Audio alert for remote parking assist tethering

Abstract

The present disclosure provides "Audio Alert for Remote Parking Assist Tethering". A method and apparatus for audio alert for remote parking assist tethering are disclosed. An exemplary vehicle includes an exterior surface, a speaker, a communication node for wirelessly communicating with a mobile device, an autonomous unit for remote parking, and a controller. The controller will receive an instruction to perform the remote parking from the mobile device via the communication node, and issue an alert via the speaker in response to determining that the mobile device is beyond a threshold range from the exterior surface when the instruction is sent.

Description

Technical Field

[0001] The present disclosure relates generally to remote parking assist, and more particularly, to an audio alert for remote parking assist tethering. Background Art

[0002] Vehicles often include features in which at least some of the vehicle's power functions are controlled autonomously by the vehicle. For example, some vehicles include cruise control, in which the vehicle controls the acceleration and / or deceleration of the vehicle so that the vehicle's speed is maintained. Some vehicles include adaptive cruise control, in which the vehicle controls the acceleration and / or deceleration of the vehicle so that the vehicle's speed is maintained while also maintaining a predetermined following distance from other vehicles ahead. Additionally, some vehicles include a parking assist feature in which the vehicle autonomously controls the vehicle's power functions to park the vehicle in a parking space. Summary of the invention

[0003] The appended claims define the present application. This disclosure summarizes aspects of the embodiments and should not be used to limit the claims. Other implementations are also contemplated based on the techniques described herein, as will be apparent to one of ordinary skill in the art upon studying the following figures and detailed description, and these implementations are intended to be within the scope of the present application.

[0004] An exemplary embodiment of an audio alert for remote parking assist tethering is shown. An exemplary vehicle disclosed includes an exterior surface, a speaker, a communication node for wirelessly communicating with a mobile device, an autonomous unit for remote parking, and a controller. The controller is to receive an instruction from the mobile device via the communication node to perform the remote parking, and to issue an alert via the speaker in response to determining that the mobile device is beyond a threshold range from the exterior surface when the instruction is sent.

[0005] A disclosed exemplary method includes receiving, via a communication node of a vehicle, an instruction from a mobile device to perform remote parking of the vehicle. The disclosed exemplary method also includes determining, via a processor, whether the mobile device is beyond a threshold range from an exterior surface of the vehicle and, in response to determining that the mobile device is beyond the threshold range when the instruction is sent, issuing an alarm via a speaker of the vehicle.

[0006] A disclosed exemplary system includes a mobile device for sending an instruction to perform remote parking. The disclosed exemplary system also includes a vehicle, the vehicle including an exterior surface, a speaker, a communication node, an autonomous unit for performing the remote parking, and a controller. The controller is to receive the instruction via the communication node and issue an alarm via the speaker in response to determining that the mobile device is beyond a threshold range from the exterior surface when the instruction is sent. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] For a better understanding of the present invention, reference may be made to the embodiments illustrated in the following drawings. The components in the drawings are not necessarily drawn to scale, and related elements may be omitted, or in some cases, the scale may have been exaggerated in order to emphasize and clearly illustrate the novel features described herein. In addition, the system components may be arranged in different ways, as is known in the art. In addition, in the drawings, the same reference numerals represent corresponding components in the several views.

[0008] Figure 1 An example vehicle according to the teachings herein is shown.

[0009] Figure 2 Show tethered to Figure 1 A vehicle with an exemplary mobile device for remotely parking the vehicle.

[0010] Figure 3 Show Figure 1 to Figure 2 Example tethering range for a vehicle.

[0011] Figure 4 yes Figure 2 Block diagram of the electronic components of a mobile device.

[0012] Figure 5 yes Figure 1 to Figure 2 Block diagram of the electronic components of a vehicle.

[0013] Figure 6 is a flow chart for sounding an audio alert to tether a mobile device to a vehicle for remote parking in accordance with the teachings herein. DETAILED DESCRIPTION

[0014] While the present invention may be embodied in various forms, some illustrative and non-limiting embodiments are shown in the drawings and will be described below, it being understood that this disclosure is to be considered as exemplification of the invention and is not intended to limit the invention to the particular embodiments shown.

[0015] Vehicles often include functionality in which at least some of the vehicle's power functions are controlled autonomously by the vehicle. Some vehicles include cruise control, in which the vehicle controls acceleration and / or deceleration of the vehicle so that the vehicle's speed is maintained. Some vehicles include adaptive cruise control, in which the vehicle controls acceleration and / or deceleration of the vehicle so that the vehicle's speed is maintained while also maintaining a predetermined following distance from other vehicles ahead.

[0016] In addition, some vehicles include a parking assist function in which the vehicle autonomously controls the power functions of the vehicle to park the vehicle in a parking space. In some such cases, the vehicle includes a remote parking assist function in which the vehicle autonomously parks itself after the driver and / or other operator of the vehicle has exited the vehicle. For example, the driver may position the vehicle near a parking space, exit the vehicle, and remotely instruct the vehicle (e.g., via a button on a key fob or mobile device) to autonomously park in the parking space. Recently, some government regulations require that the user should be within a predetermined distance of the vehicle when remotely instructing the vehicle to perform remote parking. In such cases, the vehicle will not be able to move autonomously when the user is greater than the predetermined distance from the vehicle.

[0017] The exemplary methods and apparatus disclosed herein issue one or more audio alerts to a user of a mobile device, i.e., instructing the vehicle to perform remote parking when it is determined that the mobile device is approaching a tethered range of the vehicle, beyond which remote parking is disabled. The audio alert enables the user to receive a warning about the tethered range of the vehicle while the vehicle performs remote parking while continuing to carefully observe the vehicle and its surroundings. In addition, the vehicle issues an audio alert to indicate to the user that the alert the user hears relates to a function of the vehicle (not the mobile device).

[0018] As used herein, "remote parking" and "remote parking assist" refer to a vehicle-controlled power function of a vehicle that autonomously parks the vehicle in a parking space without direct steering or speed input from the driver when the driver is outside the vehicle. For example, a remote parking assist system of an autonomous unit controls the power function of the vehicle when the driver initiates remote parking of the vehicle in a parking space.

[0019] As used herein, "tethering" refers to enabling a mobile device to cause a vehicle to perform remote parking. For example, the vehicle is configured to perform remote parking when one or more instructions to perform remote parking are received from the mobile device while the mobile device is tethered to the vehicle, and is configured not to perform remote parking when the mobile device is untethered from the vehicle. As used herein, a "tethered" device refers to a device (e.g., a mobile device, a key fob) that is capable of sending instructions to the vehicle to perform remote parking. For example, in response to the mobile device being wirelessly coupled to the vehicle and being within a predetermined tethering range (e.g., 6 meters) of the vehicle, the mobile device is tethered to the vehicle. In such an example, if the mobile device is out of the tethering range of the vehicle, the mobile device that sent the instruction to perform remote parking to the vehicle is untethered from the vehicle.

