. Im Einzelnen wird vorzugsweise vorgeschlagen, dass eine Bediensituationsbedingung der auslösenden Bediensituation dadurch definiert ist, dass zumindest ein Körperteil O, hier der Oberkörper O des Bedieners B, mit seiner Vorderseite dem Verschlusselement 3 zugewandt ist. Dies ist vorliegend dadurch definiert, dass die Vorderseite des betreffenden Körperteils O des Bedieners B von seiner Ausrichtung auf einen vorbestimmten Bezugspunkt P am Verschlusselement 3 nur innerhalb des erlaubten Ausrichtungsbereichs A abweicht. Dies wird vorzugsweise dadurch bewerkstelligt, dass der nach vorne weisende Normalenvektor N der Referenzebene R des betreffenden Körperteils O innerhalb des erlaubten Ausrichtungsbereichs A liegt. Der Ausrichtungsbereich A ist vorschlagsgemäß und in der Zeichnung dadurch definiert, dass der Ausrichtungsbereich A eine erlaubte Winkelabweichung von der exakten Ausrichtung des Körperteils O auf den Bezugspunkt P in beiden Schwenkrichtungen um die Vertikale 7 erlaubt. Hier und vorzugsweise liegt der Ausrichtungsbereich A vorzugsweise in einem Winkelbereich zwischen 45° und 135°.Of particular importance in the present case is an embodiment in which it is important that at least one part of the body O of the operator B faces the closure element 3 with its front side. Specifically, it is preferably proposed that an operating situation condition of the triggering operating situation is defined by at least one part of the body O, here the upper body O of the operator B, facing the closure element 3 with its front side. In the present case, this is defined by the fact that the front of the relevant body part O of the operator B deviates from its alignment with a predetermined reference point P on the closure element 3 only within the permitted alignment range A. This is preferably accomplished in that the forward-pointing normal vector N of the reference plane R of the relevant body part O lies within the permitted alignment range A. According to the proposal and in the drawing, the alignment area A is defined in that the alignment area A allows a permitted angular deviation from the exact alignment of the body part O to the reference point P in both pivoting directions about the vertical 7 . Here and preferably, the alignment range A is preferably in an angular range between 45° and 135°.

Der Bezugspunkt P ist vorliegend so definiert, dass er entlang der Querachse 12 des Kraftfahrzeugs 2 im Wesentlichen im mittleren Bereich des Verschlusselements 3 liegt. Der Bezugspunkt P kann grundsätzlich an anderen Stellen vorgesehen sein. Denkbar ist auch, dass mehrere solcher Bezugspunkte P vorgesehen sind.In the present case, the reference point P is defined such that it lies essentially in the central area of the closure element 3 along the transverse axis 12 of the motor vehicle 2 . In principle, the reference point P can be provided at other locations. It is also conceivable that several such reference points P are provided.

Es wurde schon darauf hingewiesen, dass eine Bediensituationsbedingung der auslösenden Bediensituation hier und vorzugsweise dadurch definiert ist, dass der Oberkörper O des Bedieners B mit seiner Vorderseite im Rahmen des erlaubten Ausrichtungsbereichs A dem Verschlusselement 3 zugewandt ist. Die Erfassung der Ausrichtung des Oberkörpers O des Bedieners B ist vorteilhaft, da sich der Oberkörper O mit vergleichsweise einfachen Mitteln sensorisch erfassen lässt. Fig. 2a zeigt drei Situationen, in denen der Bediener B jeweils mit den Bezugszeichen BI, BII und BIII bezeichnet ist. In allen drei Stellungen zeigt sich, dass die betreffenden Normalenvektoren NI, NII, und NIII innerhalb des zugeordneten Ausrichtungsbereichs AI, AII und AIII liegen. Dies bedeutet, dass der Oberkörper O des Bedieners B in obigem Sinne dem Verschlusselement 3 zugewandt ist, so dass die Ansteuerung der Verschlusselementanordnung 1 vorbehaltlich der Erfassung weiterer, der Bediensituation ggf. zugeordneter Bediensituationsbedingungen erfolgen kann.It has already been pointed out that an operating situation condition of the triggering operating situation is defined here and preferably by the upper body O of the operator B facing the closure element 3 with its front side within the permitted alignment range A. The detection of the alignment of the upper body O of the operator B is advantageous since the upper body O can be detected by sensors using comparatively simple means. Figure 2a shows three situations in which the operator B is denoted by the references B I , B II and B III , respectively. In all three positions it can be seen that the relevant normal vectors N I , N II , and N III lie within the associated alignment range A I , A II and A III . This means that the upper body O of the operator B faces the closure element 3 in the above sense, so that the closure element arrangement 1 can be actuated subject to the detection of further operating situation conditions that may be assigned to the operating situation.

