Patent Application
20250076882
The present application claims priority to and the benefit of German Application No. 102023123075.1, filed on Aug. 28, 2023, which is hereby incorporated by reference herein in its entirety.
The present invention relates to a method and device for remotely controlling the movement, in particular the longitudinal movement, of a vehicle, for example a motor vehicle, by means of a hand-held device, for example by means of a mobile device. The invention also relates to a vehicle.
Precisely maneuvering a vehicle at low speeds in situations with road conditions that are difficult to assess, especially with friction of the road surface that is difficult to estimate, and/or with nearby surrounding objects can be very challenging for a user—in the following only the male variant will be used for better readability. This applies in particular to a fully loaded vehicle and/or with a trailer attached. An example situation is pulling a trailer loaded with a boat out of the water. In such situations, users often use the help of other people outside the vehicle to navigate. The outside person typically monitors the movement of the vehicle from the outside, in particular by observing the vehicle from different positions, and provides the user with feedback information, for example by voice or hand signals. However, such help is not always available. In this case, it would be useful if the user could take on both roles. This requires remote control of the vehicle, which allows the user to move freely around the vehicle outside the vehicle, while the vehicle is controllable from the respective position.
Comparable assistance functions are known for parking situations in which a user can leave the vehicle before it is automatically parked into a parking space, for example a narrow one. The longitudinal and lateral movement of the vehicle is controlled by a driver assistance function.
According to current legislation for driver assistance systems, a user must monitor the automatic parking maneuver. This is done, for example, by confirming monitoring by either drawing a specific pattern on a display or by pressing a button on a hand-held device that is electronically coupled to the vehicle, for example via Bluetooth. However, this user confirmation is binary, i.e. the confirmation or non-confirmation depends on the quality of the input signal entered by the user. In the situation described above, a user typically operates in much smaller increments, if not continuously, to control the vehicle using the control units of the vehicle, such as the brake pedal, acceleration pedal, and steering wheel. Often, users apply very little pressure to the accelerator pedal or release the brake pedal only very slightly to observe whether the vehicle reacts as expected. It is therefore desirable if a hand-held device used for remote control would reflect this process.
Documents US 11 648 976 B2 and US 2022/0 179 410 A1 disclose systems and methods for remotely controlling the movement of a vehicle and a trailer by means of a mobile device. A change in the tilt angle of the mobile device is used for control. Document US 2023/0 128 580 A1 describes a method of remotely parking a vehicle using a mobile device. Document EP 3 284 651 B1 discloses a method for remotely maneuvering a motor vehicle using a mobile device.
Against the background described, the object of the present invention is to provide an advantageous method and a control device for remotely controlling the movement of a vehicle by means of a hand-held device, as well as an advantageous vehicle. These objects are achieved by a method for remotely controlling the movement of a vehicle according to the disclosed embodiments, a control device for remotely controlling the movement of a vehicle according to disclosed embodiments and by a vehicle according to disclosed embodiments. The disclosed embodiments contain further advantageous embodiments of the invention.
The method according to the invention for remote control of the movement, in particular the longitudinal movement, of a vehicle, for example a motor vehicle, by means of a hand-held device includes the following steps. In a first step, a button, for example an activation button, is activated by pressing and holding the button by a user. In other words, a button is pressed by a user and held down permanently. This can be done, for example, on a display of the device.
In a next step, the user adjusts a tilt angle of the device starting from an initial tilt angle when activating the button, for example. When activating the button, a signal can be detected that represents the initial tilt angle. In a further step, a signal is received that represents the current, for example the set, tilt angle. In this context, in particular the current tilt angle of the device can be detected.
In a further step, the received signal is converted into a virtual pedal position, which corresponds to the position of a physical or real pedal corresponding to the virtual pedal. For example, the pedal can be an acceleration pedal or a brake pedal. The movement of the vehicle is then controlled according to the virtual pedal position. In other words, the vehicle is controlled as it would be if the physical pedal corresponding to the virtual pedal were pressed accordingly. In the case of an acceleration pedal, when the tilt angle of the device is increased, the vehicle moves as if an accelerator pedal were being pressed down according to the tilt angle. In the case of a brake pedal, a reduction in the tilt angle of the device would correspond to a corresponding release of the brake and the vehicle would react in the same way as for a corresponding release of the brake pedal.
