Mobile device tethering for a remote parking assist system for a vehicle

Abstract

The present disclosure provides "Mobile device tethering for a remote parking assistance system for a vehicle". A method and apparatus for mobile device tethering for a remote parking assistance system for a vehicle are disclosed. A vehicle includes a camera and a body control module. The body control module sends instructions to a mobile device and uses the camera to capture an image of the mobile device. The body control module also analyzes the image to determine an initial position of the mobile device relative to the vehicle, and performs dead reckoning on the mobile device based on the initial position to track the mobile device. When the mobile device is within a threshold distance, the body control module enables autonomous parking.

Description

[0001] Related Applications

[0002] This application is related to U.S. Serial No. 15 / 860,242 (Attorney Docket No. 83811624 (026780.8726)), U.S. Serial No. 15 / 860,394 (Attorney Docket No. 83886136 (026780.8935)), U.S. Serial No. 15 / 860,414 (Attorney Docket No. 83890525 (026780.8950)), U.S. Serial No. 15 / 860,269 (Attorney Docket No. 83886136 (026780.8935)), No. 15 / 860,299 (Agent Docket No. 83878231 (026780.8956)), all of which were filed on the same day as the present application, and all of which are hereby incorporated by reference in their entirety. Technical Field

[0003] The present disclosure relates generally to autonomous and semi-autonomous vehicles, and more particularly to mobile device tethering for a remote parking assist system for a vehicle. Background Art

[0004] Remote parking assist (RePA) systems are designed to park vehicles autonomously. RePA systems can be used when the operator of the vehicle is sitting in the driver's seat but not holding the steering wheel. Typically, RePA systems are also used when the operator is outside the vehicle. The operator uses a mobile device that wirelessly communicates with the vehicle to trigger the RePA system to park the vehicle in or unpark it from a parking lot. Proposed European regulations require that the mobile device be within 6 meters of the closest point of the motor vehicle (see Economic Commission for Europe, Regulation No. 79) in order for the vehicle to be parked autonomously. However, it is difficult to accurately measure the distance of 6m from the closest point of the vehicle using wireless technology commonly available on commercial mobile devices. For example, the civilian frequency of the Global Positioning System (GPS) receiver has a root mean square (RMS) level accuracy of 4 meters. Therefore, the comparison of the GPS coordinates of the mobile device and the GPS coordinates of the vehicle is not accurate enough. Summary of the invention

[0005] The present application is limited by the appended claims. This disclosure summarizes aspects of the embodiments and should not be used to limit the claims. Other implementations are conceived 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 fall within the scope of the present application.

[0006] An exemplary embodiment of a mobile device tethering for a remote parking assist system for a vehicle is disclosed. The vehicle includes a camera and a body control module. The body control module sends instructions to the mobile device and uses the camera to capture an image of the mobile device. The body control module also analyzes the image to determine an initial position of the mobile device relative to the vehicle, and performs dead reckoning on the mobile device based on the initial position to track the mobile device. When the mobile device is within a threshold distance, the body control module enables autonomous parking.

[0007] An example method of controlling a vehicle includes sending instructions to a mobile device. The method further includes capturing an image of the mobile device using a camera. Additionally, the method includes analyzing the image using a processor to determine an initial position of the mobile device relative to the vehicle, and performing dead reckoning on the mobile device based on the initial position to track the mobile device. The example method includes enabling autonomous parking when the mobile device is within a threshold distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] For a better understanding of 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. Moreover, in the drawings, the same reference numerals represent corresponding components in several views.

[0009] Figure 1 A vehicle operating in accordance with the teachings of the present disclosure is shown.

[0010] Figure 2 A method is shown for determining an initial location of a mobile device when the mobile device leaves a vehicle. Figure 1 of vehicles.

[0011] Figure 3 A method is shown for determining an initial position of a mobile device using a proximity-based sensor. Figure 1 of vehicles.

[0012] Figure 4A and 4B shows a proximity-based sensor Figure 1 of vehicles.

[0013] Figure 5 A method is shown in which a mobile device is configured to use image recognition to determine an initial position of the mobile device. Figure 1 of vehicles.