Anders ist es bei der Darstellung dreier weiterer Situationen gemäß Fig. 2b, in denen der Bediener B jeweils mit den Bezugszeichen BIV, BV und BVI angedeutet ist. Dabei wird deutlich, dass die betreffenden Normalenvektoren NIV, NV und NVI jeweils außerhalb des jeweils zugeordneten Ausrichtungsbereichs AIV, AV und AVI liegen. Dies bedeutet, dass die Ausrichtung des Oberkörpers O des Bedieners B um die Vertikale 7 nicht im erlaubten Ausrichtungsbereich A liegt, so dass keine Ansteuerung der Verschlusselementanordnung 1 ausgelöst wird.It is different in the representation of three other situations Figure 2b , in which the operator B is indicated by the reference symbols B IV , B V and B VI , respectively. It becomes clear that the relevant normal vectors N IV , N V and N VI each lie outside of the respectively assigned alignment area A IV , A V and A VI . This means that the alignment of the upper body O of the operator B about the vertical 7 is not in the permitted alignment range A, so that the closure element arrangement 1 is not triggered.

Das vorschlagsgemäße Verfahren lässt sich auch auf andere Körperteile O des Bedieners B anwenden. Beispielsweise kann eine Bediensituationsbedingung der auslösenden Bediensituation dadurch definiert sein, dass der Kopf des Bedieners B mit seiner Vorderseite im Rahmen des erlaubten Ausrichtungsbereichs A dem Verschlusselement 3 zugewandt ist. Das gleiche Grundprinzip lässt sich auf andere Körperteile O des Bedieners B, insbesondere auf den Unterkörper U des Bedieners B und/oder auf Gliedmaßen wie die Beine des Bedieners B, anwenden.The proposed method can also be applied to other body parts O of the operator B. For example, an operating situation condition of the triggering operating situation can be defined in that the front of the head of the operator B faces the closure element 3 within the scope of the permitted alignment range A. The same basic principle can be applied to other body parts O of the operator B, in particular to the lower body U of the operator B and/or to limbs such as operator B's legs.

Ein anderes Körperteil O des Bedieners B ist grundsätzlich ein Auge des Bedieners B. In diesem Rahmen ist es vorzugsweise so, dass eine Bediensituationsbedingung der auslösenden Bediensituation dadurch definiert ist, dass ein Auge des Bedieners B mit seiner Blickrichtung im Rahmen des erlaubten Ausrichtungsbereichs dem Verschlusselement 3 zugewandt ist. Hierfür weist die Sensoranordnung 6 vorzugsweise ein Sensorelement auf, das die Blickrichtung des Auges des Bedieners B erfassen kann. Hierfür sind aus dem Stand der Technik eine Reihe von Ansätzen bekannt geworden, die ggf. auch beide Augen des Bedieners B entsprechend erfassen können.Another part of the body O of the operator B is basically an eye of the operator B. In this context, it is preferably the case that an operating situation condition of the triggering operating situation is defined by the fact that an eye of the operator B with its viewing direction within the permitted alignment range faces the closure element 3 is facing. For this purpose, the sensor arrangement 6 preferably has a sensor element that can detect the viewing direction of the operator B's eye. For this purpose, a number of approaches have become known from the prior art, which can possibly also cover both eyes of the operator B accordingly.