If pressing and holding the button is stopped, i.e. if the button is released or the holding is interrupted, the vehicle is stopped, preferably stopped immediately. This is very advantageous from a safety point of view.
The hand-held device is preferably a mobile device, such as a mobile phone, tablet, netbook, smartwatch, etc.
The method according to the invention has the advantage that no second person is required to navigate the vehicle and a user can assume the role of both the driver and the person that is navigating. In addition, possible misunderstandings between a navigating person and the user are avoided. This improves the safety associated with the navigation of a vehicle and increases the comfort for a user.
Preferably, the pedal position is an acceleration pedal position or a brake pedal position. The tilt angle can be determined in relation to a specified axis, for example a longitudinal axis or a transverse axis, of the device.
In an advantageous variant, an initial tilt angle of the device can be determined, for example detected, when the button is activated. This can be done by means of the device. A tilt angle adjusted or set by the user can then be determined, for example detected. The tilt angle difference between the initial tilt angle and the adjusted tilt angle can be determined, detected or calculated, for example. The tilt angle difference as a signal can be converted into a virtual pedal position, i.e. in particular a position of an acceleration pedal or a brake pedal.
The speed of the vehicle and/or the torque of a drive motor of the vehicle may be kept below a specified maximum value while the method is being carried out. This improves safety for persons or objects in the vicinity of the vehicle while the method is being carried out. In particular, it ensures that the vehicle can only move below a specified speed during the navigation process.
Optionally, the vehicle can be controlled laterally by means of a driver assistance function. For example, the vehicle can be controlled laterally along a specified or predetermined trajectory using the driver assistance function. This can be done, for example, along a straight line or while maintaining a specified steering angle or along road markings. The user can specify a trajectory by drawing the trajectory on a display that shows the current environment of the vehicle. For this purpose, a camera-based image of the current environment of the vehicle can be shown on the display.
In another variant, the vehicle can be stopped if the distance of the vehicle from the device and/or at least one detected object and/or at least one detected person falls below a specified minimum distance. In this context, the immediate surroundings of the vehicle can be detected and evaluated, for example by means of sensors, especially cameras. This ensures a high level of safety when carrying out the method.
Furthermore, an all-wheel drive of the vehicle can be activated or deactivated before moving the vehicle. This has the advantage that this option, which is otherwise available when controlling the vehicle from the driver's seat, is also available to the user during the remote control.
The control device according to the invention for remote control of the movement, in particular the longitudinal movement, of a vehicle by means of a hand-held device, preferably a mobile device, contains a hand-held device with an activation button, for example in the form of a pressable button on a display, and a device for detecting a signal representing the current tilt angle of the device. For example, the device for detecting the signal that represents the current tilt angle of the device can be a sensor, for example a gravity sensor. It is advantageous to use the gyroscope that is usually installed in mobile devices to implement other functions
The control device according to the invention also contains an evaluation device for receiving a signal representing the current tilt angle and for converting the received signal into a virtual pedal position that corresponds to a position of a physical pedal corresponding to the virtual pedal. The control device also contains a device for transmitting data from the evaluation device to a vehicle control system for controlling the movement, in particular for controlling the longitudinal movement, of the vehicle depending on the detected tilt angle of the device, i.e. corresponding to a virtual pedal position. The control device according to the invention is designed to carry out a method already described for remote control of the movement of a vehicle by means of a hand-held device. The control device has the features and advantages already described in this context.
The vehicle according to the invention contains a control device according to the invention described above. It has the same features and benefits as this. The vehicle can be, for example, a motor vehicle or a ship. The motor vehicle can be a passenger car, a truck, a bus or a minibus.
The invention is explained in more detail below by means of exemplary embodiments with reference to the attached figures. Although the invention is illustrated and described in detail by the preferred exemplary embodiments, the invention is not limited by the disclosed examples and other variations can be inferred by the skilled person without departing from the scope of the invention.