[0014] Figure 6 A mobile device is shown.

[0015] Figure 7A system configured to use trajectory data to determine when a mobile device is within range of a vehicle is shown. Figure 1 of vehicles.

[0016] Fig. 8A , 8B 8C shows a method configured to use probability regions to determine when a mobile device is within range of a vehicle. Figure 1 of vehicles.

[0017] Fig. 9 A display configured to visually indicate when a mobile device is within range of a vehicle is shown. Figure 1 of vehicles.

[0018] Fig. 10A , 10B and 10C illustrate a display configured to visually indicate when a mobile device is within range of a vehicle. Figure 1 An example front portion of a vehicle.

[0019] Fig.11A , 11B and 11C illustrate a display configured to visually indicate when a mobile device is within range of a vehicle. Figure 1 An example rear portion of a vehicle.

[0020] Fig. 12A , 12B and 12C illustrate a display configured to visually indicate when a mobile device is within range of a vehicle. Figure 1 Another example rear portion of a vehicle.

[0021] Fig.13 yes Figure 1 Block diagram of the electronic components of a vehicle.

[0022] Fig.14 is a flow chart of a method for performing remote assisted parking, which may be performed by Fig.13 Electronic components are implemented.

[0023] Fig.15 is a flow chart of a method for determining an initial position of a mobile device when the mobile device leaves a vehicle, which can be Fig.13 Electronic components are implemented.

[0024] Fig.16 is a flow chart of a method for determining an initial position of a mobile device using positioning technology, which can be Fig.13 Electronic components are implemented.

[0025] Fig.17 is a flow chart of a method for determining an initial position of a mobile device using an inertial sensor, which may be Fig.13 Electronic components are implemented.

[0026] Fig.18 is a flow chart of a method for determining an initial position of a mobile device using a proximity sensor, which may be Fig.13 Electronic components are implemented.

[0027] Fig.19 is a flow chart of a method for determining an initial position of a mobile device using image analysis techniques, which may be performed by Fig.13 Electronic components are implemented.

[0028] Fig. 20 is a flow chart of a method for determining whether a mobile device is within a distance of a vehicle based on comparing the trajectories of the mobile device and the vehicle, which can be performed by Fig.13 Electronic components are implemented.

[0029] Fig.21 is a flow chart of a method for determining whether a mobile device is within a distance of a vehicle based on a probability region, which can be Fig.13 Electronic components are implemented.

[0030] Fig. 22 is a flow chart of a method for visually indicating when a mobile device is within range of a vehicle, which may be performed by Fig.13 Electronic components are implemented. DETAILED DESCRIPTION

[0031] While the invention may be embodied in various forms, certain 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 illustrative of the invention and is not intended to limit the invention to the particular embodiments shown.

[0032] Remote parking assist (RePA) systems are designed to autonomously park and unpark a vehicle when an operator is outside the vehicle. For example, when parking a vehicle, the RePA system can be used when the parking space is too narrow for the operator to open the door or for the passenger to open the door. The RePA system uses range detection sensors (e.g., ultrasonic sensors, radars, LiDARs, cameras, etc.) to sense the environment around the parking space and plan and execute paths in and out of the parking space. In some examples, the RePA system is activated by the operator and scans for available parking spaces. When a parking space is detected, the RePA system sends a signal via an interface (e.g., a center console display, etc.) so that the operator parks the vehicle near the detected parking space. Then, the operator leaves the vehicle. The RePA system is further activated via a mobile device (e.g., a smartphone, a smart watch, a key fob, etc.) to complete autonomous parking. In jurisdictions that require mobile devices to remain within a threshold distance of the vehicle, the RePA system tracks the location of the mobile device relative to the vehicle's location and determines whether the mobile device is within the threshold distance. When the mobile device is outside a threshold distance of the vehicle, the RePA system will not autonomously move the vehicle.

