Monitoring vehicle communications for remote parking assistance

Abstract

The present disclosure provides "Monitoring Communications for Remote Parking Assistance of a Vehicle". Methods and apparatus for monitoring communications for remote parking assistance of a vehicle are disclosed. An exemplary vehicle includes an autonomous unit for remote parking, a communication module, and a controller. The controller is configured to send a counter signal to a mobile device via the communication module and receive a return signal from the mobile device, determine a time period between the sending of the counter signal and the receiving of the return signal, and prevent the autonomous unit from causing the vehicle to move in response to determining that the time period is less than a threshold.

Description

Technical Field

[0001] The present disclosure relates generally to remote parking assistance and, more particularly, to monitoring communications for remote parking assistance of a vehicle. Background Art

[0002] Many vehicles include motion functions that are at least partially controlled autonomously by the vehicle. For example, some vehicles include cruise control, in which the vehicle controls acceleration and / or deceleration of the vehicle so that the speed of the vehicle is maintained. In addition, some vehicles include adaptive cruise control, in which the vehicle controls acceleration and / or deceleration of the vehicle so that the speed of the vehicle and the following distance behind the leading vehicle are maintained. In addition, some vehicles include a parking assist feature, in which the vehicle autonomously controls the motion functions of the vehicle 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 contemplated based on the techniques described herein, as will be apparent to one of ordinary skill in the art upon studying the following drawings and detailed description, and these implementations are intended to fall within the scope of the present application.

[0004] An example embodiment for monitoring communications for remote parking assistance of a vehicle is shown. The exemplary disclosed vehicle includes an autonomous unit for remote parking, a communication module, and a controller. The controller will send a counter signal to a mobile device via the communication module and receive a return signal from the mobile device, determine a time period between the sending of the counter signal and the receiving of the return signal, and prevent the autonomous unit from causing the vehicle to move in response to determining that the time period is less than a threshold.

[0005] In some examples, in response to determining that the time period is less than or equal to the threshold, the controller enables the autonomous unit to cause the vehicle to move during the remote parking. In some examples, the controller also issues an alert in response to determining that the time period is greater than the threshold.

[0006] In some examples, the communication module is configured to communicate via Low Energy Protocol, Protocol and In some examples, the communication module sends the counter signal to trigger sending the return signal to the communication module.

[0007] In some examples, the controller sends the counter signal via the communication module in response to determining that the remote parking is in operation. In some examples, the controller sends the counter signal via the communication module in response to determining that the mobile device is within the tethered range of the remote parking. In some examples, the controller also sends the counter signal via the communication module in response to the communication module receiving a remote parking instruction from the mobile device. Some examples also include an engine and an engine sensor. In such examples, the controller will send the counter signal via the communication module in response to the engine sensor detecting that the engine is in operation. Some examples also include a transmission and a transmission position sensor. In such examples, the controller will send the counter signal via the communication module in response to the transmission position sensor detecting that the transmission is not in a parking state.

[0008] In some examples, the controller detects when the communication module sends the counter signal and when the return signal is received. In some examples, the counter signal and the return signal include time stamps to enable the controller to determine when the counter signal is sent and when the return signal is received.

[0009] In some examples, when the autonomous unit performs the remote parking, the controller sends a series of counter signals via the communication module to monitor communication with the mobile device over a period of time. In some such examples, the controller controls the rate at which the communication module sends the series of control signals. In some such examples, the controller adjusts the rate at which the communication module sends the series of control signals based on at least one of vehicle speed, vehicle acceleration, and proximity of the mobile device to an outer boundary of a tethered range.

[0010] In some examples, after the communication module receives the return signal, the controller will send a second counter signal to the mobile device and receive a second return signal from the mobile device via the communication module, determine a second time period between the sending of the second counter signal and the receipt of the second return signal, and prevent the autonomous unit from causing the vehicle to move in response to determining that the second time period is greater than the threshold.

[0011] The exemplary disclosed method includes sending a counter signal to a mobile device via a communication module of the vehicle and receiving a return signal from the mobile device via the communication module. The exemplary disclosed method also includes determining, via a processor, a time period between the sending of the counter signal and the receiving of the return signal, and in response to determining that the time period is less than a threshold, preventing, via the processor, an autonomous unit from causing vehicle movement during remote parking.

[0012] Some examples further include, in response to determining that the time period is less than or equal to the threshold, enabling the autonomous unit, via the processor, to cause the vehicle to move during the remote parking. In some examples, sending the counter signal via the communication module triggers sending the return signal to the communication module. In some examples, sending the counter signal via the communication module is responsive to determining that the remote parking is in operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] To better understand the present invention, reference may be made to the embodiments shown 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 be exaggerated in order to emphasize and clearly illustrate the novel features described herein. In addition, as is known in the art, the system components may be arranged differently. In addition, in the drawings, the same reference numerals represent corresponding parts in several views.

[0014] Figure 1 An example vehicle according to the teachings herein is shown.

[0015] Figure 2 Shows the startup Figure 1 An exemplary mobile device for remote parking of a vehicle.

[0016] Figure 3 shows the data being sent to monitor Figure 1 Vehicles and Figure 2 signals for communication between mobile devices.