Wie oben angedeutet, kann eine auslösende Bediensituation mehrere Bediensituationsbedingungen umfassen. Diese Bediensituationsbedingungen sind im Rahmen der Definition der Bediensituation vorzugsweise logisch miteinander verknüpft, insbesondere UND-verknüpft und/oder ODER-verknüpft. Dies kann beispielsweise bedeuten, dass die auslösende Bediensituation die logische Verknüpfung der dem Verschlusselement 3 zugewandten Ausrichtung des Oberkörpers O des Bedieners B mit der dem Verschlusselement 3 zugewandten Ausrichtung des Kopfes des Bedieners B umfasst. Die auslösende Bediensituation kann aber auch andere Bediensituationsbedingungen umfassen.As indicated above, a triggering operating situation can include multiple operating situation conditions. These operating situation conditions are preferably logically linked to one another as part of the definition of the operating situation, in particular AND-linked and/or OR-linked. This can mean, for example, that the triggering operating situation includes the logical combination of the orientation of the upper body O of the operator B facing the closure element 3 with the orientation of the head of the operator B facing the closure element 3 . However, the triggering operating situation can also include other operating situation conditions.

Grundsätzlich ergibt sich eine besonders gute Erfassungssicherheit dadurch, dass die Sensoranordnung 6 ein erstes Sensorelement aufweist, das auf die Erfassung einer ersten Bediensituationsbedingung der auslösenden Bediensituation gerichtet ist und dass die Sensoranordnung 6 mindestens ein zweites Sensorelement aufweist, das auf die Erfassung mindestens einer zweiten Bediensituationsbedingung der vorbestimmten Situation gerichtet ist.Basically, a particularly good detection reliability results from the fact that the sensor arrangement 6 has a first sensor element, which is aimed at detecting a first operating situation condition of the triggering operating situation, and that the sensor arrangement 6 has at least one second sensor element, which is aimed at detecting at least one second operating situation condition predetermined situation.

Bei dem dargestellten und insoweit bevorzugten Ausführungsbeispiel ist es so, dass eine Bediensituationsbedingung eine in Fig. 1 dargestellte Fußbewegung des Bedieners B betrifft, die durch den kapazitiven Abstandssensor 9 erfasst wird.In the illustrated and to this extent preferred exemplary embodiment, it is the case that an operating situation condition has an in 1 illustrated foot movement of the operator B relates, which is detected by the capacitive distance sensor 9.

Eine weitere Bediensituationsbedingung betrifft die oben angesprochene Ausrichtung des Oberkörpers O des Bedieners B, die durch das kamerabasierte Sensorelement 8 erfasst wird. Nur wenn beide Bediensituationsbedingungen im Sinne einer UND-Verknüpfung erfasst worden sind, wird die Ansteuerung der Verschlusselementanordnung 1, hier für eine motorische Verstellung des Verschlusselements 3 in Öffnungsrichtung, vorgenommen.A further operating situation condition relates to the above-mentioned alignment of the upper body O of the operator B, which is detected by the camera-based sensor element 8 . Only when both operating situation conditions have been detected in the sense of an AND operation is the closure element arrangement 1 activated, here for a motorized adjustment of the closure element 3 in the opening direction.

Alternativ oder zusätzlich kann es vorgesehen sein, dass eine Bediensituationsbedingung der auslösenden Bediensituation dadurch definiert ist, dass sich die Position des Bedieners B innerhalb eines vorbestimmten Zeitfensters nicht oder nur in einem vorbestimmten Positionsbereich verändert. Bei diesem vorbestimmten Positionsbereich handelt es sich vorzugsweise um einen Positionsbereich, der in der unmittelbaren Nähe des Verschlusselements 3 gelegen ist.Alternatively or additionally, it can be provided that an operating situation condition of the triggering operating situation is defined by the fact that the position of the operator B does not change within a predetermined time window or only changes in a predetermined position range. This predetermined position range is preferably a position range that is located in the immediate vicinity of the closure element 3 .