[0020] Examples disclosed herein include a remote parking assist (also referred to as RePA) system for a vehicle that provides audio feedback to indicate to a user of a mobile device (who instructs the vehicle to perform remote parking) to remain within a predetermined tethering range of the vehicle during remote parking. In some examples, the RePA system adjusts the sound of the audio feedback to indicate a change in the distance between the mobile device and the vehicle. For example, a speaker of the vehicle (e.g., a cabin speaker, a horn, a horn-chirp speaker, a door chirp speaker, an audio actuator coupled to a window) and / or a speaker of the mobile device provide audio feedback to the user. In some examples, in response to determining that an occupant is located in the cabin of the vehicle, the RePA system does not emit audio feedback using the cabin speaker or the audio actuator coupled to the window. In some examples, the RePA system adjusts the sound emitted by the vehicle speaker to account for the Doppler effect. In addition, in some examples, feedback is collected using a microphone of the mobile device and / or the vehicle so that the audio signals emitted by the vehicle and the mobile device can be synchronized together.

[0021] Turning to the attached figure, Figure 1 An exemplary vehicle 100 according to the teachings herein is shown. Vehicle 100 may be a standard gasoline powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or any other mobility enabling type of vehicle. Vehicle 100 includes components related to mobility, such as a powertrain having an engine, a transmission, a suspension, a drive shaft, and / or wheels, etc. Vehicle 100 may be non-autonomous, semi-autonomous (e.g., some conventional power functions are controlled by vehicle 100), or autonomous (e.g., power functions are controlled by vehicle 100 without direct driver input).

[0022] In the example shown, vehicle 100 includes an exterior surface 102. Figure 1 As shown, the exterior surface 102 includes one or more doors 104, one or more windows 106, and one or more panels 108. For example, the windows 106 of the vehicle 100 include a front windshield, a rear windshield, and side windows of the doors 104. In some examples, one or more of the windows 106 (e.g., the front windshield) are formed of laminated or safety glass and / or one or more of the windows 106 (e.g., the rear windshield, the side windows) are formed of non-laminated tempered glass. In the example shown, the panels 108 include a front panel (also referred to as a hood), a rear panel (also referred to as a tailgate panel and / or a trunk panel), and a door panel of the door 104. The panels 108 are formed of, for example, steel, aluminum, other metal materials, plastics, carbon fiber, fiberglass, other composite materials, and / or any combination thereof. In addition, in the example shown, each of the doors 104 (e.g., the driver's door, the front passenger door, the rear passenger door) includes one of the windows 106 (e.g., the side window) and one of the panels 108 (e.g., the door panel).

[0023] The vehicle 100 also includes a cabin 110 (also referred to as a vehicle cabin). Figure 1 As shown, the cabin 110 is at least partially defined by one or more of the doors 104 and / or one or more of the windows 106. A cabin speaker 112 is located within the cabin 110 of the vehicle 100. For example, the cabin speaker 112 transmits audio signals including information such as instructions, warnings, and entertainment to one or more occupants (e.g., an operator, a passenger) located within the cabin 110 of the vehicle 100.

[0024] like Figure 1 As shown, the vehicle 100 also includes a horn 114. For example, the horn 114 emits a loud audio signal. For example, an operator of the vehicle 100 (e.g., a driver) activates the horn 114 (e.g., by pressing a button located within the steering wheel of the vehicle 100) to alert pedestrians, vehicle operators, and / or others of the presence of the vehicle 100 and / or nearby hazards.

[0025] The vehicle 100 of the illustrated example also includes a door chirp speaker 116 that emits a chirp sound when the engine of the vehicle 100 is turned off and the doors 104 are locked. That is, the door chirp speaker 116 emits an alarm to notify the user of the vehicle 100 (e.g., Figure 2 The user 206 of the vehicle 100 may indicate that the door 104 has been switched to a locked state. For example, the door chirp speaker 116 is located in one or more of the doors 104 and emits a softer and / or quieter audio signal than the horn 114. In the example shown, one of the doors 104 includes the door chirp speaker 116. In other examples, multiple doors 104 of the vehicle 100 include the door chirp speakers 116. For example, the vehicle 100 may include a door chirp speaker 116 located on the driver's side of the vehicle 100 and another door chirp speaker 116 located on the passenger side of the vehicle 100.

[0026] In addition, the vehicle 100 of the illustrated example includes an audio actuator 118 (also referred to as a vibration speaker audio actuator) coupled to a portion of the exterior surface 102 of the vehicle 100. For example, the audio actuator 118 (e.g., a SoundBug device) is firmly mounted to one of the vehicle doors 104, one of the vehicle windows 106, one of the panels 108, etc. The audio actuator 118 is configured to emit sound by vibrating the portion of the exterior surface 102 to which the audio actuator 118 is coupled. For example, the audio actuator 118 includes an arm that actuates upon receiving an electrical signal. The arm contacts another actuator component or causes it to contact an adjacent portion of the exterior surface 102 to vibrate. That is, the audio actuator 118 acts as a tuning fork by actuating an adjacent portion of the exterior surface 102, so that the portion of the exterior surface 102 forms a sound baffle of the speaker. In other words, the exterior surface 102 of the vehicle 100 and the audio actuator 118 form a speaker. In addition, in the illustrated example, the vehicle 100 includes the audio actuator 118. In other examples, the vehicle 100 includes multiple audio actuators 118. For example, one of the audio actuators 118 is located on each side of the vehicle 100 so that the audio actuator 118 can transmit an audio signal from the vehicle 100 in each direction.

[0027] like Figure 1 As shown, one or more seats 120 are located in the cabin 110 for use by one or more occupants of the vehicle 100. For example, the seats 120 include a driver's seat (also referred to as an operator's seat), a front passenger seat, and a rear passenger seat. In the example shown, at least some of the seats 120 of the vehicle 100 include occupancy sensors 122 for detecting whether an occupant is present at a corresponding one of the seats 120 in the cabin 110. For example, one or more of the occupancy sensors 122 detects whether an occupant is located at a driver's seat of the seats 120, one or more of the occupancy sensors 122 detects whether an occupant is located at a front passenger seat of the seats 120, and one or more of the occupancy sensors 122 detects whether an occupant is located at one or more of the rear passenger seats of the seats 120.

[0028] In the example shown, the vehicle 100 also includes a global positioning system (GPS) receiver 124. For example, the GPS receiver 124 receives signals from a global positioning system to determine the location of the vehicle 100.

[0029] Additionally, the vehicle 100 includes a communication node 126 that is configured to communicatively connect to a key fob and / or a mobile device (eg, Figure 2As used herein, a “key fob” refers to an electronic device that wirelessly communicates with the vehicle 100 (e.g., via one or more of the communication nodes 126) to unlock and / or lock one or more of the doors 104, open and / or close one or more of the doors 104, activate the engine of the vehicle 100, and / or initiate other functions of the vehicle 100. In some examples, a user of the vehicle 100 utilizes a mobile device that acts as a phone-as-key that wirelessly communicates with the communication node 126. As used herein, “phone-as-key” refers to a mobile device (e.g., a smart phone, a wearable device, a smart watch, a tablet, etc.) that includes hardware and / or software to act as a key fob.