[0017] Figure 4 yes Figure 1 Block diagram of the electronic components of a vehicle.

[0018] Figure 5 is a flow chart for monitoring communications for remote parking assistance in accordance with the teachings herein. DETAILED DESCRIPTION

[0019] While the invention may be embodied in various forms, some exemplary 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.

[0020] Many vehicles include motion features that are at least partially controlled autonomously by the vehicle. For example, some vehicles include cruise control, in which the vehicle controls acceleration and / or deceleration of the vehicle so that the speed of the vehicle is maintained. Additionally, some vehicles include adaptive cruise control, in which the vehicle controls acceleration and / or deceleration of the vehicle so that the speed of the vehicle and the following distance behind the leading vehicle are maintained.

[0021] Additionally, some vehicles include parking assistance systems, such as remote parking assistance systems, in which the vehicle autonomously controls motion functions of the vehicle to park the vehicle in a parking space. Remote parking assistance systems are configured to autonomously park the vehicle when the driver has exited the vehicle. Some remote parking assistance systems require the driver to provide continuous input via a mobile device that wirelessly communicates with the vehicle to instruct the vehicle to autonomously park in the parking space. In some cases, there may be latency in the communication between the mobile device and the vehicle, which causes the vehicle to continue to receive input from the mobile device when the operator is no longer providing input to the mobile device. In this case, the vehicle may potentially continue to perform remote parking assistance functions when the operator no longer wishes to perform these functions.

[0022] The exemplary methods and apparatus disclosed herein diagnose and mitigate latency and / or other communication errors between a vehicle and a mobile device configured to activate a remote parking assist feature of the vehicle. The examples disclosed herein include a vehicle that wirelessly transmits an incrementing counter signal to a mobile device at predetermined time intervals. In some examples, the time interval between the counter signals varies with vehicle speed (e.g., when the vehicle speed increases, the time interval decreases). When the remote parking assist of the vehicle is working, the vehicle of the example disclosed herein increments the counter signal. For example, if (i) the mobile device is within the tethered range of the vehicle, (ii) the mobile device is sending a remote parking assist command to the vehicle, (iii) the engine of the vehicle is running, (iv) the transmission of the vehicle is not in a parking state, and / or (v) the remote parking assist system is in a maneuvering state, the vehicle detects that the remote parking assist is working. In the examples disclosed herein, the counter signal is configured to trigger the mobile device to transmit a corresponding return signal to the vehicle. In addition, the vehicle compares the transmission time of the counter signal with the reception time of the corresponding return signal to determine the increment time of each pair of the counter signal and the corresponding return signal. If the delta time is less than the threshold, the vehicle determines that there is no communication latency and permits continued execution of the remote parking assist feature. If the delta time is greater than the threshold, the vehicle determines that there is a communication latency between the mobile device and the vehicle and prevents further execution of the remote parking assist feature.

[0023] As used herein, "remote parking," "vehicle remote parking assistance," "remote parking assist," and "RePA" refer to the control of a vehicle's motion functions to autonomously park the vehicle in a parking space without direct steering or speed input from an operator when the operator is outside the vehicle. For example, a remote parking assist system of an autonomous unit controls a vehicle's motion functions to remotely park the vehicle in a parking space after driver activation.

[0024] As used herein, "tethering" refers to enabling a mobile device to enable a vehicle to perform a remote parking. For example, the vehicle is configured to perform a remote parking after receiving an instruction to perform a remote parking from the mobile device when the mobile device is tethered to the vehicle, and is configured not to perform a remote parking when the mobile device is untethered from the vehicle. As used herein, a "tethered" device refers to a mobile device capable of sending instructions to the vehicle to perform a remote parking. For example, in response to the mobile device being wirelessly communicatively 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 examples, if the mobile device is beyond the tethering range of the vehicle, the mobile device that sends the instruction to the vehicle to perform a remote parking is untethered from the vehicle. In some examples, the operator's mobile device is tethered via communication between the vehicle and another device (e.g., a remote control key) carried by the operator. In such examples, assuming that the operator carries both the remote control key and the mobile device associated with the operator, and then tethers the mobile device to the vehicle, the vehicle can detect that the remote control key is within the predetermined tethering range of the vehicle.

[0025] Turning to the attached figure, Figure 1 An exemplary vehicle 100 according to the teachings herein is shown. The vehicle 100 can be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or any other type of vehicle for mobility. The 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. The vehicle 100 can be non-autonomous, semi-autonomous (e.g., some routine motor functions are controlled by the vehicle 100), or autonomous (e.g., motor functions are controlled by the vehicle 100 without direct driver input). In the example shown, the vehicle 100 includes an engine 102, a transmission 104, and a gear lever 106.

[0026] For example, the engine 102 includes an internal combustion engine, an electric motor, a fuel cell engine, and / or any other type of engine or motor configured to propel the vehicle 100. For example, the internal combustion engine generates mechanical power to propel the vehicle 100 by burning fuel (e.g., gasoline, petrol, etc.), and the electric motor generates mechanical power to propel the vehicle 100 by converting electrical energy stored in batteries (e.g., of a battery pack and / or battery pack) into mechanical energy.

