SELECTABLE GESTURE DETECTION SYSTEM AND METHODS

A detection system for a closure panel of a vehicle and corresponding method of operation are provided. The system includes a detection module including a sensor subassembly for detecting an object in a detection zone and sensing a motion and characteristics of the object and outputting a corresponding sensor signal. The system also includes a gesture selector for accepting a user input from a user to select a valid activation gesture and a controller arrangement coupled to the sensor subassembly. The controller arrangement receives the user input from the gesture selector and adjusts a plurality of predetermined thresholds representing the valid activation gesture by the user required to move the closure panel based on the user input. The controller arrangement analyzes the sensor signal and determines whether the sensor signal is within the plurality of predetermined thresholds and then initiates movement of the closure panel accordingly.

FIELD

The present disclosure relates generally to a detection system for a vehicle and, more particularly to a selectable gesture detection system for user-activated, non-contact activation of a powered closure panel.

BACKGROUND

Vehicles may be equipped with different sensor systems that perform different functions. For example, vehicles may be provided with a gesture activated system which can detect foot or hand movements for opening a closure panel (e.g., lift gate of the vehicle) based on the gesture made. With regard to closure panels (e.g. powered lift gates), and in particular to gesture activated systems therefor, the detection of a foot or hand gesture can be used to open such panels. This can be beneficial, particularly when a user's hands are occupied. However, it is desired to avoid unintended detections (false triggering), such as of a pedestrian walking nearby the user's vehicle, but not intending to trigger actuation of the closure panel. Additionally, users of the gesture activated systems may desire to modify or choose the gestures which can be used to open the closure panels.

Accordingly, there remains a need for improved detection systems used on vehicles that overcome these and other shortcomings of known detection systems.

SUMMARY

This section provides a general summary of the present disclosure and is not a comprehensive disclosure of its full scope or all of its features and advantages.

It is an object of the present disclosure to provide a detection system and methods of operating the detection system that address and overcome the above-noted shortcomings.

Accordingly, it is an aspect of the present disclosure to provide a detection system for user-activated, non-contact activation of a powered closure panel of a vehicle. The detection system includes a detection module including at least one sensor subassembly coupled to a vehicle body of the vehicle for detecting an object in a detection zone and sensing a motion and characteristics of the object in the detection zone and outputting a sensor signal corresponding to the motion and characteristics of the object in the detection zone. The detection system also includes a gesture selector for accepting a user input from a user to select a valid activation gesture. The detection system additionally includes a controller arrangement coupled to the at least one sensor subassembly and in communication with the gesture selector. The controller arrangement is configured to receive the user input from the gesture selector and adjust at least one of a plurality of predetermined thresholds representing the valid activation gesture by the user required to move the closure panel based on the user input. The controller arrangement is also configured to receive and analyze the sensor signal from the at least one sensor subassembly. The controller arrangement determines whether the sensor signal is within the plurality of predetermined thresholds and initiates movement of the closure panel in response to the sensor signal being within the plurality of predetermined thresholds representing the valid activation gesture.

In an aspect of the disclosure, the user interface is incorporated into an infotainment system within a cabin of the vehicle.

In an aspect of the disclosure, the body control module is selectively decoupled from the electronic controller of the detection module in response to the tool being selectively coupled to the body control module.

In an aspect of the disclosure, the tool is configured to set one of the plurality of gesture operation mode statuses of the body control module.

In an aspect of the disclosure, the electronic controller is configured to communicate the one of the plurality of gesture operation mode statuses to the body control module in response to the coupling of the electronic controller to the body control module and the body control module is configured to synchronize with the electronic controller and process the sensor signal from the at least one sensor subassembly using at least one of the plurality of preloaded detection algorithms.

In an aspect of the disclosure, the at least one sensor subassembly is a radar sensor subassembly including at least one radar transmit antenna for transmitting radar waves and at least one radar receive antenna for receiving the radar waves after reflection from the object in the detection zone to sense the motion and characteristics of the object in the detection zone and output the sensor signal corresponding to the motion and characteristics of the object in the detection zone.

In an aspect of the disclosure, the electronic controller is further configured to: detect a plurality of extracted features of the sensor signal, determine whether the plurality of extracted features are within the plurality of predetermined thresholds representing the valid activation gesture by the user required to move the closure panel, initiate movement of the closure panel in response to the plurality of extracted features being within the plurality of predetermined thresholds representing the valid activation gesture.

According to another aspect of the disclosure, a method of operating a detection system for user-activated, non-contact activation of a powered closure panel of the vehicle is also provided. The method includes the step of receiving a user input from a gesture selector using a controller arrangement in communication with the gesture selector. The method continues with the step of adjusting at least one of a plurality of predetermined thresholds representing a valid activation gesture by the user required to move a closure panel based on the user input from the gesture selector using the controller arrangement. The next step of the method is sensing a motion and characteristics of an object in a detection zone using at least one sensor subassembly coupled to the controller arrangement. The method proceeds by outputting a sensor signal corresponding to the motion and characteristics of the object in the detection zone using the at least one sensor subassembly. Next, receiving and analyzing the sensor signal from the at least one sensor subassembly using the controller arrangement. The method then includes the step of determining whether the sensor signal is within the plurality of predetermined thresholds using the controller arrangement. The method also includes the step of initiating movement of the closure panel in response to the sensor signal being within the plurality of predetermined thresholds representing the valid activation gesture using the controller arrangement is provided.

In an aspect of the disclosure, the method further includes the steps of assigning one of a plurality of gesture detection modes to a fob in communication with the controller arrangement; monitoring for an approach of the fob to the vehicle; operating a master vehicle node coupled to the user interface and operable with a plurality of gesture operation mode statuses and a plurality of preloaded detection algorithms corresponding to the one of the plurality of gesture detection modes assigned to the fob; and initiating movement of the closure panel in response to the sensor signal being within the plurality of predetermined thresholds representing the valid activation gesture associated with the one of the plurality of gesture detection modes assigned to the fob.

In an aspect of the disclosure, the valid activation gesture includes at least one of a stationary hold gesture and a side to side gesture with a predefined speed and predefined distance and predefined angle and a step-in gesture with a predefined speed and predefined approach distance and predefined break point and a gesture within a predetermined time period.

In an aspect of the disclosure, the gesture selector is a tool for selectively coupling to the body control module.

In an aspect of the disclosure, the method further includes the step of selectively decoupling the body control module from the electronic controller of the detection module in response to the tool being selectively coupled to the body control module.

According to yet another aspect of the disclosure, a method of configuring a detection system for operating a closure panel of a vehicle is provided. The method includes the step of detecting a request to modify to the gesture detection operating mode of the detection system. Next, configuring a controller arrangement configured to transmit a sensor signal transmitted over the vehicle network from the at least one sensor subassembly based on the detected request. The method also includes the step of configuring a controller arrangement configured to analyze a sensor signal transmitted over the vehicle network from the at least one sensor subassembly based on the detected request.

According to another aspect of the disclosure, a method of configuring a detection system for operating a closure panel of a vehicle is additionally provided. The method includes the step of connecting at least one sensor subassembly to a vehicle network, the at least one sensor subassembly configured in an operating mode to detect one of a plurality of gesture types. The next step of the method is configuring a controller arrangement configured to receive a sensor signal transmitted over the vehicle network from the at least one sensor subassembly to analyze the sensor signal based on the operating mode of the at least one sensor subassembly.

DETAILED DESCRIPTION

In the following description, details are set forth to provide an understanding of the present disclosure. In some instances, certain circuits, structures and techniques have not been described or shown in detail in order not to obscure the disclosure.

In general, the present disclosure relates to a detection system of the type well-suited for use in many applications. The detection system and associated methods of operation of this disclosure will be described in conjunction with one or more example embodiments. However, the specific example embodiments disclosed are merely provided to describe the inventive concepts, features, advantages and objectives with sufficient clarity to permit those skilled in this art to understand and practice the disclosure. Specifically, the example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

Referring to the Figures, wherein like numerals indicate corresponding parts throughout the several views,FIG.1illustrates a detection module10of a detection system11,11′ fora powered closure panel12,12′, such as a lift gate12and/or door12′ of a vehicle14. The detection module10may be provided as an integral component of an existing vehicle component or fixed as a separate component to a frame member or other feature of the vehicle14, which can be naturally positioned at a desired location and orientation relative to the closure panel12,12′ to take advantage of the detection pattern and range (i.e., approximately 5 m using radar). It is to be recognized that a single detection module10can be used for multiple closure panels12,12′, by way of example and without limitation; however, using more than one detection module10to obtain a desired detection pattern or detection zone15is also contemplated herein. The closure panels12,12′ can include a lift gate12and/or a door12′; however, the detection module10and detection system11,11′ may be used with other closure panels besides lift gate12and door12′.