[0033] The RePA system can use a variety of techniques (such as dead reckoning and signal triangulation) to determine the location of the mobile device relative to the vehicle's location. Mobile device dead reckoning uses inertial sensors (e.g., accelerometers, gyroscopes, etc.) in the mobile device to determine the current location of the mobile device based on a previous location (sometimes referred to as a "fixed point"). As the mobile device moves, the RePA system tracks the movement by tracking the distance and direction that the mobile device has traveled relative to the initial location. In order to perform mobile device dead reckoning, the RePA system determines the initial location by establishing the location of the mobile device relative to the vehicle's location. However, establishing this relationship may be difficult. In addition, dead reckoning can result in cumulative errors. Over time and distance, the error can become large enough to cause the location calculation to be inaccurate for the RePA system. Therefore, sometimes (e.g., after a threshold time, after a threshold distance, etc.), the RePA system needs to re-establish the initial location of the mobile device. For example, when the operator leaves the vehicle and goes shopping, in order to perform mobile device dead reckoning, the RePA system needs to re-establish the location of the mobile device relative to the vehicle's location due to the accumulated errors. One positioning technique is to use one or more signal strengths of the signal between the mobile device's antenna and one or more antennas of the vehicle. By using measurements of signal strength (e.g., received signal strength indication (RSSI), transmission strength (RX), received channel power indication (RCPI), etc.), the RePA system can estimate the location of the mobile device. The accuracy of the estimate depends on several factors, such as the number of signal strength measurements from different vehicle antennas being used, the frequency of the signal, the distance between the mobile device's antenna and one or more antennas of the vehicle, and environmental interference around the vehicle. In addition to mobile device dead reckoning, the RePA system also performs vehicle dead reckoning. Since the vehicle moves during the RePA event, the system must estimate the real-time position of the vehicle to correctly compare the real-time position with the estimated position of the mobile device. For example, even if the mobile device is stationary during the RePA event, the distance between the mobile device and the vehicle will change due to the movement of the vehicle. Vehicle dead reckoning can be performed using transducers already on a typical vehicle (e.g., steering wheel angle sensors and rotary encoders for ranging). The vehicle may also perform dead reckoning using methods similar to mobile device dead reckoning (e.g., accelerometers, gyroscopes, etc.), but vehicle-specific hardware is likely to produce more accurate results. As described below, the RePA system of the present disclosure uses dead reckoning and positioning, both alone and in combination with various techniques, to overcome errors in position determination methods and determine whether a mobile device is within a threshold distance of a vehicle.

[0034] As described below, the RePA system determines an initial location of a mobile device when the mobile device leaves a vehicle. The RePA system specifies an initial location for the mobile device based on which door the mobile device leaves the vehicle from. For example, when the mobile device leaves the vehicle through the driver's side front door, the RePA system may specify a location on the door (e.g., the location of a door handle, etc.) as the initial location of the mobile device. The RePA system then uses dead reckoning to track the location of the mobile device based on the initial location. To determine which door the mobile device left from, the RePA system uses (a) one or both of the following: (i) at least one internal wireless antenna (e.g., located inside the passenger compartment of the vehicle); module's antenna, etc.) (sometimes referred to as "internal signal strength") and at least one external antenna (e.g., located near a vehicle door The present invention relates to a method for determining the signal strength of an occupant of a vehicle based on the following aspects: (i) a comparison of the signal strength between the antenna of the wireless module, the antenna of the wireless module, etc.) (sometimes referred to as "external signal strength") and the antenna of the wireless device, and (ii) the direction of movement of the mobile device as indicated by the inertial sensors of the mobile device, and (b) environmental cues from sensors in the passenger compartment of the vehicle. Environmental cues are provided by sensors that indicate the movement or presence of an occupant (e.g., weight sensors, seat belt sensors, and / or door angle sensors, etc.).

[0035] In some examples, the vehicle includes at least one internal antenna and multiple external antennas. In such examples, the RePA system determines which side of the vehicle the mobile device leaves the vehicle from by using signals from each antenna. In such examples, the RePA system determines which door the mobile device leaves from based on the following two items: (a) which side of the vehicle the mobile device leaves from; and (b) environmental cues indicating that the occupant no longer occupies a specific seat in the vehicle. For example, if the mobile device leaves through the passenger side of the vehicle, and at substantially the same time (e.g., plus or minus one second, two seconds, etc.), the weight sensor indicates that the occupant has left the front passenger side seat, and the RePA system determines that the mobile device leaves through the front passenger side door. Alternatively, in some examples, the vehicle does not include one or more internal antennas or multiple external antennas to distinguish which side of the vehicle the mobile device leaves from. In such examples, the RePA system determines which side of the vehicle the mobile device leaves from based on measurements from the inertial sensors of the mobile device.