[0027] The transmission 104 controls the amount of power generated by the engine 102 that is transferred to other components of the vehicle 100, such as the drivetrain, wheels, etc. For example, the transmission 104 includes a gearbox that controls the amount of power transferred to components of the vehicle 100. The gear lever 106 enables an operator of the vehicle 100 (e.g., a driver) to control settings of the transmission 104 that affect the manner in which the engine 102 propels the vehicle 100. For example, the gear lever 106 enables the operator to position the transmission 104 in park, neutral, reverse, drive, first gear, etc.

[0028] In addition, the illustrated example vehicle 100 includes an engine sensor 108 and a transmission position sensor 110. The engine sensor 108 detects whether the engine 102 is activated or deactivated. The transmission position sensor 110 detects the current position of the transmission 104 and / or the shift lever 106 (e.g., parking, neutral, reverse, drive, first gear, etc.).

[0029] like Figure 1 As shown, the vehicle 100 also includes a speed sensor 111, external lights 112, and a horn 114. For example, the speed sensor 111 detects the speed at which the vehicle 100 is traveling. In some examples, the speed sensor 111 detects the acceleration or deceleration of the vehicle 100 by monitoring the speed at which the vehicle 100 is traveling over a period of time. In addition, the external lights 112 emit light to facilitate operating the vehicle 100 in a low-light environment and / or alert nearby vehicles, drivers, pedestrians, and / or other people to the functions that the vehicle 100 is performing. For example, the external lights 112 include headlights (such as high-beam headlights and low-beam headlights) to illuminate the area in front of the vehicle 100 in a low-light environment. Additionally or optionally, the external lights 112 include turn signal lights to alert others that the vehicle 100 is about to turn and / or brake lights to alert others that the vehicle 100 is braking. In addition, the horn 114 emits a loud audio signal. For example, an operator of vehicle 100 (eg, a driver) activates horn 114 (eg, by pressing a button located within the steering wheel of vehicle 100 ) to alert pedestrians, the vehicle operator, and / or others of the presence of vehicle 100 and / or nearby hazards.

[0030] The vehicle 100 of the illustrated example also includes a mobile device (e.g., Figure 2 The communication module 116 includes hardware and firmware for establishing a wireless connection with the mobile device. For example, the communication module 116 is a wireless personal area network (WPAN) module that wirelessly communicates with the user's mobile device via a short-range wireless communication protocol. In some examples, the communication module 116 implements and / or Bluetooth Low Energy (BLE) protocol. Maintained by special interest groups Volume 6 of the Specification 4.0 (and subsequent versions) describes Additionally or alternatively, the communication module 116 is configured to enable the communication module 116 to be communicatively coupled to the mobile device via Low power, near field communication (NFC), UWB (ultra-wideband), and / or any other short-range and / or local wireless communication protocol (e.g., IEEE 802.11a / b / g / n / ac) wirelessly communicate. In some examples, the communication module 116 communicates via and / or Low power protocols (e.g. Wi-Fi HaLow operating at 900 MHz) TM ) to communicate wirelessly to facilitate communication with the mobile device when the line of sight between the communication module 116 and the mobile device is interrupted. In addition, in some examples, the vehicle utilizes a Li-Fi protocol (e.g., a light-based LAN communication protocol) and / or a mid-frequency UHF protocol (e.g., at 433 MHz or 902 MHz) to communicate with the mobile device.

[0031] like Figure 1 As shown, the vehicle 100 includes an autonomous unit 118. The autonomous unit 118 is an electronic control unit (ECU) of the vehicle 100 (e.g., Figure 4 100 ), which performs autonomous and / or semi-autonomous functions of the vehicle 100. For example, the autonomous unit 118 autonomously controls the motion functions of the vehicle 100 to perform remote parking of the vehicle 100 into an available parking space (e.g., Figure 2 The autonomous unit 118 may be configured to autonomously and / or semi-autonomously drive the vehicle 100 into a parking space 202 and / or otherwise autonomously and / or semi-autonomously. For example, the autonomous unit 118 controls the motion functions of the vehicle 100 based on data collected from sensors of the vehicle 100 (e.g., radar sensors, lidar sensors, ultrasonic sensors, etc.) and / or cameras of the vehicle 100.

[0032] The vehicle 100 of the illustrated example also includes a RePA controller 120 that monitors the latency of communication between the vehicle 100 and a mobile device (e.g., mobile device 204) used by a user (e.g., user 206) to initiate remote parking. For example, when the autonomous unit 118 performs remote parking, the RePA controller 120 of the illustrated example sends a series of pings to the mobile device via the communication module 116 to monitor the latency of communication with the mobile device over a period of time. Each of the pings sent by the communication module 116 includes a counter signal that facilitates identifying the latency of communication between the mobile device and the vehicle 100.