[0030] The communication node 126 includes hardware and firmware for establishing a wireless connection with a key fob and / or a mobile device. For example, the communication node 126 is a short-range wireless module that wirelessly communicates with one or more key fobs and / or one or more phones or keys (e.g., the mobile device 204 of the user 206) of one or more users of the vehicle 100 via a short-range wireless communication protocol. In some examples, the communication node 126 implements and / or Bluetooth Low Energy (BLE) protocol. and BLE protocol in Maintained by special interest groups Specification 4.0 (and subsequent versions) is described in Volume 6. In other examples, communication node 126 may use WiFi, WiMax, NFC, UWB (Ultra Wideband), and / or any other communication protocol that enables communication node 126 to be communicatively coupled to a key fob and / or mobile device.

[0031] Prior to communicating with the key fob and / or mobile device, one or more of the communication nodes 126 may be utilized to authenticate the key fob and / or mobile device for communication with the communication node 126. After being authenticated, the key fob and / or mobile device is paired with the vehicle 100. For example, to authenticate the key fob and / or mobile device, one or more of the communication nodes 126 intermittently broadcasts a beacon (e.g., such as a The key fob and / or mobile device 132 may be a Bluetooth Low Energy (BLE) beacon. When the key fob and / or mobile device is within the broadcast range of one or more of the communication nodes 126, the key fob and / or mobile device receives the beacon and subsequently sends the key. Upon receiving the key from the key fob and / or mobile device, one or more of the communication nodes 126 authenticate the key fob and / or mobile device to communicate with the communication node 126. In other examples, the key fob and / or mobile device 132 broadcasts the beacon, and one or more of the communication nodes 126 subsequently receives the beacon to authenticate the communication between the key fob and / or mobile device and the communication node 126.

[0032] The vehicle 100 of the illustrated example also includes an autonomous unit 128. The autonomous unit 128 is an electronic control unit (ECU) of the vehicle 100 that performs autonomous and / or semi-autonomous functions of the vehicle 100. For example, the autonomous unit 128 autonomously controls the power functions of the vehicle 100 to perform maneuvers of the vehicle 100 to an available parking space (e.g., Figure 2 The autonomous unit 128 may be configured to remotely park the vehicle 100 in a parking space 202 and / or otherwise autonomously and / or semi-autonomously drive the vehicle 100. For example, the autonomous unit 128 controls the power functions of the vehicle 100 based on data collected from one or more sensors of the vehicle 100 (e.g., one or more radar sensors, one or more lidar sensors, one or more ultrasonic sensors, etc.) and / or one or more cameras of the vehicle 100.

[0033] In the example shown, the autonomous unit 128 performs remote parking of the vehicle 100 when a user (e.g., user 206) initiates remote parking via a mobile device (e.g., mobile device 204) tethered to the vehicle 100. For example, the autonomous unit 128 is configured to perform remote parking of the vehicle 100 only when the mobile device initiating remote parking of the vehicle 100 is within a predetermined tethering range (e.g., Figure 2 Remote parking is performed only when the vehicle is within the tethering range 208).

[0034] like Figure 1 As shown, the vehicle 100 includes a tethering controller 130 that monitors the tethering of a mobile device (e.g., the mobile device 204) to the vehicle 100. For example, the tethering controller 130 is configured to determine the location of the mobile device that is communicatively coupled to one or more of the communication nodes 126 relative to the exterior surface 102 of the vehicle 100. In addition, the tethering controller 130 is configured to determine whether the mobile device in communication with one or more of the communication nodes 126 is within a tethering range (e.g., the tethering range 208) of the vehicle 100 and issue one or more alerts based on the location of the mobile device within the tethering range.

[0035] Figure 2 The vehicle 100 is shown being remotely parked in a parking space 202 via a mobile device 204 of a user 206 (e.g., an operator of the vehicle 100). In the example shown, the parking space 202 is a parallel parking space. In other examples, the parking space 202 for which the user 206 utilizes remote parking assistance is a perpendicular parking space or a diagonal parking space.

[0036] like Figure 2As shown, when the user 206 is outside the cabin 110 of the vehicle 100, the autonomous unit 128 of the vehicle 100 performs remote parking. The user 206 uses the mobile device 204 to send a command to perform remote parking (also referred to as a RePA command) to the vehicle 100. For example, the user 206 provides input to cause the communication module (e.g., Figure 4 The communication module 406 of the vehicle 100 wirelessly sends instructions to the communication nodes 126 of the vehicle 100. The tethered controller 130 receives instructions to perform remote parking from the mobile device 204 via one or more of the communication nodes 126.

[0037] In addition, the tethered controller 130 determines whether the autonomous unit 128 is to perform a remote parking when receiving the instruction to perform a remote parking based at least in part on whether the mobile device 204 is tethered to the vehicle 100. For example, the mobile device 204 is tethered to the vehicle 100 in response to the mobile device 204 (i) being wirelessly coupled to one or more of the communication nodes 126 of the vehicle 100 and (ii) being located within the tethered range 208 of the vehicle 100. That is, the autonomous unit 128 is configured to perform a remote parking of the vehicle 100 in response to the tethered controller 130 determining that the mobile device 204 is within the tethered range 208 when the remote parking instruction is sent to the vehicle 100. In addition, the autonomous unit 128 is configured not to perform a remote parking of the vehicle 100 in response to the tethered controller 130 determining that the mobile device 204 is out of the tethered range 208 when the remote parking instruction is sent to the vehicle 100. That is, if the mobile device 204 moves from within the tethered range 208 to outside the tethered range 208, the autonomous unit 128 (temporarily) disables the execution of remote parking. To reactivate remote parking, the user 206 moves the mobile device 204 back into the tethered range and resends the remote parking command to the vehicle 100 while within the tethered range 208.

[0038] In the example shown, the tethering range 208 is defined based on a predetermined distance (e.g., 6 meters) from the exterior surface 102 of the vehicle 100. That is, if the distance between the mobile device 204 and the exterior surface 102 of the vehicle 100 is less than or equal to the predetermined distance, the mobile device 204 is within the tethering range 208 of the vehicle 100. In some examples, the tethering controller 130 determines the distance between the mobile device 204 and the exterior surface 102 of the vehicle 100 based on one or more received signal strength indicators (RSSIs) of one or more signals communicated between the mobile device 204 and one or more of the communication nodes 126. For example, the tethering controller 130 determines the distance between the mobile device 204 and the exterior surface 102 based on one or more RSSIs of one or more instructions sent by the mobile device 204 to the vehicle 100 to perform remote parking. In some examples, the tethering controller 130 determines the distance between the mobile device 204 and the vehicle 100 via the GPS locations of the mobile device 204 and the vehicle 100. For example, the tethered controller 130 determines the location of the vehicle 100 via the GPS receiver 124 and determines the location of the mobile device 204 via the GPS receiver of the mobile device 204. Additionally or alternatively, the tethered controller 130 may determine the distance between the mobile device 204 and the exterior surface 102 of the vehicle 100 using any other means (e.g., time of flight, angle of arrival, dead reckoning, etc.).