[0036] As described below, the vehicle includes a proximity sensor. When a mobile device is in the vicinity of the vehicle (e.g., as determined by GPS coordinates and / or positioning, etc.) and a new initial position of the mobile device is desired, the RePA system instructs the operator, via a corresponding application executed on the mobile device, to place the mobile device in the vicinity of one of the proximity sensors. The proximity sensor represents a fixed reference point on the vehicle. In some examples, the proximity sensor is a near field communication (NFC) device that communicatively couples to the mobile device when the mobile device is within range (e.g., 10 centimeters, etc.). Alternatively, the proximity sensor is a wireless charging module (e.g., Module, etc.), the wireless charging module detects when the mobile device is within a threshold range (e.g., 5-7 mm, etc.) of the wireless charging module. Alternatively, in some examples, the proximity sensor is a pressure sensor or switch that detects when the mobile device is in contact with the proximity sensor. Alternatively, in some examples, the proximity sensor is a wireless module (e.g., module, etc.), when the signal strength indicates that the mobile device is within a threshold distance (eg, 10 mm, etc.) from the wireless module, the wireless module determines that the mobile device is close to the wireless module.

[0037] When the vehicle is parked in a narrow parking space, the proximity sensor is located in an area that is accessible to the operator. In some examples, the proximity sensor is located near the rear license plate and vehicle logo. In addition, in some examples, the proximity sensor is located on the housing of the side-view mirror and / or on one or more door handles of the vehicle. In some examples, the RePA system can be activated via the proximity sensor. In such an example, bringing the mobile device within the range of the proximity sensor will: (a) automatically launch the corresponding RePA application on the mobile device; (b) unlock the corresponding RePA application on the mobile device; (c) automatically present the user default RePA state to the operator; (d) cause the corresponding RePA application on the mobile device to present the operator with available parking maneuver options; and / or (e) automatically start the vehicle's engine.

[0038] As described below, the RePA system instructs the operator to perform a specific action via a corresponding application executed on the mobile device, and determines the position of the mobile device based on the action. In some examples, the RePA system instructs the operator to keep the mobile device perpendicular to the longitudinal axis of the vehicle in the view of one of the cameras (e.g., a front camera, a rear view camera, a 360-degree camera, etc.). The RePA system captures an image of the mobile device. By using a database of mobile device specifications and / or specifications provided when the corresponding RePA application is installed on the mobile device, the RePA system determines the relative position of the mobile device based on the scale difference between the dimensional measurement results of the mobile device in the image and the reference dimensional measurement results in the mobile device specification database. In some examples, the RePA system instructs the user to capture an image of a feature of the vehicle (e.g., a license plate frame, a label attached to the vehicle, etc.). In such examples, the RePA system determines the relative position of the mobile device based on the difference between the dimensional measurement results of the feature in the image and the reference dimensional measurement results of the feature. In some examples, the RePA system instructs the operator to point the flash of the mobile device to the camera of the vehicle. In some such examples, the RePA system communicates with the mobile device using a visible light communication form such as Li-Fi. In some such examples, the RePA system determines the distance to the mobile device based on the measured light intensity of the flash compared to the expected light intensity. In some such examples, the mobile device repeats different predetermined light intensity patterns of the flash for use by the RePA system to determine the distance. For example, the mobile device may gradually increase the brightness of its flash from 0% to 100% over a time frame established between the mobile device and the RePA system.