In more detail, for the lift gate12, the detection module10can be disposed on, behind or adjacent a rear bumper16. For the door12′, the detection module10can be disposed on, behind or adjacent a side beam (door sill)18, shown as being beneath the door sill18. It is to be further recognized that the detection module(s)10can be adapted to be disposed in any desired location of the vehicle14to provide the desired detection pattern for the intended application. To facilitate positioning the detection module10in a precise orientation to provide a precisely located radar detection pattern, the detection module10can be fixed to pivotal member, shown inFIG.1as a spherical bearing member17, sometimes referred to as bearing pillow block, by way of example and without limitation, thereby allowing the detection module10to be pivoted about multiple X, Y, and/or Z axes and fixed in the desired position. Optionally, an actuator and rotatable assembly (both not shown) may be provided so as to adaptively rotate the module10to vary the detection zone15(e.g., vary the radar pattern) based on the mode of operation of the module10, or the terrain surrounding the vehicle14.

As best shown schematically inFIG.2, the detection module can include a power supply unit20for coupling a power supply21of the vehicle14to provide power to the detection module10. Additionally, the detection module can include a communication unit22electrically coupled to the power supply unit20for communicating with the plurality of vehicle system controllers, such as a body control module (BCM), discussed in more detail below over a communication bus23. Further yet, the detection module10can include a microprocessor or electronic controller24electrically coupled to the power supply unit20and communication unit22as well as to at least one sensor subassembly (discussed below), all of which can be disposed on a sensor printed circuit board (PCB) as an integral, modular sub-assembly.

The detection module10includes the at least one sensor subassembly25(e.g., a radar emitting sensor) for detecting an object31(e.g., the user or user's foot) in the detection zone15and sensing a motion and characteristics of the object31in the detection zone15(e.g., adjacent the closure panel12,12′). The at least one sensor subassembly25outputs a sensor signal corresponding to the motion and characteristics of the object31in the detection zone15. Specifically, the at least one sensor subassembly25can include at least one radar transmit antenna26for transmitting a plurality of radar beams outwardly therefrom and at least one radar receive antenna28for receiving signals from the plurality of radar beams emitted from the radar transmit antennas26subsequent to being reflected from the object31, for example. While the at least one sensor subassembly25is discussed as utilizing radar, it should be appreciated that other types of the at least one sensor subassembly25(e.g., infrared) may be utilized in addition to or instead.

The at least one radar transmit antenna26and the at least one radar receive antenna28can be provided to operate at about 80 gigahertz, by way of example and without limitation. However, it is to be recognized that the at least one radar transmit antenna26the at least one radar receive antenna28may operate at other frequencies, as desired for the intended application.

The electronic controller24can be configured to be operable in a plurality of gesture type detection modes and is electrically coupled to the power supply unit20and the antennas26,28of sensor subassembly25and the communication unit22for operable communication therewith. In general, the use of radar (providing resolution, range, and material penetrating properties) properly positioned for coverage of a desired volume about the desired closure panel12,12′ can perform the one or more detection functions, including gesture recognition and object detection. Additionally, the resolution provided by radar can provide increased resolution needed for gesture recognition (such as a passing foot, hand, and even facial gesture detection) at various ranges, for example, at foot level near the bumper16or about ground level13, but also at distances away from lift gate12and/or door12′, if desired. Thus, the detection module10may operate as part of a park assist process and an outward obstacle detection process and an inward obstacle detection process.

The gesture recognition of the detection module10may be used to detect a valid activation gesture for opening activation of lift gate12(e.g., detection of a foot, a hand, or a face gesture). Accordingly, if the lift gate12is closed and the vehicle14is in park, the detection module10can await a user to command opening of the lift gate12via the valid activation gesture. The position of the detection module10is configured and located to cover the area about the periphery of the vehicle14, illustratively about an area able to detect foot or leg gestures or motions, or the height of a human for other gesture recognition, and the resolution of the radar-based antennas26,28can provide for detection of precise gestures for controlling intended activation of the closure panel12,12′. The detection module10can initiate or command operation of the closure panel12,12′ (e.g., open) by activating a closure actuator/motor subsequent to a positive activation/access gesture (e.g., a foot motion, foot rotation, step-in, step-out, a foot or hand swipe, a hold, or the like). For example when operating in the outward obstacle detection process, the detection module10can command operation of the closure panel12,12′ (e.g., open) by deactivating or stopping a closure actuator/motor, or alternatively, for establishing the environment about the vehicle14for baselining the detection zone of the detection module10, e.g., to vary the detection zone15based on a curb, snow pile, irregularities in the terrain about the vehicle14and the like. For example when operating as part of the inward obstacle detection process, the detection module10can command operation of the closure panel12,12′ (e.g., open) by deactivating or stopping a closure actuator/motor.

The electronic controller24can be configured to determine which of the one or more modes or processes should be active based on communication with one or more vehicle system controllers (e.g., body control module). The electronic controller24is configured to execute software code and/or instructions stored on a memory unit (not shown), such as an EEPROM or other type or memory device such as a solid state disk, RAM, hard disk or the like.

In addition, the electronic controller24can be configured to receive and process the sensor signal corresponding to the motion and characteristics of the object31from the at least one sensor subassembly25based on the determination of which of the plurality of modes should be active. Additionally, the electronic controller24can be configured to initiate movement of the closure panel12in response to processing the sensor signal corresponding to the motion and characteristics of the object31(gesture recognition). More specifically, if the at least one sensor subassembly25is a radar sensor subassembly, as described above, the electronic controller24can further be configured to detect a plurality of extracted features of the sensor signal determine whether the plurality of extracted features are within the plurality of predetermined thresholds representing the valid activation gesture by the user required to move the closure panel12,12′. The electronic controller24can then initiate movement of the closure panel12,12′ in response to the plurality of extracted features being within the plurality of predetermined thresholds representing the valid activation gesture.

Additionally, the detection module10can include a housing32, shown by way of example in a non-limiting aspect has including an upper housing member32aand a lower housing member32b. At least a portion of the housing32permits the radar beam to pass therethrough, and in accordance with the one aspect, a portion of the housing32can be provided as being transparent to the passage of the radar beam. In the non-limiting embodiment illustrated inFIGS.3-5, the lower housing member32bis constructed of a radiolucent or transparent plastic for the passage of radio waves therethrough. The lower housing member32bfurther includes a receptacle33configured for receipt of the PCB30therein, with the receptacle33shown, by way of example and without limitation, as being delimited by a floor34and upstanding sidewalls36extending between an upstanding front wall38and an upstanding rear wall40. It is contemplated herein that an opening could be formed in the housing32, such as in the lower housing member32b, and a lens cover could be coupled to the lower housing member32bto extend over the printed circuit board30for covering the opening and allowing light from a plurality of light emitting diodes39forming part of an optional lighting subassembly integral with printed circuit board30, or separate therefrom, to shine outwardly from the detection module10, if desired, and optionally illuminate on the ground13the corresponding detection zone15to the user to visually inform the user the precise location of the detection zone15.

The upper housing member32ais formed to extend over and enclose the receptacle33of lower housing member32bto protect the PCB30and components thereon against damage and exposure to environmental elements. The upper housing member32acan be shaped and otherwise configured as desired, as can the lower housing member32b. Further, the upper and/or lower housing member32a,32bcan be configured having attachment features, with the upper housing member32abeing shown, by way of example and without limitation, as having such an attachment feature in the form of an upstanding arm or boss42. The boss42has a through opening, shown as an elongate through slot44, to facilitate attachment of the detection module10to the vehicle14, such as via the pivotal spherical bearing member17, which in turn is configured to be fixed to the desired location on the vehicle14. The elongate slot44allows for adjustment up-and-down, vertically along a Y axis, while the spherical bearing member17allows for pivotal movement about X, Y, Z axes (FIG.1), as will be understood by the skilled artisan.