[0039] Figure 3 Further depicted is a tethering range 208 of the vehicle 100. In addition, Figure 3 2 , a threshold range 302 (eg, a first threshold range), a threshold range 304 (eg, a second threshold range), and an outer boundary 306 of the tethering range 208 of the vehicle 100 are shown. Figure 3 As shown, threshold range 302 and threshold range 304 are within tethered range 208 of vehicle 100. Furthermore, threshold range 304 is smaller than tethered range 208, and threshold range 302 is smaller than threshold range 304. In other words, threshold range 304 is larger than threshold range 302, and tethered range 208 is larger than threshold range 304.

[0040] In the example shown, the threshold range 302 is defined based on a predetermined distance (e.g., 3 meters) from the exterior surface 102 of the vehicle 100. That is, if the distance between the mobile device 204 and the exterior surface 102 of the vehicle 100 is less than or equal to the predetermined distance, the mobile device 204 is within the threshold range 302 of the vehicle 100. In addition, the threshold range 304 is defined based on another predetermined distance (e.g., 5 meters) from the exterior surface 102 of the vehicle 100. That is, if the distance between the mobile device 204 and the exterior surface 102 of the vehicle 100 is less than or equal to the predetermined distance, the mobile device 204 is within the threshold range 304 of the vehicle 100.

[0041] The tethered controller 130 of the vehicle 100 is configured to issue one or more alerts via one or more speakers based on the position of the mobile device 204 of the user 206 relative to the threshold range 302, the threshold range 304, and / or the outer boundary 306 of the tethered range 208 of the vehicle 100. The tethered controller 130 issues an alert when the mobile device 204 sends a RePA command to the vehicle 100 to alert the user 206 that the user 206 has approached the outer boundary 306 of the tethered range 208. In turn, the one or more alerts prevent the user 206 from moving beyond the tethered range 208 and, therefore, prevent the user 206 from causing the autonomous unit 128 to disable remote parking when the user 206 is beyond the tethered range 208. In addition, the tethered controller 130 issues one or more audio alerts to enable the user 206 to carefully monitor the vehicle 100 and its surroundings while the autonomous unit 128 performs remote parking of the vehicle 100.

[0042] In the example shown, the alerts issued by the tethering controller 130 via the one or more speakers vary based on the location of the mobile device 204 within the tethering range 208 of the vehicle 100. For example, in response to sending one or more RePA instructions when the mobile device 204 is within the threshold range 302, the tethering controller 130 does not issue an alert via the one or more speakers. In response to sending one or more RePA instructions when the mobile device 204 is outside the threshold range 302 and within the threshold range 304, the tethering controller 130 issues a first alert via the one or more speakers. In response to sending one or more RePA instructions when the mobile device 204 is outside the threshold range 304 and within the outer boundary 306 of the tethering range 208, the tethering controller 130 issues a second alert via the one or more speakers. Additionally, in response to sending one or more RePA instructions when the mobile device 204 is located along the outer boundary 306 of the tethering range 208, the tethering controller 130 issues a second alert via the one or more speakers. Although the illustrated example includes two threshold ranges (ie, threshold range 302 , threshold range 304 ) within the tethered range 208 that correspond to different audio alerts, other examples may include more or fewer threshold ranges within the tethered range 208 that each correspond to a different audio alert.

[0043] In some examples, each of the audio alerts emitted by the tethered controller 130 via the one or more speakers has different audio characteristics to enable the user 206 to distinguish between the first alert, the second alert, the third alert, etc. For example, the audio alerts have different sounds, pitches, tones, intensities, sound pressure levels, frequencies, etc. to enable the user 206 to identify where he or she is within the tethered range 208 based on the emitted audio alerts. In some examples, the third audio alert has a greater intensity, sound pressure level, and / or frequency relative to the intensity, sound pressure level, and / or frequency of the second audio alert, which has a greater intensity, sound pressure level, and / or frequency relative to the intensity, sound pressure level, and / or frequency of the first audio alert. In other words, the intensity, sound pressure level, and / or frequency of the audio alert increases as the user 206 approaches the outer boundary 306 of the tethered range 208 to alert the user 206 that he or she is approaching a point where the autonomous unit 128 will disable remote parking.

[0044] In some examples, the one or more audio alerts emitted by the tethered controller 130 via the one or more speakers vary as the distance between the mobile device 204 and the exterior surface 102 of the vehicle 100 varies. For example, in response to detecting an increase in the distance between the mobile device and the exterior surface 102, the tethered controller 130 increases the intensity, sound pressure level, frequency, etc. of the audio alert. Additionally or alternatively, the one or more audio alerts emitted by the tethered controller 130 via the one or more speakers vary as the distance between the mobile device and the exterior surface 102 increases to form an arpeggio that follows a musical scale, an octave sequence, a song, a melody, and / or any other musical sequence.

[0045] The tethered controller 130 issues one or more audio alerts, for example, via one or more speakers of the vehicle 100. For example, one or more of the cabin speaker 112, the horn 114, the horn-chirp speaker, the door chirp speaker 116, and / or the audio actuator 118 coupled to one of the windows 106 of the vehicle 100 issues the one or more audio alerts for the user 206. In some examples, when the autonomous unit 128 is performing remote parking, the one or more speakers of the vehicle 100 issue the one or more audio alerts to draw attention to the vehicle 100 and / or the mobile device 204 away. Additionally, in some examples, when an occupant is within the cabin 110 of the vehicle 100, the tethered controller 130 prevents the cabin speaker 112 and the audio actuator 118 coupled to one of the windows 106 from emitting the one or more audio alerts. For example, in response to one or more of the occupancy sensors 122 detecting that an occupant is within the cabin 110 , the tethering controller 130 prevents the cabin speakers 112 and the audio actuators 118 from sounding one or more audio alarms to prevent loud audio signals from being emitted within the cabin 110 while the occupant is within the cabin 110 .

[0046] Additionally, in some examples, tethered controller 130 sends an alert signal to mobile device 204 via one or more of communication nodes 126 to instruct mobile device 204 to communicate with mobile device 204 via a speaker of mobile device 204 (e.g., Figure 4 The mobile device 204 includes a communication module (e.g., Figure 4 A communication module 406 of the mobile device 204 receives an alarm signal from one or more of the communication nodes 126 of the vehicle 100 and issues an alarm via a speaker of the mobile device 204 (also referred to as a mobile device speaker) in response to the communication module of the mobile device 204 receiving an audio alarm.