[0033] For example, the RePA controller 120 sends a counter signal to the mobile device via the communication module 116. In addition, the RePA controller 120 is configured to receive a corresponding response signal from the mobile device via the communication module 116. In order to determine whether there is an acceptable or unacceptable amount of latency for communication between the mobile device and the vehicle 100, the RePA controller 120 determines the time between the sending of the counter signal and the receipt of the return signal. For example, an acceptable amount of latency is less than a threshold amount of latency, and an unacceptable amount of latency is greater than or equal to the threshold amount of latency. In addition, the RePA controller 120 compares the time period to a predetermined threshold (e.g., a latency threshold). If the time period is greater than the predetermined threshold, the RePA controller 120 detects that there is an unacceptable latency for communication between the mobile device and the vehicle 100, and if the time period is less than or equal to the predetermined threshold, the RePA controller 120 detects that there is an acceptable latency. In response to detecting an unacceptable latency, the RePA controller 120 issues a warning and / or prevents the autonomous unit 118 from moving the vehicle 100 during remote parking. For example, the alert is an audio alert issued via the speaker 114 and / or a visual alert issued via one or more of the exterior lights 112. Additionally or alternatively, the RePA controller 120 sends an instruction to the mobile device to issue an alert (e.g., an audio alert such as a chirp, a visual alert presented via a display, a tactile alert such as a vibration). In addition, in response to detecting that there is an acceptable waiting time, the RePA controller 120 enables the autonomous unit 118 to move the vehicle 100 during remote parking.

[0034] In some examples, the RePA controller 120 sends a counter signal via the communication module 116 in response to determining that remote parking is in operation. When remote parking is not in operation, the communication module 116 does not send a counter signal to the mobile device, for example, to reduce the amount of communication signals sent between the vehicle 100 and the mobile device. The RePA controller 120 of the illustrated example sends a counter signal in response to the communication module 116 determining that the mobile device is within the tethered range of the remote parking (e.g., Figure 2 The communication module 116 receives a remote parking command from the mobile device, the engine sensor 108 detects that the engine 102 is running, and / or the transmission position sensor 110 detects that the transmission 104 is not in the park state and detects that the remote parking is working.

[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 2 As shown, when the user 206 is outside the cabin of the vehicle 100, the autonomous unit 118 of the vehicle 100 performs remote parking. The user 206 uses the mobile device 204 to send a command (also referred to as a RePA command) to the vehicle 100 to perform remote parking. For example, the user 206 provides input to cause the communication module of the mobile device 204 to wirelessly send the command to the communication module 116 of the vehicle 100. The RePA controller 120 receives the command to perform remote parking from the mobile device 204 via the communication module 116.

[0037] In addition, the RePA controller 120 determines whether the autonomous unit 118 will perform a remote parking upon 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 communicatively coupled to the communication module 116 of the vehicle 100 and (ii) being located within the tethering range 208 of the vehicle 100. That is, the autonomous unit 118 is configured to perform a remote parking of the vehicle 100 in response to the RePA controller 120 determining that the mobile device 204 is within the tethering range 208 while sending the remote parking instruction to the vehicle 100. In addition, the autonomous unit 118 is configured not to perform a remote parking of the vehicle 100 in response to the RePA controller 120 determining that the mobile device 204 is out of the tethering range 208 while sending the remote parking instruction 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 118 (temporarily) deactivates the execution of the remote parking. To reactivate the 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 illustrated example, the tethering range 208 is defined based on a predetermined distance (e.g., 6 meters) from the outer surface of the vehicle 100. That is, if the distance between the mobile device 204 and the outer surface 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 RePA controller 120 determines the distance between the mobile device 204 and the outer surface of the vehicle 100 based on a received signal strength indicator (RSSI) of a signal transmitted between the mobile device 204 and the communication module 116. For example, the RePA controller 120 determines the distance between the mobile device 204 and the vehicle 100 based on the RSSI of an instruction sent by the mobile device 204 to the vehicle 100 to perform remote parking. In some examples, the RePA controller 120 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. Additionally or alternatively, the RePA controller 120 may utilize any other means (eg, time of flight, angle of arrival, etc.) to determine the distance between the mobile device 204 and the vehicle 100 during remote parking.

[0039] Figure 3 204. Figure 3 As shown, the communication module 116 of the vehicle sends a series of counter signals 302, including a counter signal 302a (e.g., a first counter signal) and a counter signal 302b (e.g., a second counter signal) to the mobile device 204. When the autonomous unit 118 of the vehicle 100 is performing remote parking, the communication module 116 sends the counter signal 302 to monitor the communication with the mobile device 204 over a period of time.

[0040] In the illustrated example, the communication module 116 sends the counter signal 302b at an interval 304 after the counter signal 302a. In some examples, the interval 304 is constant. In other examples, the RePA controller 120 is configured to adjust the interval 304 over time. In such examples, the RePA controller 120 is configured to adjust the rate at which the communication module 116 sends the counter signal 302 based on the speed of the vehicle 100, the acceleration of the vehicle 100, the relative speed between the vehicle 100 and the mobile device 204, the relative acceleration between the vehicle 100 and the mobile device 204, the proximity between the vehicle 100 and the mobile device 204, and / or the proximity between the mobile device 204 and the outer boundary of the tethered range 208 of the vehicle 100. For example, the RePA controller 120 increases the rate at which the communication module 116 sends the counter signal 302 in response to an increase in vehicle speed, an increase in vehicle acceleration, an increase in the relative speed between the vehicle 100 and the mobile device 204, an increase in the relative acceleration between the vehicle 100 and the mobile device 204, a decrease in the distance between the vehicle 100 and the mobile device 204, and / or a decrease in the distance between the mobile device 204 and the outer boundary of the tethered range 208.