The housing32, and shown as the lower housing member32b, by way of example and without limitation, further includes a radar shield portion46extending upwardly (e.g., vertically), shown as in transverse or substantially transverse relation to the floor34along the front wall38, by way of example and without limitation. Radar shield46is shown only in the context of one possible configuration and may not be provided. The radar shield portion46is radiopaque, thereby preventing the passage of radio waves therethrough. Radar shield portion46may be configured to reflect or absorb the plurality of radar beams RB that impinge upon the radar shield portion46. In accordance with one non-limiting aspect, the radar shield portion46of lower housing member32bcan be formed to carry a radiopaque member48, such as a metal plate or some other material that acts as a barrier to the passage of radio waves therethrough. The metal plate48is shown disposed and fixed within a receptacle50formed as a single piece of plastic material with the lower housing member32b, such as in a molding process, by way of example and without limitation, though the metal plate48could be otherwise fixed to the upper housing member32ain addition to or in lieu of being fixed to lower housing member32b, as will be recognized by a skilled artisan. The metal plate48is shown as extending transversely to the floor34of the lower housing member32b, (and thereby illustratively extending transversely to the plane of the sensor printed circuit board30(PCB)), and thus, the metal plate48extends in transverse or substantially transverse (meaning it can be slightly more or less, such as by about 10 degrees, for example) relation to the ground surface13on which the vehicle14travels. In another embodiment, an actuator and rotatable/pivotable assembly, such as a drive gear or member configured in driving relation with a turntable-like support platform or otherwise (both not shown), may be provided so as to adaptively rotate and/or pivot metal plate48relative to the housing (with the housing32being non-rotatable relative to the vehicle14) to selectively vary and alter the size, shape and/or location of the detection zone15(e.g., vary the radar pattern) based on the mode of operation of the detection module10, or the terrain surrounding the vehicle14. For example, when the detection module10is operating in an obstacle detection mode, it may detect that the vehicle14has been parked next to an elevated curb, or next to a pile of snow, which may prevent a user from placing their foot in the detection zone normally associated with a flat surface/ground plane13, and thus, not being able to activate the detection system11,11′ absent adjustment thereof. Accordingly, the detection module10may adaptively vary the detection zone15(e.g., by rotating, pivoting, raising or lowering the detection module10and/or the radar shield portion46) to compensate for loss of access to detection zone15due to obstacle, terrain, curb, or the like.

With the radar shield portion46located in front of the respective radar transmit and receive antennas26,28for alignment with at least a portion of the path of radar beam emitted and received thereby, at least a portion of the radio waves of radar beam being emitted are blocked or absorbed (recognizing that a radio frequency absorptive material or coating could be applied to the radar shield portion46in combination with or in lieu of the metal plate48), and thus, less than the entirety of the radio waves of radar beam being emitted pass beyond the radar shield portion46. Accordingly, the radar shield portion46can be located, shaped and contoured as desired to provide a predetermined radar pattern formed by radar beam beyond the radar shield portion46, thereby establishing a precisely patterned and shaped 3-D detection zone.

As best shown inFIG.6, the at least one sensor subassembly can include a radar transceiver54(e.g., Infineon® BGT24MTR11) including a local oscillator56coupled to the at least one radar transmit antenna26through a transmit amplifier57for transmitting radar waves. The local oscillator56is also coupled to the at least one radar receive antenna28through a receive amplifier58and an internal mixer59for receiving the radar waves after reflection from the object31in the detection zone15. Consequently, the at least one sensor subassembly25is coupled to the vehicle body16for sensing the motion and characteristics (e.g., speed, angle, intensity) of the object31in the detection zone and outputting the sensor signal corresponding to the motion of the object31in the detection zone15. The electronic controller24or processor is coupled to (or part of) the at least one sensor subassembly25(e.g., mounted to the printed circuit board30). Electronic controller24may also include dedicated signal processing hardware circuitry for processing signals, and may include software as executed by the electronic controller24for replicating such dedicated hardware, and may include a combination of hardware and software components. Such components (e.g., software) can include a filter module60of the electronic controller24coupled to the internal mixer59of the radar transceiver54through an external bandpass filter62and an external amplifier63for filtering the radar waves that are received. The components can also include a fast Fourier transform (FFT) module64coupled to the filter module60for performing a Fourier transform of the radar waves amplified and filtered by the external bandpass filter62, external amplifier63and filter module60(i.e., transform from a time domain into a frequency domain). The components can also include a gesture algorithm65for recognizing the gesture sequence as described herein and a hardware initialization module66for initializing the system11,11′. An external digital to analog converter68may also be utilized between the electronic controller24and the at least one radar sensor subassembly25for converting control signals from the electronic controller24to the local oscillator56(e.g., Vcoarseand Vfine). The electronic controller24can also include a frequency estimator70to estimate a frequency of the radar waves being transmitted by the at least one radar transmit antenna26and a plurality of input-output ports71.

According to an aspect, the at least one radar transmit antenna26and/or the at least one radar receive antenna28can be configured to emit continuously modulated radiation, ultra-wideband radiation, or sub-millimeter-frequency radiation (e.g. frequencies forming part of the ISM frequency band about 24 GHz). For example, the at least one radar transmit antenna26can be configured to emit continuous wave (CW) radar, known in the art to use Doppler radar techniques, employed as part of the at least one sensor subassembly25,25′,25″,25′″ as illustrated inFIG.7. For example, the at least one radar transmit antenna26can be configured to emit modulated radiation, or frequency modulated continuous wave (FMCW) radar, also known in the art to use Doppler radar, employed as part of the at least one sensor subassembly25′ as illustrated inFIGS.8and9. Also, the at least one sensor subassembly25′ may be configured for pulsed time-of-flight radar. The at least one radar receive antenna28receives the reflections of such emitted waves, or senses the interactions within the intermediate radar field or detection zone15by the object31or user.

Referring toFIG.7in more detail, there is illustratively shown the at least one sensor subassembly25′ employing rapid low resolution Doppler radar. The at least one sensor subassembly25′ can be configured to emit and detect continuous wave (CW) radar, as is illustratively shown with the at least one sensor subassembly25′ including one transmit antenna26and one receive antenna28, for providing a lower cost and simpler motion/object detection system. With such a configuration, the at least one sensor subassembly25′ is operable to detect a speed/velocity v of the object31using the Doppler Radar principles (i.e., processing by a signal processor, such as the electronic controller24or a dedicated local application-specific radar signal processor75, of the received reflected CW radar signal to determine frequency shifts of an emitted continuous wave77indicative of the speed v of the object31). In another embodiment, the at least one sensor subassembly25′ is configured to only detect the speed/velocity v of the object31. The rapid, low resolution Doppler radar based sensor embodiment allows for the extraction of features characterizing the motion of the foot or object31, such as speed/velocity v of the object31, in a less processing and power consumption embodiment for controlling the closure panel12,12′. According to an aspect, the at least one sensor subassembly25′ employs one transmit antenna26for transmitting the radar signal, and one receive antenna28for receiving the reflected radar signal. In accordance with another rapid, low resolution Doppler radar based sensor embodiment, the at least one sensor subassembly25′ may be configured to extract features from the received reflected electromagnetic signal characterizing the motion of the foot or object31including only the speed or velocity v of the object31, and the reflectivity/size of the object31. The received reflected electromagnetic signal may be analyzed from which frequency (indicative of speed or velocity v of the object31) and amplitude (indicative of reflectivity and size of the object31) signal components can be extracted, the electronic controller24being configured to calculate the speed of the object31based on the Doppler effect, for example (e.g., using the FFT module64). As a result, a lower cost electronic controller24can be provided capable of more quickly processing activation gestures. The signal processor75(or electronic controller24) is illustrated as disposed in communication with the antenna elements26,28through signal processing element such as high/low gain signal amplifiers76, a mixer78configured to mix the received waves or signal with the transmitted waves or signal generated by a waveform generator80and oscillator82as received from a splitter84for processing the received reflections of the radar waves.