[0047] In some examples, one or more audio alerts are emitted by both one or more speakers of the vehicle 100 and the speaker of the mobile device 204 in a synchronized manner. That is, one or more speakers of the vehicle 100 and the speaker of the mobile device 204 are synchronized to emit an audio alert to the user 206. In some examples, one or more speakers of the vehicle 100 and the speaker of the mobile device 204 are synchronized to emit one or more audio alerts at the same time. The audio signal emitted by the one or more speakers of the vehicle 100 may match and / or coordinate with the audio signal emitted by the speaker of the mobile device 204. In addition, when the mobile device 204 is along the outer boundary 306 of the tethering range 208, the audio signal emitted by the one or more speakers of the vehicle 100 and the audio signal emitted by the speaker of the mobile device 204 may cause a piercing sound and / or an outrageous tone to provide a warning that the user 206 is about to move beyond the tethering range 208. In other examples, one or more speakers of the vehicle 100 and the speaker of the mobile device 204 are synchronized to emit one or more audio alerts in an alternating and / or modulated mode.

[0048] Additionally, in some examples, the vehicle 100 and / or the mobile device 204 include microphones that facilitate synchronization of one or more audio alerts emitted by one or more speakers of the vehicle 100 and a speaker of the mobile device 204. That is, the tethered controller 130 of the vehicle 100 and / or the processor of the mobile device 204 (e.g., Figure 4 The processor 402 of the tethered controller 130 and / or the processor of the mobile device 204 processes one or more audio signals collected by the microphone to enable the processor of the tethered controller 130 and / or the mobile device 204 to synchronize one or more audio alerts issued by the vehicle 100 and the mobile device 204. For example, to account for the delay of one of the transmitted audio signals that causes the audio signals emitted by the vehicle 100 and the mobile device 204 to be out of sync, the processor of the tethered controller 130 and / or the mobile device 204 delays one of the transmitted audio signals to facilitate synchronization of the audio signals. In addition, the tethered controller 130 of the vehicle 100 and / or the processor of the mobile device 204 processes the one or more audio signals collected by the microphone to reduce the impact of ambient noise on the synchronization of one or more audio alerts issued by the vehicle 100 and the mobile device 204. In some examples, one of the speakers of the vehicle 100 and / or the mobile device 204 is used to act as a microphone. Additionally or alternatively, the tethered controller 130 adjusts the audio alerts issued via one or more speakers of the vehicle 100 to prevent the Doppler effect from affecting the sound of the audio alerts heard by the user 206. For example, the tethered controller 130 adjusts the audio alert based on one or more audio signals collected by a microphone of the mobile device 204 to account for the Doppler effect.

[0049] Figure 4is a block diagram of electronic components 400 of mobile device 204. Figure 4 As shown, the electronic components 400 of the mobile device 204 include a processor 402 , a memory 404 , a communication module 406 , a speaker 408 (also referred to as a mobile device speaker), and a touch screen 410 .

[0050] The processor 402 of the electronic component 400 can be any suitable processing device or group of processing devices, such as but not limited to a microprocessor, a microcontroller-based platform, an integrated circuit, one or more field programmable gate arrays (FPGAs), and / or one or more application-specific integrated circuits (ASICs). In some examples, the processor 402 is configured to include the tethered controller 130. In addition, the memory 404 can be a volatile memory (e.g., RAM, including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.), a non-volatile memory (e.g., disk memory, FLASH memory, EPROM, EEPROM, non-volatile solid-state memory based on memristor, etc.), an unchangeable memory (e.g., EPROM), a read-only memory, and / or a high-capacity storage device (e.g., a hard disk drive, a solid-state drive, etc.). In some examples, the memory 404 includes a variety of memories, particularly volatile memories and non-volatile memories.

[0051] The memory 404 is a computer-readable medium on which one or more sets of instructions (such as software for operating the methods of the present disclosure) may be embedded. The instructions may embody one or more of the methods or logic as described herein. For example, the instructions reside completely or at least partially in any one or more of the memory 404, the computer-readable medium, and / or reside in the processor 402 during instruction execution.

[0052] The terms "non-transitory computer-readable medium" and "computer-readable medium" include a single medium or multiple media, such as a centralized database or a distributed database, and / or associated caches and servers storing one or more sets of instructions. In addition, the terms "non-transitory computer-readable medium" and "computer-readable medium" include any tangible medium that can store, encode, or carry a set of instructions for execution by a processor or cause a system to perform any one or more of the methods or operations disclosed herein. As used herein, the term "computer-readable medium" is expressly defined to include any type of computer-readable storage device and / or storage disk, and excludes propagating signals.

[0053] The communication module 406 of the electronic component 400 is configured to be communicatively connected to the communication node 126 of the vehicle 100. The communication module 406 includes hardware and firmware for establishing a wireless connection with the communication node 126 of the vehicle 100. For example, the communication module 406 is a short-range wireless module that wirelessly communicates with one or more other communication modules and / or one or more nodes (e.g., the communication node 126 of the vehicle 100) via a short-range wireless communication protocol. In some examples, the communication module 406 implements and / or Bluetooth Low Energy (BLE) protocol. and BLE protocol in Maintained by special interest groups Specification 4.0 (and subsequent versions) are described in Volume 6. In other examples, the communication module 406 may use WiFi, WiMax, NFC, UWB (Ultra Wideband), and / or any other communication protocol that enables the communication module 406 to be communicatively coupled to the communication node 126 of the vehicle 100.

[0054] The speaker 408 and touch screen 410 of the electronic component 400 provide an interface between the mobile device 204 and the user 206. For example, the mobile device 204 includes input devices and output devices such as the speaker 408 and touch screen 410 to receive input from the user 206 and present information to it. The input devices include, for example, the touch screen 410, a digital camera for image capture and / or visual command recognition, an audio input device (e.g., a cabin microphone), buttons, etc. The output devices include, for example, the touch screen 410, one or more other displays (e.g., a liquid crystal display (LCD), an organic light emitting diode (OLED) display, a flat panel display, a solid state display, etc.), one or more linear resonant actuators, and / or the speaker 408. For example, the user 206 provides input via the touch screen 410 that is communicated to the vehicle 100 via the communication module 406 to initiate remote parking of the vehicle 100. Additionally, while remote parking is being performed, speaker 408 and / or touchscreen 410 may provide one or more alerts to user 206 regarding tethered range 208 , threshold range 302 , threshold range 304 , and / or outer boundary 306 of tethered range 208 .

[0055] Figure 5 is a block diagram of an electronic component 500 of a vehicle 100. Figure 5 As shown, the electronic components 500 of the vehicle 100 include an onboard computing platform 502 , a GPS receiver 124 , a communication node 126 , an occupancy sensor 122 , a speaker 504 , an electronic control unit (ECU) 506 , and a vehicle data bus 508 .