[0041] like Figure 3 As shown, in response to the mobile device 204 receiving the counter signal 302a, the mobile device 204 sends a return signal 306a (e.g., a first return signal) to the communication module 116 of the vehicle 100. That is, the communication module 116 sends the counter signal 302a to trigger the mobile device 204 to send the return signal 306a to the communication module 116.

[0042] Subsequently, the RePA controller 120 determines a time period 308a (e.g., a first time period) between the transmission of the counter signal 302a and the receipt of the return signal 306a. In some examples, the RePA controller 120 detects when the communication module 116 transmits the counter signal 302a and when the return signal 306a is received. Additionally or alternatively, the counter signal 302a and the return signal 306a each include a corresponding timestamp to enable the RePA controller 120 to determine when the counter signal 302a was transmitted and when the return signal 306a was received. In the illustrated example, the counter signal 302a and the return signal 306a triggered by the counter signal 302a include a counter identifier to facilitate the RePA controller 120 to identify the pairing of the counter signal 302a and the return signal 306a. For example, the counter signal 302 a and the return signal 306 a include a counter identifier of “1” to indicate that the counter signal 302 a is the first of the counter signals 302 and the return signal 306 a is the first of the return signals 306 triggered by the first of the counter signals 302 .

[0043] The RePA controller 120 also compares the time period 308a to a threshold 310 (e.g., a latency threshold). For example, the threshold 310 corresponds to a lower limit of time associated with latency for communication between the mobile device 204 and the communication module 116. In response to detecting that the time period 308a is greater than the threshold 310, the RePA controller 120 issues an alert and / or prevents the autonomous unit 118 from moving the vehicle 100 during remote parking. Otherwise, in response to detecting that the time period 308a is less than or equal to the threshold 310, the RePA controller 120 enables the autonomous unit 118 to move the vehicle 100 during remote parking.

[0044] For the duration of the remote parking event, the communication module 116 and the mobile device 204 of the illustrated example continue to send and receive a series of counter signals 302 and a corresponding series of return signals 306. For example, after the communication module 116 receives the return signal 306a and the RePA controller 120 determines that the time period 308a is less than or equal to the threshold 310, the communication module 116 of the vehicle sends another counter signal 302b to the mobile device 204. In some examples, the counter signal 302b includes a counter identifier "2" to indicate that the counter signal 302b is the second of the counter signals 302. That is, the RePA controller 120 increments the counter identifier of each subsequent counter signal in the counter signals to enable the RePA controller 120 to pair each of the counter signals 302 with a corresponding return signal in the return signals 306. In response to the mobile device 204 receiving the counter signal 302b, the mobile device 204 sends a return signal 306b (e.g., a second return signal) to the communication module 116. The RePA controller 120 then determines a time period 308b (eg, a second time period) between the transmission of the counter signal 302b and the receipt of the return signal 306b. In addition, the RePA controller 120 compares the time period 308b to a threshold 310 to determine an amount of wait time to transmit the return signal 306b after the counter signal 302b.

[0045] Figure 4 is a block diagram of an electronic component 400 of a vehicle 100. Figure 4 As shown, the electronic assembly 400 includes an onboard computing platform 402 , exterior lights 112 , speakers 114 , a communication module 116 , sensors 404 , an electronic control unit (ECU) 406 , and a vehicle data bus 408 .

[0046] The onboard computing platform 402 includes a microcontroller unit, controller or processor 410 and a memory 412. In some examples, the processor 410 of the onboard computing platform 402 is configured to include the RePA controller 120. Alternatively, in some examples, the RePA controller 120 is incorporated into another electronic control unit (ECU) along with its own processor 410 and memory 412. The processor 410 can be any suitable processing device or collection 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 412 can be a volatile memory (e.g., a RAM including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.), a non-volatile memory (e.g., a disk memory, a flash memory, an EPROM, an EEPROM, a memristor-based non-volatile solid-state memory, etc.), an unchangeable memory (e.g., an 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 412 includes multiple types of memory, particularly volatile memory and non-volatile memory.

[0047] The memory 412 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 implement one or more of the methods or logics described herein. For example, during the execution of the instructions, the instructions may reside completely or at least partially in any one or more of the memory 412, the computer-readable medium, and / or the processor 410.

[0048] The terms "non-transitory computer-readable medium" and "computer-readable medium" include a single medium or multiple media, such as a centralized or distributed database, and / or associated caches and servers that store 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.

[0049] Sensors 404 are arranged in and around the vehicle 100 to monitor properties of the vehicle 100 and / or the environment in which the vehicle 100 is located. One or more of the sensors 404 may be installed to measure properties of the exterior surrounding of the vehicle 100. Additionally or alternatively, one or more of the sensors 404 may be installed within the cabin of the vehicle 100 or in the body of the vehicle 100 (e.g., engine compartment, wheel well, etc.) to measure properties of the interior of the vehicle 100. For example, the sensors 404 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.