Now referring toFIG.8, there is illustratively shown the at least one sensor subassembly25″ employing higher resolution FMCW radar. The higher resolution FMCW radar of the at least one sensor subassembly25″ allows for the extraction of multiple features characterizing the gesture of the foot or object31, such as speed or velocity v of the object31, as well as angle, shape, size, reflectivity, and distance d of the object31. In this embodiment, the at least one sensor subassembly25″ employs at least one transmit antenna26for transmitting the FMCW radar signal86, and at least one receive antenna28for receiving the reflected radar signal, and the electronic controller24being configured to determine the specific motions of the user/object31. With such a configuration, the detection system11is operable to detect a gesture/motion (and characteristics) of the object31using the Frequency Modulated Radar techniques (i.e., processing by the electronic controller24, of the reflected FMCW radar signal to determine frequency shifts indicative of the speed (Doppler frequency) and distance d (beat frequency) of the object31). Alternatively, the at least one sensor subassembly25′″ can be configured to include at least two receive antennas261,262, to26nforming an antenna array, as shown inFIG.9for capturing received reflected electromagnetic signals such as FMCW radar signals so that the captured received reflected electromagnetic signals can be processed by the electronic controller24to extract a data set containing data relating to the distance and angles of the motion/object31relative to the at least two receive antennas281,282, to28n. Also, multiple transmit antennas26nmay be provided. As a result, a more powerful microcontroller (MCU) (e.g., electronic controller24) can be provided capable of rapidly extracting data, such as speed v, angle, distance d, and reflectivity or size data, from reflected radar signal, to more accurately differentiating (higher accuracy) any activation gestures between different users. In accordance with another embodiment, the configuration of the at least one sensor assembly25′,25″,25′″ can be utilized in the above described detection system11for providing a higher accuracy detection system.

As discussed above, the detection module10including the at least one sensor assembly25,25′,25″,25′″ may comprise part of the detection system11for user-activated, non-contact activation of the powered closure panel12,12′ of the vehicle14. Thus, as best shown inFIG.10, a first exemplary embodiment of the detection system11includes the detection module10in addition to a controller arrangement24,88,90,92that is coupled to the at least one sensor subassembly25,25′,25″,25′″ to detect a gesture or gesture sequence G. As discussed above, the controller arrangement24,88,90,92is operable in any one of the plurality of gesture type detection modes and can be configured to select one of the plurality of gesture detection modes based on the user input.

In more detail, the detection system11also includes a gesture selector94,96in communication with the controller arrangement24,88,90,92for accepting a user input from a user to select the valid activation gesture. The gesture selector94,96of the first exemplary embodiment of the detection system11is a user interface94configured to accept the user input from the user. For example, the user interface94can be incorporated into an infotainment system95within a cabin98of the vehicle14, as best shown inFIG.11andFIG.11A.FIG.11Aillustrates the interface94, such as a touch screen display in accordance with one example presenting various configuration options to a user capable of interacting with the interface94to input his selection of presented parameters or options. For example a gesture detection mode can be selected by a user, the sensitivity of the selected gesture can be selected e.g. how much deviation from a valid activation gesture the system will still determine as a gesture to result in an activation command e.g. open closure member. For example, the user's gesture may be set to trigger a closure panel or vehicle system command when 95% accurate to the stored valid gesture, or may be set to trigger a closure panel or vehicle system command when 90% accurate to the stored valid gesture, and so on and so forth. Also an option for the user to have his gesture learned by the system e.g. the user can select the “Learn your gesture mode now” icon on the interface94and the user will have a period of time to exit the cabin and proceed to have their preferred baseline gesture registered by the system (e.g. stored in memory142) as detected by the at least one sensor subassembly25,25′,25″,25′″. The vehicle can guide the user when inputted their baseline preferred gesture, such as through the audio system issuing audio commands and steps and receiving confirmations from a user using a microphone, (e.g. “Proceed to the sensor. Are you at the sensor? Next, input your preferred gesture now. Have you completed the gesture? Are you happy with your gesture to be learned? Please repeat your gesture three addition times for confirmation. Your custom preferred gesture has not been learned”). While a foot based gesture is illustrated, other parts of a user's body may be recognized as a gesture, such as a hand movement, head movement, gait, multiple different body part movements, and the like.FIG.11Billustrates other parameters or options displayed to a user via the user interface94, for example by the infotainment system95ofFIG.11. Illustrated are individual user customizable gesture selection parameters, such as gesture type, and user adjustable sub-parameters related to the selected gesture type. For example, within the “Step and hold” gesture type, various parameters related to such a gesture type can be selected for customizing the detection of the gesture, such as how long (e.g. fast to slow) a step-in to be detected should occur, how long a hold on the floor to be detected should occur, and how long (e.g. fast to slow) a step-out to be detected should occur. Other characteristics of the sub-gestures for completing a gesture may be selected by a user in such a manner. In a possible configurations, such parameters or options may not be displayed by the user interface94, and remain only accessible to a servicing party and not by the user e.g. via a communication port for system servicing.

The controller arrangement24,88,90,92is configured to receive the user input from the gesture selector94,96and adjust at least one of a plurality of predetermined thresholds representing the valid activation gesture by the user required to move the closure panel12,12′ based on the user input. The controller arrangement24,88,90,92is also configured to receive and analyze the sensor signal from the at least one sensor subassembly25,25′,25″,25′″ and determine whether the sensor signal is within the plurality of predetermined thresholds. The controller arrangement24,88,90,92then initiates movement of the closure panel12,12′ in response to the sensor signal being within the plurality of predetermined thresholds representing the valid activation gesture.

Referring back toFIG.10, the controller arrangement24,88,90,92can include the electronic controller24of the detection module10operating in one of the plurality of gesture type detection modes and coupled to the at least one sensor subassembly25,25′,25″,25′″ and to a power actuator100of the closure panel12,12′ in the first exemplary embodiment of the detection system11. The electronic controller24also includes a module local interconnect network interface102. The controller arrangement24,88,90,92also includes a body control module88coupled the electronic controller24and including a body control local interconnect network interface104. The controller arrangement24,88,90,92additionally includes a master vehicle node90operable with a plurality of gesture operation mode statuses106and a plurality of preloaded detection algorithms108corresponding to the user input and coupled the electronic controller24and including a master node local interconnect network interface110and coupled to the body control module88and to the electronic controller24and in communication with the user interface94(e.g., electrically coupled thereto as shown inFIG.10). So, while the electronic controller24is described above as processing the sensor signal, the master vehicle node90of the first exemplary embodiment of the detection system11may process the sensor signal in addition to, or in place of processing carried out by the electronic controller24. The detection system11further includes a fob92in communication with at least one of the electronic controller24and the body control module88. It should be appreciated that the controller arrangement24,88,90,92may have fewer or additional elements besides those shown.

As best shown inFIG.12, a second exemplary embodiment of the detection system11′ includes the detection module10in addition to another controller arrangement24,88,90,92. The controller arrangement24,88,90,92includes the electronic controller24of the detection module10operating in one of the plurality of gesture type detection modes and storing the plurality of gesture operation mode statuses106. The electronic controller24is coupled to the at least one sensor subassembly25,25′,25″,25′″ and to the power actuator100of the closure panel12,12′. The electronic controller24includes the module local interconnect network interface102.

The controller arrangement24,88,90,92of the second exemplary embodiment of the detection system11′ also includes the body control module88operable with the plurality of gesture operation mode statuses106and the plurality of preloaded detection algorithms108and coupled to the electronic controller24and including the body control local interconnect network interface104. The electronic controller24is configured to communicate the one of the plurality of gesture operation mode statuses106(e.g., a step mode107) to the body control module88in response to the coupling of the electronic controller24to the body control module88and the body control module88is configured to synchronize with the electronic controller24and process the sensor signal from the at least one sensor subassembly25,25′,25″,25′″ using at least one of the plurality of preloaded detection algorithms108. For example, the body control module88operating as a master LIN node may operate in a configuration mode, for example in a LIN Diagnostic Mode to change the operating mode of the gesture detection system. The master LIN node may operate in such diagnostic mode in response to a configuration of the master LIN node, for example as a result of a user initiated action to change the operating mode of the gesture detection system.