[0056] The onboard computing platform 502 includes a microcontroller unit, a controller or processor 510 and a memory 512. In some examples, the processor 510 of the onboard computing platform 502 is configured to include a tethered controller 130. Alternatively, in some examples, the tethered controller 130 is incorporated into another electronic control unit (ECU) having its own processor 510 and memory 512. The processor 510 can be any suitable processing device or group of processing devices, such as but not limited to a microprocessor, a microcontroller-based platform, an integrated circuit, one or more field programmable gate arrays (FPGAs), and / or one or more application-specific integrated circuits (ASICs). The memory 512 can be a volatile memory (e.g., RAM, including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.), a non-volatile memory (e.g., disk storage, FLASH memory, EPROM, EEPROM, non-volatile solid-state memory based on memristors, etc.), an unchangeable memory (e.g., EPROM), a read-only memory, and / or a high-capacity storage device (e.g., a hard disk drive, a solid-state drive, etc.). In some examples, memory 512 includes multiple types of memory, particularly volatile memory and non-volatile memory.

[0057] The memory 512 is a computer-readable medium on which one or more sets of instructions (such as software for operating the methods of the present disclosure) may be embedded. The instructions may embody one or more of the methods or logic as described herein. For example, the instructions reside completely or at least partially in any one or more of the memory 512, the computer-readable medium, and / or reside in the processor 510 during instruction execution.

[0058] The occupancy sensor 122 of the electronic component 500 monitors the cabin 110 of the vehicle 100 to detect the presence of one or more occupants in the cabin 110. The occupancy sensor 122 and / or other sensors of the electronic component 500 of the vehicle 100 are arranged in and around the vehicle 100 to monitor the properties of the vehicle 100 and / or the environment in which the vehicle 100 is located. One or more sensors may be installed to measure properties around the exterior surface 102 of the vehicle 100. Additionally or alternatively, one or more of the sensors (e.g., the occupancy sensor 122) may be installed inside the cabin 110 of the vehicle 100 or in the body of the vehicle 100 (e.g., the engine compartment, the wheel well, etc.) to measure properties inside the vehicle 100. For example, the sensors of the vehicle 100 include accelerometers, odometers, tachometers, pitch and yaw sensors, wheel speed sensors, microphones, tire pressure sensors, biometric sensors, and / or any other suitable type of sensor.

[0059] In the example shown, the occupancy sensors 122 that detect the presence of occupants in the cabin 110 include one or more occupant classification sensors 514, one or more pressure sensors 516, one or more load sensors 518, one or more seat belt sensors 520, one or more infrared sensors 522, and one or more motion detection sensors 524. For example, the occupant classification sensor 514 monitors one or more of the seats 120 to detect whether an object is located at one or more of the seats 120 and / or classifies an object located at a corresponding one or more of the seats 120. The pressure sensor 516 measures the pressure applied at one or more of the seats 120 to identify whether one or more occupants are present in the cabin 110. The load sensor 518 measures the load on one or more of the seats 120 to identify whether one or more occupants are present in the cabin 110. The seat belt sensor 520 (e.g., a Hall effect sensor) detects whether a seat belt at a corresponding one of the seats 120 is fastened or unfastened. The infrared sensor 522 monitors infrared radiation at one or more of the seats 120 to identify whether one or more occupants are present in the cabin 110. The motion detection sensors 524 (eg, microwave sensors, ultrasonic sensors, etc.) detect the presence of movement at one or more of the seats 120 to identify the presence of one or more occupants within the cabin 110 .

[0060] The speaker 504 of the illustrated example is configured to issue one or more alerts to the user 206 during remote parking of the vehicle 100. Figure 5 As shown, the speakers 504 include the cabin speaker 112 , the horn 114 , the door chirp speaker 116 , and the audio actuator 118 coupled to one of the windows 106 and / or another portion of the exterior surface 102 of the vehicle 100 .

[0061] ECU 506 monitors and controls the subsystems of vehicle 100. For example, ECU 506 is a discrete group of electronic devices that includes one or more circuits (e.g., integrated circuits, microprocessors, memory, storage devices, etc.) and firmware, sensors, actuators, and / or mounting hardware of their own. ECU 506 communicates and exchanges information via a vehicle data bus (e.g., vehicle data bus 508). In addition, ECU 506 can communicate attributes (e.g., status of ECU 506, sensor readings, control states, errors and diagnostic codes, etc.) to each other and / or receive requests from each other. For example, vehicle 100 may have seventy or more ECU 506 located in various locations around vehicle 100 and communicatively coupled by vehicle data bus 508.

[0062] In the example shown, the ECU 506 includes an autonomous unit 128 and a body control module 526. For example, the autonomous unit 128 controls the performance of autonomous and / or semi-autonomous driving maneuvers of the vehicle 100 based at least in part on one or more images and / or videos captured by one or more cameras of the vehicle 100 and / or information collected by one or more sensors of the vehicle 100 (e.g., radar sensors, lidar sensors, ultrasonic sensors, etc.). The body control module 526 controls one or more subsystems throughout the vehicle 100, such as power windows, power locks, anti-theft locking systems, power mirrors, etc. For example, the body control module 526 includes circuits that drive one or more of relays (e.g., for controlling wiper fluid, etc.), brushed direct current (DC) motors (e.g., for controlling power seats, power locks, power windows, wipers, etc.), stepper motors, LEDs, etc.

[0063] The vehicle data bus 508 communicatively couples the occupancy sensor 122, the GPS receiver 124, the communication node 126, the onboard computing platform 502, the speaker 504, and the ECU 506. In some examples, the vehicle data bus 508 includes one or more data buses. The vehicle data bus 508 may be configured in accordance with the controller area network (CAN) bus protocol defined by the International Organization for Standardization (ISO) 11898-1, the media oriented system transport (MOST) bus protocol, the CAN flexible data (CAN-FD) bus protocol (ISO 11898-7), and / or the K-line bus protocol (ISO 9141 and ISO 14230-1), and / or Ethernet. TM Bus protocol IEEE802.3 (since 2002) and others have been implemented.

[0064] Figure 6 is a flow chart of an exemplary method 600 for issuing an audio alert for tethering a mobile device to a vehicle for remote parking. Figure 6 A flowchart representing a memory device (such as Figure 4 Memory 404 and / or Figure 5 512) and includes machine-readable instructions for one or more programs that are executed by a processor (such as Figure 4 The processor 402 and / or Figure 5 The processor 510 of the vehicle 100 and / or the mobile device 204 executes Figure 1 and Figure 5 An exemplary tethered controller 130 of FIG. Figure 6 The flowchart shown describes an exemplary procedure, but many other methods of implementing the exemplary tethered controller 130 may alternatively be used. For example, the order of execution of the blocks may be rearranged, changed, eliminated, and / or combined to perform the method 600. In addition, because the method 600 is combined with the Figures 1 to 5 The method 600 is disclosed by the components, so some functions of those components will not be described in detail below.