[0039] As described below, in some examples, the RePA system uses a mobile device and a key fob to determine the location of the mobile device relative to the location of the vehicle. Typically, the key fob communicates with the vehicle at a lower frequency (e.g., 315MHz to 902MHz) than the mobile device (e.g., 2.4GHz). In addition, the key fob polling is performed using a low-frequency signal (e.g., 125kHz, etc.). Therefore, positioning techniques using key fob polling signals are generally more accurate than positioning using mobile device signals. Since the key fob battery has limited power, the RePA system saves power by changing the interval between the key fob polling signals based on the relationship between the mobile device and the vehicle. As used herein, "reducing the polling interval" refers to reducing the number of polling signals broadcast within a unit time period (e.g., one second, thirty seconds, etc.), and "increasing the polling interval" refers to increasing the number of polling signals broadcast within a unit time period. The RePA system determines the trajectory (e.g., speed and direction) of the vehicle and the trajectory of the mobile device to determine whether the locations of the vehicle and the mobile device are approaching (e.g., getting closer) or diverging (e.g., getting farther and farther). By using positioning techniques, the RePA system determines the probability area of ​​the key fob. The probability region represents an area containing the location of the key fob (taking into account the estimated error). That is, the probability region represents a set of possible locations of the key fob based on the error of the positioning technology, rather than a single location. When the probability region is within the RePA boundary and the distance between the vehicle and the mobile device decreases, the RePA system reduces or suspends the polling interval of the key fob. In this case, when the location of the mobile device and the vehicle are approaching within the RePA boundary, the mobile device will not leave the boundary, so it is less important to track the location of the operator. When the probability region is within the RePA boundary and the distance between the vehicle and the mobile device increases, the RePA system resumes the key fob polling if it has been suspended, and reduces the polling interval when the vehicle is further away from the mobile device, so as to more quickly detect whether the operator has moved out of range. In some examples, the RePA system can change the polling interval based on the speed of the vehicle relative to the mobile device. For example, the faster the relative speed of the vehicle, the greater the increase in the polling interval. In this case, the operator may leave the RePA boundary, so increasing the tracking of the operator's location is conducive to more quickly determining when the operator crosses the boundary.

[0040] As described below, the RePA system uses positioning technology for a mobile device and an associated key fob to track the location (or a ring of possible locations) of a mobile device. Initially, the RePA system's key fob polling is off (that is, the RePA system does not cause the key fob to poll; however, another system such as keyless entry can independently initiate key fob polling). By using positioning technology for signals from the mobile device, the RePA system determines a probability area representing the possible location of the mobile device based on the location determined by the positioning and its associated error. The RePA system compares the probability area to the boundary. When the probability area is completely outside the boundary, the RePA system determines that the mobile device is outside the boundary. When the probability area is completely inside the boundary, the RePA system determines that the mobile device is inside the boundary. When the boundary is partially within the probability area, the RePA system activates polling of the key fob and uses positioning to determine the location of the key fob. When the key fob is inside the boundary, the RePA system determines that the mobile device is inside the boundary.

[0041] As described below, the RePA system provides a visual indication of the position of the mobile device relative to the boundary location. In some examples, the visual indication is the manipulation of the brightness, color, and / or activation of the vehicle's lights (e.g., headlights, taillights, light emitting diode (LED) strips, etc.). Additionally or alternatively, in some examples, the vehicle includes projection lights that project the boundary. In some such examples, the projection changes based on the position of the mobile device relative to the boundary location. The visual indication has different outputs in the following situations: (a) when the RePA system is activated but the mobile device is not detected by the RePA system; (b) when the RePA system is activated and the mobile device is outside the boundary; (c) when the RePA system is activated, the mobile device is inside the boundary, and the vehicle is in motion; (d) when the RePA system is activated, the mobile device is inside the boundary, and the vehicle is stationary; and (e) the RePA system is activated, and the mobile device is inside the boundary, near the boundary (e.g., within 0.5 meters of the boundary, etc.).

[0042] Figure 1 and 2A vehicle 100 operating in accordance with the teachings of the present disclosure is shown. The vehicle 100 may be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or any other type of vehicle for motorized implementation. 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 is semi-autonomous (e.g., some conventional motor functions are controlled by the vehicle 100) or autonomous (e.g., motor functions are controlled by the vehicle 100 without direct driver input). The exemplary vehicle 100 includes wireless nodes 102 and 104, occupant detection sensors 106, 108, and 110, a proximity sensor 112, one or more cameras 114, track sensors 116, 118, and 122, lights 124 and 126, a projection light 128, an onboard communication module (OBCM) 130, a powertrain control module (PTCU) 132, a body control module (BCM) 134, and / or an active safety module (ASM) 136.