Still referring toFIG.12, the second exemplary embodiment of the detection system11′ additionally includes a fob92(e.g., a key fob carried by the user) in communication with at least one of the electronic controller24and the body control module88and wherein the electronic controller24is configured to communicate an operating mode (e.g., one of the plurality of gesture type detection modes identified by a corresponding one of the plurality of gesture operation mode statuses106) to the body control module88.

The gesture selector94,96of the second exemplary embodiment of the detection system11′ is a tool96for selectively coupling to the body control module88through the body control local interconnect network interface104(e.g., used by an original equipment manufacturer or OEM). More specifically, the body control module88is selectively decoupled from the electronic controller24of the detection module10in response to the tool96being selectively coupled to the body control module88. The tool96is configured to set one of the plurality of gesture operation mode statuses106of the body control module88.

FIG.13illustrates the communication of configuration data over a vehicle bus114(e.g., LIN bus) based on a change using the user interface94, for example. The BCM88(or master vehicle node90) has a memory116storing the plurality of gesture detection algorithms108(e.g., a first and a second gesture algorithm are shown) and a plurality of gesture detection mode setting parameters or gesture operation mode statuses106. The memory116also includes a master task118and a slave task120. Again, the BCM88includes the body control local interconnect network interface104with body serial communication block122and functioning as a master communication network (LIN or local interconnect network) node124. The tool96is in communication with the BCM88and stores or accepts a configuration file126including a sensor operating detection mode from a slave with identification128(i.e., slave identification127). The user interface94is also shown in communication with the BCM88and displays a sensor operating detection mode130and receives the user preference or user input132.

Each of a plurality of slave sensors134(e.g., detection module10) are in communication with the BCM88over the vehicle bus114via the module local interconnect network interface102with module serial communication block136and functioning as a slave communication network (LIN) node138. And each includes the electronic controller24with a module processing unit140(e.g., microprocessor) coupled to the sensor hardware (e.g., sensor subassembly25,25′,25″,25′″) and to a memory142. The memory142stores sensor operating detection mode parameters144, one of the plurality of gesture detection algorithms108, an identifier or slave identification127(e.g., a unique identifier for each detection module10), and the slave task120.

The controller arrangement24,88,90,92is configured to execute illustratively the steps as illustrated inFIG.14to display selectable operating mode possibilities on the user interface94and configure the BCM88and the sensor subassembly25,25′,25″,25′″ based on the detected user gesture mode selected using the user interface94. In more detail, the steps ofFIG.14include146starting a user modifiable parameter mode. Next,148reading and displaying sensor operating detection mode130(e.g., the plurality of predetermined thresholds) on the user interface94. The next step is150receiving a user input132from the user to modify the plurality of gesture detection mode setting parameters or gesture operation mode statuses106. Then, the next step is152storing the user input change to the plurality of gesture detection mode setting parameters or gesture operation mode statuses106. Next,154starting a diagnostic mode and156reading the plurality of gesture detection mode setting parameters or gesture operation mode statuses106with a master node (e.g., master vehicle node90or BCM88). Then,158executing a master task118for setting sensor operating detection mode parameters144using an updated LIN scheduling table160(FIG.17) and162broadcasting frame headers using the updated LIN scheduling table and frame message including the sensor operating mode. The next steps are164updating sensor operating detection mode parameters144in a memory142of a slave node10in response to receiving a master task header of a diagnostic frame166and168updating the sensor operating detection mode parameters144in the memory142of the slave node10in response to receiving the master task header of the diagnostic frame166and170transmitting a response171to the master node (e.g., master vehicle node90or BCM88) using the slave node10confirming the setting of the sensor operating detection mode parameters144.

FIG.15illustrates a sequential diagram illustrating the exchange of data and the operations executed by the controller arrangement24,88,90,92. The plurality of gesture detection mode setting parameters or gesture operation mode statuses106are read by the BCM88or master vehicle node90at172and transmitted at174. At176, the sensor operating detection mode130(e.g., the plurality of predetermined thresholds) are displayed on the user interface94and changed by the user input132. At178, the sensor operating detection mode130is transmitted to the BCM88or master vehicle node90. At80, a master task118is executed for setting sensor operating detection mode parameters144and at182diagnostic frames or frame headers166are transmitted including the sensor operating mode that has been updated. At184updating sensor operating detection mode parameters144in the memory142of the slave node10and at186executing the slave task120to update the sensor operating detection mode parameters144in the memory142of the slave node10. At188, transmitting the response171to the master node (e.g., master vehicle node90or BCM88) using the slave node10confirming the setting of the sensor operating detection mode parameters144.

With reference toFIG.16-18, the master LIN node (e.g., master vehicle node90) may operate in such diagnostic mode in response to a configuration of the master LIN node (e.g., BCM88or master vehicle node90), for example as a result of an OEM initiated operation, for example by connection of the tool96to the vehicle bus114or directly for uploading the configuration file126to the master LIN node (e.g., the BCM88or master vehicle node90), to configure the gesture detection mode of the system11,11′. In response to such an OEM initiated configuration operation, a controller arrangement24,88,90,92is configured to execute illustratively the steps as illustrated inFIG.16to configure the BCM88and the sensor subassembly25,25′,25″,25′″ based on the OEM desired gesture detection mode reflected in the configuration file. Specifically, the steps ofFIG.16include190starting an OEM configuration mode. Next,192extracting sensor calibration mode corresponding to gesture operation mode statuses106from the configuration file126using the BCM88or master vehicle node90. Then,194configuring the BCM88or master vehicle node90to operate in a gesture operation mode status106based on the sensor calibration mode extracted from the configuration file126. The next step is196executing a master task118for setting sensor operating detection mode parameters144. Next,198broadcasting frame headers or diagnostic frames166over the vehicle bus114including the sensor operating mode. The next steps are200updating sensor operating detection mode parameters144in a memory142of a slave node10in response to receiving a master task header of the diagnostic frame166and202updating the sensor operating detection mode parameters144in the memory142of the slave node10in response to receiving the master task header of the diagnostic frame166and204transmitting a response171to the master node (e.g., master vehicle node90or BCM88) using the slave node10confirming the setting of the sensor operating detection mode parameters144.

FIG.17illustrates the communication of the configuration file or data over the vehicle bus114(e.g., LIN bus) for example. The memory116of the BCM88is shown with the scheduling table160, andFIG.18illustrates a sequential diagram illustrating the exchange of data and the operations executed by the controller arrangement24,88,90,92. Thus, in the second exemplary embodiment of the detection system11′, the body control module88can process the sensor signal in addition to, or in place of processing carried out by the electronic controller24. In more detail, inFIG.18, at206the tool96transmits the configuration file126to the BCM88or the master vehicle node90. At208, the gesture operation mode status106of the BCM88or master vehicle node90is modified based on the sensor calibration mode extracted from the configuration file126. At210, a master task118is executed for setting sensor operating detection mode parameters144. Next, at212the BCM88or master vehicle node90broadcasts frame headers or diagnostic frames166over the vehicle bus114including the sensor operating mode. At214sensor operating detection mode parameters144are updated in a memory142of a slave node10in response to receiving a master task header of the diagnostic frame166and at216the sensor operating detection mode parameters144are updated in the memory142of the slave node10. At218, a response171is transmitted to the master node (e.g., master vehicle node90or BCM88) using the slave node10confirming the setting of the sensor operating detection mode parameters144.

The plurality of gesture type detection modes (e.g., detected using the plurality of preloaded detection algorithms108) can include a stationary foot hold gesture mode. Accordingly, the valid activation gesture can include a stationary hold gesture, as shown inFIGS.19A-19E. So, for example in the first exemplary embodiment of the detection system11, the user can use the user interface94to select to detect a foot31(e.g., a stationary foot) placed on the ground level13(shown in the side view of19B and top view of19C). In addition, the tool96of the second exemplary embodiment of the detection system11′ may also be used to make this mode selection. The size of the detection zone15can be adjusted based on user preference by increasing detection angle θ and distance d (e.g., FMCW detection thresholds or other thresholds of the plurality of predetermined thresholds representing the valid activation gesture). So the user may expand or vary the detection angle θ and/or the distance d as desired.