[0065] Initially, at block 602, the tethered controller 130 determines whether one or more of the communication nodes 126 have received a RePA signal (also referred to as an instruction) from the mobile device 204. In response to the tethered controller 130 determining that a RePA signal has not been received from the mobile device 204, the method 600 remains at block 602. Otherwise, in response to the tethered controller 130 determining that a RePA signal has been received from the mobile device 204, the method 600 proceeds to block 604, where the tethered controller 130 determines a distance between the mobile device 204 and the exterior surface 102 of the vehicle 100.

[0066] At block 606, the tethered controller 130 determines whether the mobile device 204 is within the tethered range 208 of the vehicle 100. For example, the tethered controller 130 determines whether the mobile device 204 is within the tethered range 208 by comparing the distance of the vehicle 100 from the mobile device 204 to the distance of the vehicle 100 from the outer boundary 306 of the tethered range 208. In such examples, in response to identifying that the distance from the mobile device 204 is less than the distance from the outer boundary 306 of the tethered range 208, the tethered controller 130 determines that the mobile device 204 is within the tethered range 208. In response to the tethered controller 130 determining that the mobile device 204 is not within the tethered range 208, the method 600 returns to block 602. Otherwise, in response to the tethered controller 130 determining that the mobile device 204 is within the tethered range 208, the method 600 proceeds to block 608, where the autonomous unit 128 performs remote parking of the vehicle 100.

[0067] At block 610 , the tethered controller 130 determines whether the mobile device 204 is outside a first threshold range of the vehicle 100 (eg, Figure 3 In response to the tethered controller 130 determining that the mobile device 204 is not outside the first threshold range, the method 600 returns to block 602. Otherwise, in response to the tethered controller 130 determining that the mobile device 204 is outside the first threshold range, the method 600 proceeds to block 612.

[0068] At block 612, the tethered controller 130 determines whether the mobile device 204 is outside a second threshold range of the vehicle 100 (eg, Figure 3 In response to the tethered controller 130 determining that the mobile device 204 is not outside the second threshold range, the method 600 proceeds to block 616. Otherwise, in response to the tethered controller 130 determining that the mobile device 204 is outside the second threshold range, the method 600 proceeds to block 614.

[0069] At block 614, the tethered controller 130 determines whether the mobile device 204 is located at the outer boundary 306 of the tethered range 208 of the vehicle 100. In response to the tethered controller 130 determining that the mobile device 204 is at the outer boundary 306, the method 600 proceeds to block 616. Additionally, in response to the tethered controller 130 determining that the mobile device 204 is at the outer boundary 306, the method 600 proceeds to block 616.

[0070] At block 616, the tethered controller 130 determines an audio alert to be issued to the user 206 of the mobile device 204. For example, the tethered controller 130 determines to issue a first alert if the mobile device 204 is outside the first threshold range and within the second threshold range, to issue a second alert if the mobile device 204 is outside the second threshold range and within the outer boundary 306, or to issue a third alert if the mobile device 204 is at the outer boundary 306. In some examples, the alert selected by the tethered controller 130 varies based on the distance between the mobile device 204 and the outer surface 102 of the vehicle 100. At block 618, the tethered controller 130 issues the alert determined at block 616 via a speaker of the vehicle 100. For example, the cabin speaker 112, the horn 114, the door chirp speaker 116, and / or an audio actuator 118 coupled to the outer surface 102 of the vehicle 100 issues an alert to the user 206 of the mobile device 204.

[0071] At block 620, the tethered controller 130 determines whether the speaker 408 of the mobile device 204 is to sound an alarm to the user 206. In response to the tethered controller 130 determining that the mobile device 204 is not to sound an alarm, the method 600 returns to block 602. Otherwise, in response to the tethered controller 130 determining that the mobile device 204 is to sound an alarm, the method 600 proceeds to block 622. At block 622, the tethered controller 130 sends an alarm signal to the mobile device 204 via one or more of the communication nodes 126. At block 624, the communication module 406 of the mobile device 204 receives the alarm signal sent from the vehicle 100. At block 626, the speaker 408 of the mobile device 204 sounds an alarm to the user 206. At block 628, the tethered controller 130 of the vehicle 100 and / or the processor 402 of the mobile device 204 synchronizes the alarm sounded via the one or more speakers of the vehicle 100 and the speaker 408 of the mobile device 204. For example, the vehicle 100 and / or the mobile device 204 include microphones that collect audio signals of alerts emitted by the vehicle 100 and the mobile device 204. Based on the audio signals, the tethered controller 130 adjusts the alert emitted by one or more speakers of the vehicle 100 and / or the processor 402 of the mobile device 204 adjusts the alert emitted by the speaker 408 of the mobile device to synchronize the signals emitted by the vehicle 100 and the mobile device 204.

[0072] In the present application, the use of transitional conjunctions is intended to include a connecting meaning. The use of definite or indefinite articles is not intended to indicate cardinality. Specifically, reference to "the" object or "one / an" object is also intended to represent one of a possible plurality of such objects. In addition, the conjunction "or" can be used to convey the characteristics of alternatives that exist simultaneously but are not mutually exclusive. In other words, the conjunction "or" should be understood to include "and / or". The term "including" is inclusive and has the same scope as "including" and "containing", respectively. In addition, as used herein, the terms "module" and "unit" refer to hardware having circuits that are generally combined with sensors to provide communication, control and / or monitoring capabilities. "Modules" and "units" may also include firmware executed on the circuit.

[0073] The above-described embodiments and in particular any "preferred" embodiments are possible examples of implementations and are set forth only for a clear understanding of the principles of the present invention. Many variations and modifications may be made to one or more of the above-described embodiments without departing substantially from the spirit and principles of the technology described herein. All modifications are intended to be included within the scope of the present disclosure and protected by the following claims.

[0074] According to the present invention, a vehicle is provided, which has: an exterior surface; a speaker; a communication node, the communication node being used for wireless communication with a mobile device; an autonomous unit, the autonomous unit being used for remote parking; and a controller, the controller being used for: receiving an instruction to perform the remote parking from the mobile device via the communication node; and issuing an alarm via the speaker in response to determining that the mobile device is beyond a threshold range from the exterior surface when the instruction is sent.

[0075] According to one embodiment, said autonomous unit performs said remote parking when said mobile device is located outside the vehicle cabin.

[0076] According to one embodiment, the autonomous unit is configured to perform the remote parking in response to the controller determining that the mobile device was within a tethered range from the exterior surface when the instruction was sent.

[0077] According to one embodiment, the autonomous unit is configured to not perform the remote parking in response to the controller determining that the mobile device was beyond the tethered range from the exterior surface when the instruction was sent.

[0078] According to one embodiment, the controller determines the distance between the mobile device and the external surface via at least one of a received signal strength indicator, time of flight, angle of arrival, and dead reckoning of the instructions.

[0079] According to one embodiment, the controller increases at least one of an intensity and a frequency of the alarm in response to detecting an increase in the distance between the mobile device and the external surface.