The figures are not necessarily true to detail and to scale and may be enlarged or scaled down to provide a better overview. Therefore, functional details disclosed here are not to be understood in a restrictive way, but merely as a descriptive basis which provides guidance to the person skilled in this field of technology to use the present invention in a variety of ways.
The term “and/or” used herein, when used in a series of two or more elements, means that each of the listed elements can be used alone, or any combination of two or more of the listed elements can be used. For example, if a composition containing components A, B and/or C is described, the composition may contain A alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B, and C in combination.
The mobile device 1 contains a display 5. There are several buttons on the display 5, which are designed to be pressed. Button 6 shown as an example is a button for deactivating the remote control. Button 7 is a button for pressing an acceleration pedal. Button 8 is a button for releasing a brake pedal. The optional button 9 is a button for activating an all-wheel drive.
In step 11, the method is started. For this purpose, a corresponding control system is started by a user. In step 12, the vehicle locks the brakes of the vehicle, i.e. fully engages them so that the vehicle does not move. In step 13 a check is made of whether a button to deactivate the remote control, such as button 6 shown in
If the deactivation button 6 is not pressed in step 13, in step 14 a check is made of whether a button for the virtual operation of an acceleration pedal, for example button 7 shown in
If the tilt angle is increased in step 15, in step 17 a check is made of whether the vehicle speed is below a specified limit, such as a speed limit for low speeds. The limit value can be a maximum of 10 km/h, in particular a maximum of 5 km/h. If the vehicle speed is below the limit value, the drive motor torque is increased in step 19 and the method is continued in step 13. If the vehicle speed is not below the limit value, the method jumps directly back to step 13.
If the tilt angle is not increased or raised in step 15, in step 16 a check is then made of whether the tilt angle is reduced. If this is not the case, the method jumps back to step 13. If this is the case, in step 18 a check is made of whether the drive motor torque is greater than zero. If this is not the case, the method jumps back to step 13. If this is the case, i.e. the drive motor torque is greater than zero, the drive motor torque is reduced in step 20 and the method is then continued with step 13.
In the context of steps 15 and 16, the tilt angle of the mobile device 1 is detected in each case, for example starting from an initial tilt angle when pressing a button to operate an acceleration pedal, for example button 7 in
Steps 11, 12, 13, 21 and 22 correspond to the steps shown in
In step 26 a check is made of whether the brakes are locked or fully engaged, i.e. whether the brakes are fully applied. If this is the case, the method jumps back to step 13. If this is not the case, the brake pressure is increased in step 28 and the method is then reset to step 13.
If the tilt angle of mobile device 1 is not increased in step 24, in step 25 a check is made of whether the tilt angle is decreased. If this is not the case, the method jumps back to step 13. If this is the case, in step 27 a check is made of whether the vehicle speed is below a specified limit and whether the brake pressure is greater than zero. If this is not the case, the method jumps back to step 13. If this is the case, the brake pressure is reduced in step 29. In other words, the brake is released in the same way as a corresponding operation of a physical brake pedal.
In the context of steps 24 and 25, the tilt angle of the mobile device 1 is detected in each case, for example starting from an initial tilt angle when pressing a button to operate or release a brake pedal, for example button 8 in
The control device 30 also has an evaluation device 32 for receiving a signal representing the current tilt angle and for converting the received signal into a virtual pedal position corresponding to a physical pedal corresponding to the virtual pedal. The signal transmission from the device 31 for detecting a signal representing the current tilt angle of the mobile device to the evaluation device 32 is indicated by an arrow 34. The evaluation device 32 can be integrated into mobile device 1 or can be integrated into the vehicle to be controlled.
The control device also contains a device 33 for data transmission of data from the evaluation device 32 to a vehicle control system for controlling the movement, in particular the longitudinal movement, of the vehicle depending on the detected tilt angle of the mobile device corresponding to a virtual pedal position. In other words, the device 33 is designed to transmit data to a control system for the drive torque and/or the brake pressure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 102023123075.1 | Aug 2023 | DE | national |