As shown in the top view ofFIG.19C, the foot31must stay within the detection zone15defined by the detection angle θ and distance d. The FMCW detected speed and amplitude characteristics (e.g., extracted features) can be represented and processed by the controller arrangement24,88,90,92in the frequency domain (e.g., using a fast Fourier transform) as shown inFIG.19D. The plurality of predetermined thresholds can include an amplitude threshold Atand a frequency threshold Ft set, such that the stationary foot will be detected with a low or no speed (e.g., frequency threshold) and a predetermined amplitude representative of a typical foot31at a given distance d. Also, the detection angle θ and distance d can be set as a narrow angle at a predetermined distance. The distance d can be varied (e.g., by the user) depending on whether a hovering foot gesture (e.g., the foot31not resting on the ground level13) is desired to be detected.

The plurality of gesture type detection modes can include an up and down foot hold gesture mode, as best shown inFIGS.20A-20F. The valid activation gesture may, for example require that the user get their foot close to the at least one sensor subassembly25,25′,25″,25′″ then close to the ground level13, and within a range in between the sensor subassembly25,25′,25″,25′″ and the ground level13. So, the user may select to detect an up and down motion (e.g., towards and away from the at least one sensor subassembly25,25′,25″,25″). The user may select the speed of the motion to be detected, as well as the distance thresholds using the user interface94of the first exemplary embodiment of the detection system11and/or the tool96of the second exemplary embodiment of the detection system11′. In more detail, as shown inFIG.20B, in a first part of the valid activation gesture, the user may set a first distance threshold d1with a first detection angle81and then as shown inFIG.20C, for the second part of the valid activation gesture, the user may set a second distance threshold d2with a second detection angle82. As shown in the top view ofFIG.20D, the foot must stay within the detection zone15defined by the detection angle θ and distance d.

The FMCW detected speed and amplitude characteristics (e.g., extracted features) can be represented and processed by the controller arrangement24,88,90,92in the frequency domain as shown inFIG.20E. The plurality of predetermined thresholds can include a first amplitude threshold A1and a first frequency threshold F1set, such that for the first part of the valid activation gesture, the first amplitude threshold A1corresponds with the first distance threshold d1. Similarly, the plurality of predetermined thresholds can include a second amplitude threshold A2and a second frequency threshold F2set, such that for the second part of the valid activation gesture, the second amplitude threshold A2corresponds with the second distance threshold d2. The user may also select the detection of a desired speed which corresponds with the frequency thresholds F1, F2. So, the predetermined amplitude range (within the amplitude thresholds A1, A2) is representative of the desired foot motion limits (distances d1, d2). Thus, the controller arrangement24,88,90,92can be configured to track changes in the FMCW parameters, for example track the amplitude representing the object31moving away from the at least one sensor subassembly25,25′,25″,25′″ (a decrease in amplitude) or toward the at least one sensor subassembly25,25′,25″,25′″ (an increase in detected amplitude) of the sensor signal. As best shown inFIG.20F, the corresponding detection angles81,82and distances d1, d2can be set as narrow angles at predetermined distances by the user.

In addition, as best shown inFIGS.21A-21E, the plurality of gesture type detection modes can include a side to side foot hold gesture mode. Therefore, the valid activation gesture can include a side to side gesture with a predefined speed and predefined distance ds and predefined angle θs. So the user can select to detect a side to side motion (e.g., laterally toward and laterally away from the at least one sensor subassembly25,25′,25″,25″). The user can select the speed of the motion to be detected as well as the distance threshold ds, how broad of as stroke the user has to do based on the angle threshold θs.

As best shown inFIG.21D, the FMCW detected speed and amplitude characteristics of the sensor signal can be represented in the frequency domain. The controller arrangement24,88,90,92operating in the side to side foot hold gesture mode will use the selected thresholds to detect the desired speed (corresponding to frequency f2in the frequency domain), predetermined amplitude range shown as AsinFIG.21D(corresponding to size or distance ds in the frequency domain) representative of the desired foot motion limits. As shown inFIG.21E, a wider angle at a predetermined distance can be used to capture the side to side motion and the user can select to expand the angle θs and/or distance ds.

It should be appreciated that the plurality of gesture type detection modes can also include other modes. For example, the valid activation gesture can include other gestures such as, but not limited to a step-in gesture with a predefined speed and predefined approach distance and predefined break point and a gesture within a predetermined time period.

Referring toFIGS.22-28, another gesture or sequence is shown. Specifically, the valid activation gesture can be a sequence of sub-gestures matching a predetermined sequence of sub-gestures for a user performing a step in gesture and a step out gesture. So, according to an aspect, the predetermined sequence of sub-gestures that represent the valid activation gesture includes a foot of the user (i.e., the object31) being placed adjacent to the at least one radar sensor subassembly25,25′,25″,25′″ (i.e., a step-in of the detection zone15, shown inFIGS.22and23). Next, the foot of the user moving toward the ground13in the detection zone15(i.e., a step down in the detection zone15, shown inFIGS.24and25). Then, the foot of the user (i.e., the object31) being on the ground13for a minimum predetermined period of time (i.e., foot on the ground, shown inFIG.26) and the foot of the user moving off the ground13back toward the at least one radar sensor subassembly25,25′,25″,25′″ of the detection module10(i.e., step up, shown inFIG.27). Finally, the foot of the user being moved nonadjacent to the at least one radar sensor subassembly25,25′,25″,25′″ (i.e., a step out of the detection zone15, shown inFIG.28). Nevertheless, it should be understood that other valid activation gestures are contemplated.

Accordingly, the controller24is configured to detect the sequence of sub-gestures consisting of at least one of the object31moving towards the at least one radar sensor subassembly25,25′,25″,25′″, the object31moving away from the at least one radar sensor subassembly25,25′,25″,25′″, and the object31not moving relative to the at least one radar sensor subassembly25,25′,25″,25′″ (i.e., relative to the detection module10). In other words, the sequence of sub-gestures matching a predetermined sequence of sub-gestures includes the controller24detecting a sequence consisting of the object31moving towards the at least one radar sensor subassembly25,25′,25″,25′″ (i.e., step in). Then, the object31next moving away from the at least one radar sensor subassembly25,25′,25″,25′″ (i.e., step down). Next, the object31next not moving towards or away from the at least one radar sensor subassembly25,25′,25″,25′″ (i.e., foot on ground13). In more detail, the controller24is further configured to determine if the sub-gesture whereby the object31is not moving towards or away from the at least one radar sensor subassembly25,25′,25″,25′″ occurs for a minimum predetermined amount of time. The sequence of sub-gestures matching a predetermined sequence of sub-gestures can also include the controller24detecting a further sequence consisting of the object31next moving towards the at least one radar sensor subassembly25,25′,25″,25′″ (i.e., step up) and the object31next moving away from the at least one radar sensor subassembly25,25′,25″,25″. The sequence also includes the object31next moving out of the detection zone15(i.e., step out).

FIGS.22and23show a step in sub-gesture. As shown initially inFIG.22, using the at least one radar sensor subassembly25,25′,25″,25′″, the controller24detects reflected radar waves corresponding with the velocity characteristic and amplitude characteristic being above a step in threshold indicating that the foot has entered the detection zone15. Consequently, the controller24transitions from the first or monitor mode to the second or step in detecting mode. Referring toFIG.23, both the velocity characteristic and the amplitude characteristic are positive (i.e., have a positive sign). In other words, both a time plotted velocity characteristic and time plotted amplitude characteristic are rising in the positive direction and above the step in threshold for the step in sub-gesture. While both the amplitude and velocity characteristics are shown to be positive rising edges and above the corresponding thresholds (both velocity and amplitude), they do not have to be in the same rate, since it depends on different user's step gesture and rate as well (slow, fast or normal and the way the user does their steps, etc.).