[0050] In the illustrated example, the sensors 404 include the engine sensor 108, the transmission position sensor 110, one or more proximity sensors 414, and / or any other sensor that monitors properties of the vehicle 100 and / or the surrounding area (e.g., the vehicle speed sensor 111). For example, the engine sensor 108 detects whether the engine 102 is activated or deactivated, and the transmission position sensor 110 detects the position of the transmission 104 and / or the gear lever 106 (e.g., parking, neutral, reverse, drive, first gear, etc.). In addition, the proximity sensor 414 monitors the surrounding area of ​​the vehicle 100 to collect data to detect and identify the location of objects near the vehicle 100. For example, the proximity sensor 414 collects data to facilitate the autonomous unit 118 to perform autonomous and / or semi-autonomous driving maneuvers (e.g., remote parking) of the vehicle 100. The proximity sensor 414 includes a radar sensor, a lidar sensor, an ultrasonic sensor, and / or any other sensor that detects the presence and location of nearby objects. For example, a radar sensor detects and locates an object via radio waves, a lidar sensor detects and locates an object via lasers, and an ultrasonic sensor detects and locates an object via ultrasonic waves.

[0051] ECU 406 monitors and controls the subsystems of vehicle 100. For example, ECU 406 is a collection of discrete electronic components that include their own circuits (e.g., integrated circuits, microprocessors, memory, storage devices, etc.) and firmware, sensors, actuators, and / or mounting hardware. ECU 406 transmits and exchanges information via a vehicle data bus (e.g., vehicle data bus 408). In addition, ECU 406 can transmit attributes (e.g., status of ECU 406, sensor readings, control states, errors and diagnostic codes, etc.) to each other and / or receive requests from each other. For example, vehicle 100 can have seventy or more ECUs 406 located at various locations around vehicle 100 and communicatively coupled via vehicle data bus 408.

[0052] In the illustrated example, the ECU 406 includes an autonomous unit 118 and a body control module 416. The autonomous unit 118 controls the execution of autonomous and / or semi-autonomous driving maneuvers (e.g., remote parking) of the vehicle 100 based at least in part on images and / or videos captured by the camera and / or data collected by one or more of the sensors 404 of the vehicle 100. The body control module 416 controls one or more subsystems throughout the vehicle 100, such as power windows, power locks, anti-theft systems, power mirrors, etc. For example, the body control module 416 includes circuits that drive one or more of relays (e.g., to control windshield washer fluid, etc.), brushed DC motors (e.g., to control power seats, power locks, power windows, wipers, etc.), stepper motors, LEDs, etc.

[0053] The vehicle data bus 408 communicatively couples the exterior lights 112, the horn 114, the communication module 116, the onboard computing platform 402, the sensors 404, and the ECU 406. In some examples, the vehicle data bus 408 includes one or more data buses. The vehicle data bus 408 can 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 Systems 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 IEEE 802.3 (since 2002) and others are implemented.

[0054] Figure 5 is a flow chart of an exemplary method 500 for monitoring communications for vehicle remote parking assistance. Figure 5 The flowchart represents a memory (such as Figure 4 412) and includes machine-readable instructions for one or more programs that are executed by a processor such as Figure 4 The processor 410) executes the vehicle 100 to achieve Figure 1 and Figure 4 Although reference is made to the exemplary RePA controller 120 of Figure 5 The flowchart shown in describes an exemplary procedure, but many other methods of implementing the exemplary RePA controller 120 may be used instead. For example, the order of execution of the blocks may be rearranged, changed, eliminated, and / or combined to perform the method 500. In addition, because the method 500 is combined with Figures 1 to 4 The components of the method 500 are disclosed, so some functions of those components will not be described in detail below.

[0055] Initially, at box 502, the RePA controller 120 determines whether remote parking of the vehicle 100 is active. For example, in response to receiving a remote parking command from the mobile device 204, determining that the mobile device 204 is within the tethered range 208 of the vehicle 100, detecting that the engine 102 is operating via the engine sensor 108, and / or detecting that the transmission 104 is not in the park state via the transmission position sensor 110, the RePA controller 120 determines that remote parking of the vehicle 100 is active. In response to the RePA controller 120 determining that remote parking is not activated, the method 500 remains at box 502. Otherwise, in response to the RePA controller 120 determining that remote parking is activated, the method 500 proceeds to box 504.

[0056] At box 504, the RePA controller 120 sends a counter signal (e.g., a first counter signal) to the mobile device 204 being used to initiate remote parking via the communication module 116 of the vehicle 100. For example, the RePA controller 120 sends the counter signal to trigger the mobile device 204 to send a return signal. At box 506, the RePA controller 120 receives the return signal (e.g., the first counter signal) sent by the mobile device 204 via the communication module 116. For example, the mobile device 204 sends the return signal after receiving the counter signal. At box 508, the RePA controller 120 determines the time period between the sending of the counter signal and the receiving of the return signal. In some examples, the RePA controller 120 detects when the communication module 116 sends the counter signal and when the return signal is received to determine the time period between the counter signal and the return signal. Additionally or optionally, the counter signal and the return signal include corresponding timestamps so that the RePA controller 120 can determine the time period between the counter signal and the return signal.