Eine weitere Bediensituationsbedingung der auslösenden Bediensituation ist vorzugsweise dadurch definiert, dass sich der Bediener B aus einem vorbestimmten, dem Verschlusselement 3 und/oder dem Kraftfahrzeug 2 zugeordneten Nahbereich herausbewegt und anschließend wieder in den Nahbereich hineinbewegt. Andere Bediensituationsbedingungen, die wiederum miteinander logisch miteinander verknüpft sein können, sind denkbar.A further operating situation condition of the triggering operating situation is preferably defined in that the operator B moves out of a predetermined close range assigned to the closure element 3 and/or the motor vehicle 2 and then moves back into the close range. Other operating situation conditions, which in turn can be logically linked to one another, are conceivable.

Nach einer weiteren Lehre, der eigenständige Bedeutung zukommt, wird ein Steuersystem 14 für eine motorische Verschlusselementanordnung 1 eines Kraftfahrzeugs 2 als solches beansprucht, das speziell zur Durchführung des oben angesprochenen, vorschlagsgemäßen Verfahrens eingerichtet ist. Insoweit darf auf alle das vorschlagsgemäße Verfahren betreffende Ausführungen verwiesen werden.According to a further teaching, which is of independent importance, a control system 14 for a motorized closure element arrangement 1 of a motor vehicle 2 is claimed as such, which is set up specifically for carrying out the proposed method mentioned above. In this respect, reference may be made to all statements relating to the proposed method.

Das vorschlagsgemäße Steuerungssystem 14 weist eine Steuerungsanordnung 5 sowie eine Sensoranordnung 6 auf, wobei die Sensormesswerte der Sensoranordnung 6 mittels der Steuerungsanordnung 5 daraufhin überwacht werden, ob eine oben erläuterte, auslösende Bediensituation vorliegt und wobei die Steuerungsanordnung 5 bei Erfassung der auslösenden Bediensituation eine Ansteuerung der Verschlusselementanordnung 1 auslöst. Im Übrigen entspricht die Funktionsweise des Steuersystems 14 einer Umsetzung des obigen, vorschlagsgemäßen Verfahrens.The proposed control system 14 has a control arrangement 5 and a sensor arrangement 6, with the sensor readings of the sensor arrangement 6 being monitored by the control arrangement 5 to determine whether a triggering operating situation as explained above is present, and with the control arrangement 5 triggering the closure element arrangement when the triggering operating situation is detected 1 triggers. Otherwise, the functioning of the control system 14 corresponds to an implementation of the above proposed method.

Claims (9)