[0043] Wireless nodes 102 and 104 include hardware (e.g., processors, storage devices, memory, antennas, etc.) and software for controlling one or more wireless network interfaces. Wireless nodes 102 and 104 include communication controllers (e.g., Low power consumption (BLE), In some examples, when wireless nodes 102 and 104 are configured to implement BLE, wireless nodes 102 and 104 may be referred to as “BLE antenna modules (BLE AM).” Wireless nodes 102 and 104 are communicatively coupled to mobile device 138 and measure and / or receive measurements of signal strength of signals broadcast by mobile device 138. In some examples, vehicle 100 includes one or more interior wireless nodes 102 located inside a passenger compartment of vehicle 100. Alternatively or additionally, in some examples, vehicle 100 includes one or more exterior wireless nodes 104 located outside of vehicle 100. In some such examples, the exterior wireless nodes 104 are located on the roof of vehicle 100, on the hood of vehicle 100, at the rear of vehicle 100, and / or near one or more doors 140 of vehicle 100.

[0044] The occupant detection sensors 106, 108, and 110 are associated with specific seats in the vehicle 100 and provide the following indications: (a) whether a person occupies the relevant seat; and (b) whether the occupancy of the relevant seat has changed. The occupant detection sensors 106, 108, and 110 include a weight sensor 106, a seat belt sensor 108, and / or a door angle sensor 110. Additionally or alternatively, in some examples, the occupant detection sensors 106, 108, and 110 include a door latch sensor and / or a window position sensor and / or an infrared detection sensor. The weight sensor 106 detects whether the relevant seat is occupied. The change in the state of the weight sensor 106 from an occupied state to a non-occupied state indicates that the occupant of the relevant seat has left the vehicle 100. The seat belt sensor 108 detects whether the seat belt associated with a specific seat is fastened. The state of the seat belt sensor 108 from fastened to released can indicate that the occupant of the relevant seat has left the vehicle 100. The door angle sensor 110 detects the angle at which the relevant door 140 is opened. A door angle sensor 110 indicating that a door has transitioned from a closed position to an open position sufficient for exiting may indicate that an occupant of the associated seat has exited the vehicle 100 .

[0045] The proximity sensor 112 detects when the mobile device 138 is close to the proximity sensor 112. In some examples, the proximity sensor 112 is a module that wirelessly couples to the mobile device 138 at a relatively short range (e.g., an NFC module with a range of 10 cm, a Qi module with a range of 5-7 mm, etc.). Alternatively or additionally, in some examples, the proximity sensor 112 is a wireless module (e.g., Module, etc.), which detects when the mobile device 138 is near the proximity sensor 112 by comparing the wireless signal strength of the signal from the mobile device 138 with a calibrated threshold, thereby determining when the mobile device 138 is relatively close (e.g., 10 mm, etc.) to the proximity sensor 112. In some such examples, the external wireless module 104 is also configured as a proximity sensor 112. For example, when one of the external wireless nodes 104 is installed in the handle of one of the vehicle doors 140, the external wireless node 104 is configured to determine when the mobile device 138 is within 10 mm of the door handle. Alternatively, in some examples, the proximity sensor 112 is a pressure sensor and / or switch that is activated when the mobile device 138 is physically pressed against the proximity sensor 112. In some such examples, the proximity sensor 112 is a pedestrian collision detection sensor. The pedestrian collision detection sensor includes a low-force switch and a high-force switch, which is an "on / off" box switch with different pressure activation thresholds and a linear potentiometer. The pedestrian collision detection sensor detects the collision width, collision position, collision duration and the magnitude of the collision pressure.