[0057] At box 510, the RePA controller 120 determines whether the time period between the counter signal and the return signal is greater than the latency threshold. In response to the RePA controller 120 determining that the time period is greater than the latency threshold, the method 500 proceeds to box 512, where the RePA controller 120 prevents the autonomous unit 118 from causing movement of the vehicle 100 during remote parking. At box 514, the RePA controller 120 issues an alert to indicate to the user 206 that the RePA controller 120 has detected an unacceptable amount of latency in communication between the mobile device 204 and the vehicle 100. For example, the RePA controller 120 issues an audio alert via the speaker 114 and / or a visual alert via one or more of the exterior lights 112. At box 516, the RePA controller 120 deactivates remote parking after detecting an unacceptable amount of latency in communication between the mobile device 204 and the vehicle 100. To resume remote parking of the vehicle 100, the user 206 will then restart remote parking of the vehicle 100.

[0058] Returning to block 510, in response to the RePA controller 120 determining that the time period is less than or equal to the wait time threshold, the method 500 proceeds to block 518, where the RePA controller 120 determines the speed at which the vehicle 100 is traveling (e.g., via the vehicle speed sensor 111). In some examples, the RePA controller 120 determines the speed of the vehicle 100 relative to the mobile device 204 (i.e., relative speed) by monitoring the distance between the vehicle 100 and the mobile device 204 over a period of time (e.g., via a received signal strength indicator, flight time, angle of arrival, etc.).

[0059] At block 520, the RePA controller 120 determines the acceleration of the vehicle 100. For example, the RePA controller 120 determines the acceleration by monitoring the speed of the vehicle 100 over a period of time via an accelerometer of the vehicle 100 and / or via the vehicle speed sensor 111. In some examples, the RePA controller 120 determines the acceleration of the vehicle 100 relative to the mobile device 204 (i.e., relative acceleration) by monitoring the distance between the vehicle 100 and the mobile device 204 over a period of time (e.g., via a received signal strength indicator, time of flight, angle of arrival, etc.).

[0060] At block 522, the RePA controller 120 determines a distance between the mobile device 204 and an outer boundary of the tethered range 208. For example, to determine the distance between the mobile device 204 and the outer boundary of the tethered range 208, the RePA controller 120 (i) identifies the tethered range 208 of the vehicle 100, (ii) determines a distance between the vehicle 100 and the mobile device 204 (e.g., via a received signal strength indicator, time of flight, angle of arrival, etc.), and (iii) compares the tethered range 208 to the distance between the vehicle 100 and the mobile device 204.

[0061] At block 524, the RePA controller 120 determines a rate at which the RePA controller 120 pings the mobile device 204 with subsequent counter signals. For example, the RePA controller 120 adjusts the rate based on the speed of the vehicle 100, the acceleration of the vehicle 100, the relative speed between the vehicle 100 and the mobile device 204, the relative acceleration between the vehicle 100 and the mobile device 204, the distance between the vehicle 100 and the mobile device 204, and / or the distance between the mobile device 204 and the outer boundary of the tethered range 208 of the vehicle 100. After the RePA controller 120 determines the rate at which the mobile device 204 is pinged with the counter signal, the method 500 returns to block 502.

[0062] In the present application, the use of disjunctive words is intended to include conjunctions. The use of definite or indefinite articles is not intended to indicate cardinality. In particular, references to "the" object or "one" and "a" object are also intended to represent one of a possible plurality of such objects. In addition, the conjunction "or" can be used to convey simultaneous features rather than mutually exclusive alternatives. In other words, the conjunction "or" should be understood to include "and / or". The term "include" is inclusive and has the same scope as "comprising". In addition, as used herein, the terms "module", "unit" and "node" refer to hardware having circuits that are generally combined with sensors to provide communication, control and / or monitoring capabilities. "Module", "unit", "node" may also include firmware executed on the circuit.

[0063] The above-described embodiments, particularly 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 changes and modifications may be made to the above-described embodiments without departing substantially from the spirit and principles of the technology described herein. All modifications are intended to be included in the scope of the present disclosure and protected by the following claims.

[0064] According to the present invention, a vehicle is provided, the vehicle having an autonomous unit for remote parking, a communication module and a controller, the controller being configured to send a counter signal to a mobile device and receive a return signal from the mobile device via the communication module, determine a time period between the sending of the counter signal and the receiving of the return signal, and prevent the autonomous unit from causing the vehicle to move in response to determining that the time period is greater than a threshold.

[0065] According to an embodiment, in response to determining that the time period is less than or equal to the threshold, the controller will enable the autonomous unit to cause the vehicle to move during the remote parking.

[0066] According to an embodiment, the controller further issues an alert in response to determining that the time period is greater than the threshold.

[0067] According to an embodiment, the communication module is configured to communicate via Low Energy Protocol, protocol, Low power protocol and UHF protocol for wireless communication.

[0068] According to an embodiment, the communication module sends the counter signal to trigger sending the return signal to the communication module.

[0069] According to an embodiment, the controller transmits the counter signal via the communication module in response to determining that the remote parking is in operation.

[0070] According to an embodiment, the controller transmits the counter signal via the communication module in response to determining that the mobile device is within the tethered range of the remote parking.

[0071] According to an embodiment, the controller further transmits the counter signal via the communication module in response to the communication module receiving a remote parking instruction from the mobile device.