[0080] According to one embodiment, the speaker comprises a door chirp speaker of a vehicle door configured to emit a chirp sound when the vehicle door is locked.

[0081] According to one embodiment, the speaker includes at least one of a cabin speaker and an audio actuator coupled to a vehicle window.

[0082] According to one embodiment, the above invention is also characterized by a sensor that detects the presence of an occupant in the vehicle cabin.

[0083] According to one embodiment, the controller prevents the cabin speaker and the audio actuator coupled to the window from sounding an audio alert in response to determining that an occupant is located within the vehicle cabin.

[0084] According to one embodiment, the controller sends an alarm signal to the mobile device via the communication node to instruct the mobile device to issue the alarm.

[0085] According to one embodiment, the controller issues a second alarm via the speaker in response to determining that the mobile device is beyond a second threshold range from the external surface when the instruction is sent, the second threshold range being greater than the threshold range.

[0086] According to one embodiment, the controller issues a third alarm via the speaker in response to determining that the mobile device was along an outer boundary of a tethered range from the outer surface when the instruction was transmitted, the tethered range being greater than the threshold range.

[0087] According to one embodiment, the controller adjusts the alarm to prevent the Doppler effect from affecting the sound of the alarm heard by the operator.

[0088] According to the present invention, a method includes: receiving an instruction to execute remote parking of a vehicle from a mobile device via a communication node of the vehicle; determining via a processor whether the mobile device is beyond a threshold range from an outer surface of the vehicle; and issuing an alarm via a speaker of the vehicle in response to determining that the mobile device is beyond the threshold range when the instruction is sent.

[0089] According to the present invention, a system is provided, comprising: a mobile device for sending an instruction to perform remote parking; and a vehicle, the vehicle comprising: an external surface; a speaker; a communication node; an autonomous unit for performing the remote parking; and a controller for: receiving the instruction via the communication node; and issuing an alarm via the speaker in response to determining that the mobile device is beyond a threshold range from the external surface when the instruction is sent.

[0090] According to one embodiment, the mobile device includes: a processor; a communication module, the communication module being used to: send the instruction to the communication node of the vehicle; and receive an alarm signal from the communication node of the vehicle; and a mobile device speaker, the mobile device speaker issuing the alarm in response to the communication module receiving the alarm signal.

[0091] According to one embodiment, the speaker of the vehicle and the mobile device speaker are synchronized to sound the alert.

[0092] According to one embodiment, at least one of the vehicle and the mobile device includes a microphone that facilitates synchronization of the alert emitted by the speaker of the vehicle and the mobile device speaker.

[0093] According to one embodiment, at least one of the processor of the mobile device and the controller of the vehicle processes audio signals collected via the microphone to reduce the effect of ambient noise on the synchronization of the alert emitted by the speaker and the mobile device speaker.

Claims

1. A vehicle comprising: External surface; speaker; A communication node, the communication node is used to communicate wirelessly with a mobile device; an autonomous unit, the autonomous unit being used for remote parking; as well as A controller, the controller being used to: receiving, via the communication node, from the mobile device an instruction to perform the remote parking; as well as in response to determining that the mobile device was outside a first threshold range from the external surface and within a second threshold range when the instruction was sent, issuing a first alarm via the speaker; in response to determining that the mobile device was beyond a second threshold range from the exterior surface and within the exterior boundary when the instruction was sent, issuing a second alarm via the speaker; The second threshold range is greater than the first threshold range and the outer boundary is an outer boundary of a tethering range.

2. The vehicle of claim 1, wherein the autonomous unit is configured to perform the remote parking in response to the controller determining that the mobile device was within a tethered range from the exterior surface when the instruction was sent. 3 . The vehicle of claim 1 , wherein the controller increases at least one of an intensity and a frequency of the alarm in response to detecting an increase in the distance between the mobile device and the exterior surface. 4 . The vehicle of claim 1 , wherein the speaker comprises a door chirp speaker of a vehicle door configured to emit a chirp sound when the vehicle door is locked.

5. The vehicle of claim 1, wherein the speaker comprises at least one of a cabin speaker and an audio actuator coupled to a vehicle window.

6. The vehicle of claim 5 further comprising a sensor for detecting the presence of an occupant in the vehicle cabin, wherein the controller prevents the cabin speaker and the audio actuator coupled to the window from sounding an audio alert in response to determining that the occupant is located in the vehicle cabin.

7. The vehicle of claim 1, wherein the controller transmits an alarm signal to the mobile device via the communication node to instruct the mobile device to issue the alarm.

8. The vehicle of claim 1, wherein the controller issues a third alert via the speaker in response to determining that the mobile device was along an outer boundary of a tethered range from the outer surface when the instruction was transmitted.

9. The vehicle of claim 1 wherein the controller adjusts the alarm to prevent a Doppler effect from affecting the sound of the alarm heard by an operator.

10. A method for audio alert control for remote parking assist tethering, comprising: receiving, via a communication node of the vehicle, from a mobile device an instruction to perform remote parking of the vehicle; determining, via a processor, whether the mobile device is beyond a threshold range from an exterior surface of the vehicle; as well as issuing a first alert via a speaker of the vehicle in response to determining that the mobile device was outside a first threshold range and within a second threshold range when the instruction was sent; issuing a second alert via a speaker of the vehicle in response to determining that the mobile device was outside a second threshold range and within an outer boundary when the instruction was sent; The second threshold range is greater than the first threshold range and the outer boundary is an outer boundary of a tethering range.

11. An audio alert system for remote parking assist tethering, comprising: a mobile device that sends a command to perform remote parking; as well as A vehicle, the vehicle comprising: External surface; speaker; Communication nodes; an autonomous unit for performing the remote parking; and A controller, the controller being used to: receiving the instruction via the communication node; and in response to determining that the mobile device was outside a first threshold range from the external surface and within a second threshold range when the instruction was sent, issuing a first alarm via the speaker; in response to determining that the mobile device was beyond a second threshold range from the exterior surface and within the exterior boundary when the instruction was sent, issuing a second alarm via the speaker; The second threshold range is greater than the first threshold range and the outer boundary is an outer boundary of a tethering range.

12. The system of claim 11, wherein the mobile device comprises: processor; A communication module, wherein the communication module is used for: sending the command to the communication node of the vehicle; as well as receiving an alarm signal from the communication node of the vehicle; as well as A mobile device speaker is configured to issue the alarm in response to the communication module receiving the alarm signal.

13. The system of claim 12, wherein the speaker of the vehicle and the mobile device speaker are synchronized to sound the alert, wherein at least one of the vehicle and the mobile device includes a microphone to facilitate synchronization of the alert sounded by the speaker of the vehicle and the mobile device speaker.

14. The system of claim 13, wherein at least one of the processor of the mobile device and the controller of the vehicle processes audio signals collected via the microphone to reduce the effect of ambient noise on the synchronization of the alert emitted by the speaker and the mobile device speaker.

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