FIGS.24and25show a step down sub-gesture. Referring first toFIG.24, both the velocity characteristic and amplitude characteristic indicate the foot or object31has completed its first sub-gesture (the step in sub-gesture) and is beginning a next sub gesture, the step down (e.g., a downward approach towards the ground13). The controller24detects a peak in both the positive velocity characteristic and positive amplitude characteristic. Specifically, both the time plotted velocity characteristic and amplitude characteristic have stopped rising in the positive direction. Consequently, the controller24transitions from the second or step in detected mode to a third or step down monitored mode. Next referring toFIG.20, the controller24detects both a negative velocity characteristic and negative amplitude characteristic. That is both the time plotted velocity characteristic and amplitude characteristic are dropping in the negative direction. However, the falling rate does not need to be considered since users may have variations in their steps. The negative velocity characteristic indicates foot moving away from the at least one sensor subassembly25,25′,25″,25′″ and the negative amplitude characteristic confirms the foot or object31is moving away from the at least one sensor subassembly25,25′,25″,25″. So, the controller24transitions from the third or step down monitor mode to a fourth or step down detected mode.

FIG.26shows a step hold or foot on ground sub-gesture (e.g., placement or foot on the ground13without movement for a period of time). The controller24detects that the velocity characteristic and amplitude characteristic are below the threshold for a minimum period of time. So, the controller24transitions from the fourth or step down detected to a fifth or step hold detecting mode.

FIG.27shows a step up sub-gesture (e.g., lifting of the foot off of the ground13). The controller24detects both a positive velocity characteristic and positive amplitude characteristic. In other words, both the velocity characteristic and the amplitude characteristic are increasing in the positive direction. The positive velocity characteristic indicates foot moving towards the at least one sensor subassembly25,25′,25″,25′″ and the positive amplitude characteristic confirms the foot21is moving towards at least one sensor subassembly25,25′,25″,25″. Thus, the controller24transitions from the fifth or step hold detecting mode to a sixth or step up detected mode.

FIG.28shows a step out sub-gesture. The controller24detects that the reflected radar signal (velocity characteristic and amplitude characteristic) have fallen below the threshold level for each indicating that the foot21has exited the detection zone15. The controller24transitions from the sixth or step up detected mode to a seventh or step out detected mode. A step gesture validation process can then begin.

As best shown inFIGS.29-31, a method of operating a detection system for user-activated, non-contact activation of a powered closure panel12,12′ of a vehicle14are also provided. The method can include the step of receiving a user input from a gesture selector94,96using a controller arrangement24,88,90,92in communication with the gesture selector94,96. Next, adjusting at least one of a plurality of predetermined thresholds representing a valid activation gesture by the user required to move a closure panel12,12′ based on the user input from the user interface94using the controller arrangement24,88,90,92. The method can proceed with the step of sensing a motion and characteristics of an object in a detection zone15using at least one sensor subassembly25,25′,25″,25′″ coupled to the controller arrangement24,88,90,92. The method can then include the step of outputting a sensor signal corresponding to the motion and characteristics of the object31in the detection zone15using the at least one sensor subassembly25,25′,25″,25″. As discussed above, the at least one sensor subassembly25,25′,25″,25′″ can be a radar sensor subassembly25,25′,25″,25″. Therefore, the step of sensing the motion and characteristics of the object31in the detection zone15using the at least one sensor subassembly25,25′,25″,25′″ coupled to the controller arrangement24,88,90,92can include the steps of transmitting radar waves using least one radar transmit antenna26of at least one radar sensor subassembly25,25′,25″,25′″ and receiving the radar waves after reflection from the object31in the detection zone15and using at least one radar receive antenna28of the at least one radar sensor subassembly25,25′,25″,25″. Then, the method can continue with the step of sensing the motion and characteristics of the object31in the detection zone15based on the radar waves received.

The next step of the method is receiving and analyzing the sensor signal from the at least one sensor assembly25,25′,25″,25′″ using the controller arrangement24,88,90,92. The method proceeds by determining whether the sensor signal is within the plurality of predetermined thresholds using the controller arrangement24,88,90,92and initiating movement of the closure panel12,12′ in response to the sensor signal being within the plurality of predetermined thresholds representing the valid activation gesture using the controller arrangement24,88,90,92.

Referring toFIG.29, in the event that the gesture selector94,96is a user interface94configured to accept the user input from the user, the method can further include the step of300monitoring the user interface94for the user input to select one of a plurality of gesture detection modes. The method can then include the step of302operating a master vehicle node90coupled to the user interface94and operable with a plurality of gesture operation mode statuses106and a plurality of preloaded detection algorithms108corresponding to the user input. The next step of the method can be304initiating movement of the closure panel12,12′ in response to the sensor signal being within the plurality of predetermined thresholds representing the valid activation gesture associated with the one of the plurality of gesture detection modes.

Referring toFIG.30, the method can further include the steps of106assigning one of a plurality of gesture detection modes to a fob92in communication with the controller arrangement24,88,90,92and308monitoring for an approach of the fob92to the vehicle14. The method can continue by310operating a master vehicle node90coupled to the user interface94and operable with a plurality of gesture operation mode statuses106and a plurality of preloaded detection algorithms108corresponding to the one of the plurality of gesture detection modes assigned to the fob92. The method can then include the step of312initiating movement of the closure panel12,12′ in response to the sensor signal being within the plurality of predetermined thresholds representing the valid activation gesture associated with the one of the plurality of gesture detection modes assigned to the fob92.

Referring toFIG.31, the method can further include the steps of114detecting the connection of an electronic controller24of a detection module operating in one of a plurality of gesture type detection modes to a body control module operable with a plurality of gesture operation mode statuses106and a plurality of preloaded detection algorithms108. The next step of the method can be316communicating one of the plurality of gesture operation mode statuses106to the body control module88in response to detecting the connection of the electronic controller24to the body control module88. The method can proceed by318processing the sensor signal from the at least one sensor subassembly25,25′,25″,25′″ using the body control module88with at least one of the plurality of preloaded detection algorithms108based on the one of the plurality of gesture operation mode statuses106from the electronic controller24.

As mentioned above, the gesture selector94,96can be a tool96for selectively coupling to the body control module88. Consequently, the method can further include the step of selectively decoupling the body control module88from the electronic controller24of the detection module10in response to the tool96being selectively coupled to the body control module88.

Also disclosed is a Doppler based user-activated, non-contact activation system11,11′ for operating a closure panel12,12′ coupled to a vehicle body16of a vehicle14, comprising: at least one radar sensor subassembly25,25′,25″,25′″ coupled to the vehicle body (e.g., bumper16) and including at least one radar transmit antenna26for transmitting radar waves and at least one radar receive antenna28for receiving the radar waves after reflection from an object31in a detection zone15for sensing a motion of the object31in the detection zone and outputting a sensor signal corresponding to the motion of the object31in the detection zone15; and a controller24coupled to the at least one radar sensor subassembly25,25′,25″,25′″ and configured to determine a velocity characteristic and an amplitude characteristic corresponding to the motion of the object31in the detection zone15using the sensor signal and issue a command to an actuator to initiate movement of the closure panel12,12′ in response to matching a predetermined motion with the motion determined to have a correlation between the velocity characteristic and the amplitude characteristic.

According to an aspect, the controller24is configured to: receive the sensor signal; determine a plurality of velocity characteristics and a plurality of amplitude characteristics based on the sensor signal representative of the motion of the object31; analyze the plurality of velocity characteristics and the plurality of amplitude characteristics to detect a sequence of sub-gestures forming the motion; and issue a command to the actuator to initiate movement of the closure panel12,12′ in response to the sequence of sub-gestures matching a predetermined sequence of sub-gestures.

According to an aspect, the controller24is configured to detect the sequence of sub-gestures consisting of at least one of the object31moving towards the at least one radar sensor subassembly25,25′,25″,25′″, the object31moving away from the at least one radar sensor subassembly25,25′,25″,25′″, and the object31not moving relative to the at least one radar sensor subassembly25,25′,25″,25″.

According to an aspect, the controller24is further configured to detect an entry of the object31into the detection zone15and an exit of the object31out of the detection zone15based on the plurality of amplitude characteristics being below a predetermined amplitude threshold.

According to an aspect, the controller24is further configured to correlate a rate of change of the plurality of velocity characteristics with the rate of change of the plurality of amplitude characteristics to classify at least one sub-gesture of the sequence of sub-gestures.

According to an aspect, the controller24is further configured to correlate a peak of the plurality of velocity characteristics with a peak of the plurality of amplitude characteristics to classify the end of one of the sub-gestures and the beginning of another one of the sub-gestures.