[0072] According to an embodiment, the invention further features an engine and an engine sensor, wherein the controller will transmit the counter signal via the communication module in response to the engine sensor detecting that the engine is operating.

[0073] According to an embodiment, the invention is further characterized by a transmission and a transmission position sensor, wherein the controller will transmit the counter signal via the communication module in response to the transmission position sensor detecting that the transmission is not in park.

[0074] According to an embodiment, the controller detects when the communication module sends the counter signal and when the return signal is received.

[0075] According to an embodiment, the counter signal and the return signal comprise time stamps to enable the controller to determine when the counter signal was sent and when the return signal was received.

[0076] According to an embodiment, when the autonomous unit performs the remote parking, the controller will send a series of counter signals via the communication module to monitor the communication with the mobile device over a period of time.

[0077] According to an embodiment, the controller controls the rate at which the communication module sends the series of control signals.

[0078] According to an embodiment, the controller adjusts the rate at which the communication module transmits the series of control signals based on at least one of vehicle speed, vehicle acceleration, and proximity of the mobile device to an outer boundary of a tethered range.

[0079] According to an embodiment, after the communication module receives the return signal, the controller will send a second counter signal to the mobile device and receive a second return signal from the mobile device via the communication module, determine a second time period between the sending of the second counter signal and the receiving of the second return signal, and prevent the autonomous unit from causing the vehicle to move in response to determining that the second time period is greater than the threshold.

[0080] According to the present invention, a method includes: sending a counter signal to a mobile device via a communication module of a vehicle; receiving a return signal from the mobile device via the communication module; determining a time period between the sending of the counter signal and the receiving of the return signal via a processor; and in response to determining that the time period is greater than a threshold, preventing an autonomous unit from causing vehicle movement during remote parking via the processor.

[0081] According to an embodiment, the invention is further characterized by enabling, via the processor, the autonomous unit to cause movement of the vehicle during the remote parking in response to determining that the time period is less than or equal to the threshold.

[0082] According to an embodiment, sending the counter signal via the communication module triggers sending the return signal to the communication module.

[0083] According to an embodiment, in response to determining that the remote parking is in operation, the counter signal is transmitted via the communication module.

Claims

1. A vehicle, comprising: autonomous units for remote parking; Communication module; as well as A controller, the controller being configured to: sending a counter signal to a mobile device via the communication module and receiving a return signal from the mobile device; determining a time period between the sending of the counter signal and the receiving of the return signal; as well as The autonomous unit is prevented from causing the vehicle to move in response to determining that the time period is greater than a threshold.

2. The vehicle according to claim 1, wherein: In response to determining that the time period is less than or equal to the threshold, the controller will enable the autonomous unit to cause the vehicle to move during the remote parking.

3. The vehicle of claim 1, wherein in response to determining that the time period is greater than the threshold, the controller will further issue a warning. 4 . The vehicle of claim 1 , wherein the communication module sends the counter signal to trigger sending the return signal to the communication module. 5 . The vehicle of claim 1 , wherein in response to determining that the remote parking is in operation, the controller transmits the counter signal via the communication module. 6 . The vehicle of claim 1 , wherein the controller transmits the counter signal via the communication module in response to determining that the mobile device is within the tethered range of the remote park.

7. The vehicle of claim 1, wherein the controller transmits the counter signal via the communication module further in response to the communication module receiving a remote parking command from the mobile device.

8. The vehicle of claim 1, further comprising an engine and an engine sensor, wherein in response to the engine sensor detecting that the engine is operating, the controller will transmit the counter signal via the communication module.

9. The vehicle of claim 1 further comprising a transmission and a transmission position sensor, wherein in response to the transmission position sensor detecting that the transmission is not in Park, the controller transmits the counter signal via the communication module.

10. The vehicle of claim 1, wherein the controller detects when the communication module sends the counter signal and when the return signal is received.

11. The vehicle of claim 1 , wherein the counter signal and the return signal include time stamps to enable the controller to determine when the counter signal was sent and when the return signal was received.

12. The vehicle of claim 1, wherein when the autonomous unit performs the remote parking, the controller will send a series of counter signals via the communication module to monitor communication with the mobile device over a period of time, wherein the controller controls the rate at which the communication module sends the series of counter signals.

13. The vehicle of claim 1, wherein: After the communication module receives the return signal, the controller will: sending a second counter signal to the mobile device via the communication module and receiving a second return signal from the mobile device; determining a second time period between the transmission of the second counter signal and the receipt of the second return signal; and The autonomous unit is prevented from causing the vehicle to move in response to determining that the second time period is greater than the threshold.

14. A method for a vehicle, the method comprising: sending a counter signal to a mobile device via a communication module of the vehicle; receiving a return signal from the mobile device via the communication module; determining, via a processor, a time period between transmission of the counter signal and receipt of the return signal; as well as In response to determining that the time period is greater than a threshold, the autonomous unit is prevented, via the processor, from causing vehicle movement during remote parking.

15. The method of claim 14, further comprising, in response to determining that the time period is less than or equal to the threshold, enabling, via the processor, the autonomous unit to cause the vehicle to move during the remote parking.

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