  1. Method for activating a motorized closure element assembly (1) of a motor vehicle (2), wherein the closure element assembly (1) comprises a closure element (3), a control assembly (5), and a sensor assembly (6), wherein the measured sensor values of the sensor assembly (6) are monitored by means of the control assembly (5) to determine whether a triggering operating situation, which is defined by at least one operating-situation condition, is present, and wherein an activation of the closure element assembly (1) is triggered by means of the control assembly (5) upon detection of the triggering operating situation,
    characterized
    in that an operating-situation condition of the triggering operating situation is defined by the orientation of at least one body part (O) of the operator (B) about the vertical axis (7) lying within a predetermined permitted orientation range (A), in that whether the orientation of the at least one body part (O) of the operator (B) about the vertical axis (7) lies within the permitted orientation range (A) is detected by means of the sensor assembly (6) and, depending thereon, the activation of the closure element assembly (1) is triggered, in that an operating-situation condition of the triggering operating situation is defined by the front side of at least one body part (O) of the operator (B) facing the closure element (3) by way of the front side of the body part (O) in question of the operator (B) deviating from its orientation with respect to a predetermined reference point on the closure element (3) only within the permitted orientation range (A), and in that the orientation range (A) is defined by the orientation range (A) permitting a permitted angular deviation from the exact orientation of the body part (O) with respect to the reference point (P) in both pivot directions about the vertical axis (7).
  2. Method according to Claim 1, characterized in that an operating-situation condition of the triggering operating situation is defined by the front side of the upper body (O) of the operator (B) facing the closure element (3) within the scope of the permitted orientation range (A).
  3. Method according to Claim 1 or 2, characterized in that an operating-situation condition of the triggering operating situation is defined by the front side of the head of the operator (B) facing the closure element (3) within the scope of the permitted orientation range (A).
  4. Method according to one of the preceding claims, characterized in that an operating-situation condition of the triggering operating situation is defined by an eye of the operator (B) facing the closure element (3) with the viewing direction of said operator within the scope of the permitted orientation range (A).
  5. Method according to one of the preceding claims, characterized in that the triggering operating situation includes a logical conjunction, in particular an AND conjunction and/or an OR conjunction of two operating-situation conditions, preferably in that the triggering operating situation includes the logical conjunction of the orientation of the upper body (O) of the operator (B) facing the closure element (3) and the orientation of the head of the operator (B) facing the closure element (3).
  6. Method according to one of the preceding claims, characterized in that the sensor assembly (6) comprises one first sensor element which is directed to the detection of a first operating-situation condition of the triggering operating situation, and in that the sensor assembly (6) comprises at least one second sensor element which is directed to the detection of at least one second operating-situation condition of the triggering operating situation.
  7. Method according to one of the preceding claims, characterized in that an operating-situation condition of the triggering operating situation is defined by the position of the operator (B) not changing within a predetermined time window, or changing only within a predetermined position range.
  8. Method according to one of the preceding claims, characterized in that an operating-situation condition of the triggering operating situation is defined by the operator (B) moving out of a predetermined close range, which is assigned to the closure element (3) and/or the motor vehicle (2), and subsequently moving back into the close range.
  9. Control system for a motorized closure element assembly (1) of a motor vehicle (2), for carrying out a method according to one of the preceding claims, comprising a control assembly (5) and a sensor assembly (6), wherein the measured sensor values of the sensor assembly (6) are monitored by means of the control assembly (5) to determine whether a triggering operating situation, which is defined by at least one operating-situation condition, is present, and wherein the control assembly (5) triggers an activation of the closure element assembly (1) upon detection of the triggering operating situation,
    characterized
    in that an operating-situation condition of the triggering operating situation is defined by the orientation of at least one body part (O) of the operator (B) about the vertical axis (7) lying within a predetermined permitted orientation range (A), in that the sensor assembly (6) detects whether the orientation of the at least one body part (O) of the operator (B) about the vertical axis (7) lies within the permitted orientation range (A) and, depending thereon, triggers the activation of the closure element assembly (1), in that an operating-situation condition of the triggering operating situation is defined by the front side of at least one body part (O) of the operator (B) facing the closure element (3) by way of the front side of the body part (O) in question of the operator (B) deviating from its orientation with respect to a predetermined reference point on the closure element (3) only within the permitted orientation range (A), and in that the orientation range (A) is defined by the orientation range (A) permitting a permitted angular deviation from the exact orientation of the body part (O) with respect to the reference point (P) in both pivot directions about the vertical axis (7).
EP19166441.6A 2016-05-11 2017-03-01 Method for controlling a motorised closure element of a motor vehicle Active EP3540164B1 (en)

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DE102016108702.5A DE102016108702A1 (en) 2016-05-11 2016-05-11 Method for controlling a motor-driven closure element arrangement of a motor vehicle
EP17158669.6A EP3243992B1 (en) 2016-05-11 2017-03-01 Method for controlling a motorised closure element of a motor vehicle

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US20170328116A1 (en) 2017-11-16
CN107419992B (en) 2020-05-19
CN107419992A (en) 2017-12-01
DE102016108702A1 (en) 2017-11-16
EP3243992A1 (en) 2017-11-15
EP3243992B1 (en) 2019-06-12
EP3540164A1 (en) 2019-09-18

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