According to an aspect, the controller24is further configured to: detect the object31moving towards the at least one radar sensor subassembly25,25′,25″,25′″ based on analyzing the plurality of velocity characteristics and determining a positive velocity characteristic; detect the object31moving away from the at least one radar sensor subassembly25,25′,25″,25′″ based on analyzing the plurality of velocity characteristics and determining a negative velocity characteristic; and detect the object31not moving relative to the at least one radar sensor subassembly25,25′,25″,25′″ based on analyzing the plurality of velocity characteristics and determining no velocity characteristic.

According to an aspect, the controller24is further configured to: detect the object31moving towards the at least one radar sensor subassembly25,25′,25″,25′″ based on analyzing the plurality of amplitude characteristics and determining a positive amplitude characteristic; detect the object31moving away from the at least one radar sensor subassembly25,25′,25″,25′″ based on analyzing the plurality of amplitude characteristics and determining a negative amplitude characteristic; and detect the object31not moving relative to the at least one radar sensor subassembly25,25′,25″,25′″ based on analyzing the plurality of amplitude characteristics and determining no amplitude characteristic.

According to an aspect, the controller24is configured to detect the object31moving relative to the at least one radar sensor subassembly25,25′,25″,25′″ based on analyzing the plurality of velocity characteristics and determining a sign of the plurality of velocity characteristics and analyzing the plurality of amplitude characteristics and determining a sign of the plurality of amplitude characteristics, wherein the controller24is configured to determine that the object31is moving towards the at least one radar sensor subassembly25,25′,25″,25′″ when the sign of both the velocity characteristic and plurality of amplitude characteristics are positive, and determine that the object31is moving away from the at least one radar sensor subassembly25,25′,25″,25′″ when the sign of both the plurality of velocity characteristics and the plurality of amplitude characteristics are negative.

According to an aspect, the sequence of sub-gestures matching a predetermined sequence of sub-gestures includes the controller24detecting a sequence consisting of: the object31moving towards the at least one radar sensor subassembly25,25′,25″,25′″, then the object31next moving away from the at least one radar sensor subassembly25,25′,25″,25′″, and then the object31next not moving towards or away from the at least one radar sensor subassembly25,25′,25″,25″.

According to an aspect, the sequence of sub-gestures matching a predetermined sequence of sub-gestures includes the controller24detecting a further sequence consisting of: the object31next moving towards the at least one radar sensor subassembly25,25′,25″,25′″, the object31next moving away from the at least one radar sensor subassembly25,25′,25″,25′″, and the object31next moving out of the detection zone15.

According to an aspect, the controller24is further configured to determine if the sub-gesture whereby the object31is not moving towards or away from the object31moving away from the at least one radar sensor subassembly25,25′,25″,25′″ occurs for a minimum predetermined amount of time.

According to an aspect, the controller24is further configured to determine the plurality of velocity characteristics based on Doppler shifts between the radar waves transmitted by the at least one radar transmit antenna26and the radar waves received by the at least one radar receive antenna28and determine the plurality of amplitude characteristics based on the strength of the radar waves received by the at least one radar receive antenna28relative to the radar waves transmitted by the at least one radar transmit antenna26.

According to an aspect, the radar waves transmitted from the at least one radar transmit antenna26are unmodulated continuous wave radar waves73and the controller24is not configured to employ modulated continuous-wave techniques for determining the plurality of velocity characteristics and the plurality of amplitude characteristics.

According to an aspect, the object31is a foot and the at least one radar sensor subassembly25,25′,25″,25′″ is mounted on a vehicle bumper18and the closure panel12,12′ is a lift gate12.

According to an aspect, the sequence of sub-gestures corresponds to a user performing a step in gesture and a step out gesture.

According to an aspect, the controller24is further configured to monitor the sensor signal and analyze the plurality of velocity characteristics and the plurality of amplitude characteristics to detect the sequence of sub-gestures in response to the at least one of the plurality of velocity characteristics and one of the plurality of amplitude characteristics being respectively above a velocity noise threshold and an amplitude noise threshold.

According to an aspect, the controller24is further configured to operate in a monitor mode, and transition to a step in detecting mode in response to both one of the plurality of the velocity characteristics and one of the plurality of amplitude characteristics being respectively above a velocity noise threshold and an amplitude noise threshold.

According to an aspect, the controller24is configured to return to the monitor mode in response to either another of the plurality of velocity characteristics and another of the plurality of amplitude characteristics being respectively below the velocity noise threshold and the amplitude noise threshold.

According to an aspect, the predetermined sequence of sub-gestures corresponds to the sequence of sub-gestures consisting of a detected first peak of each the plurality of velocity characteristics and a peak of the plurality of amplitude characteristics over a first period of time indicating a first sub-gesture to the controller24, and a subsequently detected second peak of the plurality of velocity characteristics and a peak of the plurality of amplitude characteristics over a second period of time indicating a second sub-gesture to the controller24.

According to an aspect, the controller24is further configured to reanalyze at least one of the plurality of velocity characteristics and the plurality of amplitude characteristics to confirm the detection of the detected first peak and the subsequently detected second peak.

According to an aspect, the controller24is further configured to correlate a slope of the plurality of velocity characteristics with a slope of the plurality of amplitude characteristics to classify the motion as a valid motion.

According to an aspect, the controller24is further configured to correlate a rate of change of slope of the plurality of velocity characteristics with a rate of change of the slope of the plurality of amplitude characteristics to classify the motion as a valid motion.

According to an aspect, the controller24is further configured to correlate a direction of the slope of the plurality of velocity characteristics with a direction of the slope of the plurality of amplitude characteristics to classify the motion as a valid motion.

Also provided is a method of detecting a gesture for operating a closure panel actuation system comprising: transmitting radar waves in a detection zone15; receiving the radar waves after reflection from an object31in the detection zone15; determining at least one velocity characteristic and at least one amplitude characteristic based on the radar waves received after reflection indicative of a motion of the object31; determining a correlation between the at least one velocity characteristic and the at least one amplitude characteristic; matching a predetermined motion with the motion determined to have a correlation between the velocity characteristic and the amplitude characteristic; and commanding the operation of the closure panel actuation system in response to matching the predetermined motion with the motion.

According to an aspect, the method further includes the steps of: analyzing at least one of the plurality of velocity characteristics and a plurality of amplitude characteristics to detect a sequence of sub-gestures forming the motion of the object31; and commanding the movement of the closure panel12,12′ in response to the sequence of sub-gestures matching a predetermined sequence of sub-gestures.

According to an aspect, the step of analyzing the at least one of the plurality of velocity characteristics and the plurality of amplitude characteristics to detect a sequence of sub-gestures of the object31includes the steps of: identifying a step in sub-gesture in response to determining that both a first velocity characteristic of the plurality of velocity characteristics and a first amplitude characteristic of the plurality of amplitude characteristics are on a rising edge and the first velocity characteristic and the first amplitude characteristic are respectively above a velocity noise threshold and an amplitude noise threshold; identifying a step down sub-gesture in response to determining that a second velocity characteristic of the plurality of velocity characteristics is in a negative direction; identifying a foot on the ground sub-gesture in response to determining that a third velocity characteristic of the plurality of velocity characteristics and a third amplitude characteristic of the one of the plurality of amplitude characteristics are respectively below the velocity noise threshold and the amplitude noise threshold for a minimum predetermined amount of time; identifying a step up sub-gesture in response to determining that a fourth velocity characteristic of the plurality of velocity characteristics is in a positive direction; and identifying a step out sub-gesture in response to determining that a fifth velocity characteristic of the plurality of velocity characteristics is falling to the velocity noise threshold.

According to an aspect, the method further includes the step of processing a sensor signal to extract the plurality of velocity characteristics and the plurality of amplitude characteristics.

According to an aspect, the step of analyzing the at least one of the plurality of velocity characteristics and the plurality of amplitude characteristics to detect a sequence of sub-gestures of the object31includes the steps of: identifying one of the plurality of the velocity characteristics being positive and above a velocity noise threshold; and identifying one of the plurality of amplitude characteristics being above an amplitude noise threshold.

According to an aspect, the method further includes the step of reanalyzing at least one of the plurality of velocity characteristics and the plurality of amplitude characteristics to validate the sequence of sub-gestures.