[0046] The camera 114 captures images and videos of the area near the vehicle 100. The camera 114 includes a front camera (e.g., located on the back of the rearview mirror housing, etc.), a rearview camera, and / or a 360° camera system. The 360° camera system includes multiple cameras that stitch together the images captured by each camera to provide a view around the vehicle 100. For example, one camera is located in the middle of the front grille, two cameras are ultra-wide-angle cameras on the side mirrors, and one camera is located above the license plate of the vehicle 100.

[0047] Track sensors 116, 118, and 122 measure the speed and / or direction of travel of vehicle 100. These measurements can be used to determine the trajectory of vehicle 100. Track sensors 116, 118, and 122 include wheel speed sensors 116, steering angle sensors 118, and rate sensors 122. Wheel speed sensors 116 are mounted on the wheel assembly of each wheel to measure the rotation speed of the wheel. Steering angle sensor 118 is located in the steering column of vehicle 100 and measures the position angle and turning rate of the steering wheel. Rate sensor 122 includes a yaw sensor, a roll sensor, a pitch angle sensor, and / or an accelerometer. Rate sensor 122 measures changes in angles over time, such as the yaw rate, roll rate, or pitch rate of vehicle 100. Rate sensor 122 also measures the acceleration of vehicle 100. In some examples, rate sensor 122 is incorporated into a restraint control module and / or a traction control module.

[0048] Lights 124 and 126 include headlights and taillights. Additionally or alternatively, in some examples, lights 124 and 126 include LED light strips embedded in one or more sides of the body of vehicle 100 so as to be visible to a person standing at least within the boundaries of the RePA system. Lights 124 and 126 include multiple settings that facilitate communicating different states of the RePA system. In some examples, lights 124 and 126 are dimmable to facilitate communicating different states via the brightness of lights 124 and 126. Alternatively or additionally, in some examples, lights 124 and 126 include multiple independently controllable segments to facilitate communicating different states via illuminated segments. For example, vehicle 100 may include lights 124 and 126 as LED strips, wherein each LED in the strip is independently controllable. In such an example, the state of the RePA system may be communicated by the number of LEDs that are illuminated.

[0049] The projection light 128 is a light that projects an image on the ground near the vehicle 100. The projection light 128 is located on the vehicle 100 so that the projection light 128 projects a visible boundary line at a threshold distance (e.g., 6 meters, etc.) of the RePA system. For example, the projection light 128 can be located near the vehicle logo on the front of the vehicle 100, at the bottom of the side mirror, and below the license plate on the rear of the vehicle 100. The projection light 128 includes a multi-color light (e.g., a multi-color LED, etc.) to facilitate the projection light 128 to project the boundary in different colors. In addition, in some examples, the projection light 128 has different luminosity settings (e.g., higher lumen output during the day, lower lumen output at night, etc.).

[0050] The on-board communication module 130 (sometimes referred to as a "telematics unit") manages communications with the wireless nodes 102 and 104 and / or the proximity sensor 112. In addition, in some examples, the on-board communication module 130 includes a wired or wireless network interface to enable communication with an external network. In some such examples, the on-board communication module 130 includes hardware (e.g., processors, storage devices, memory, antennas, etc.) and software for communicating via a cellular network (Global System for Mobile Communications (GSM), Universal Mobile Telecommunications System (UMTS), Long Term Evolution (LTE), Code Division Multiple Access (CDMA), etc.), a wireless local area network (WLAN) (including IEEE 802.11a / b / g / n / ac or others, dedicated short-range communication (DSRC), visible light communication (Li-Fi), etc.) and / or a wide area network (wireless gigabit (IEEE 802.11ad), etc.)). In some examples, the on-board communication module 130 includes a wired or wireless interface (e.g., an auxiliary port, a universal serial bus (USB) port, The vehicle 100 may be coupled to a mobile device (e.g., a smart phone, a smart watch, a tablet, etc.) to communicate with the mobile device. In such an example, the vehicle 100 may communicate with the external network via the coupled mobile device. The external network may be a public network, such as the Internet; a private network, such as an intranet; or a combination thereof, and may utilize various networking protocols now available or later developed, including but not limited to networking protocols based on TCP / IP.

[0051] The powertrain control module 132 includes hardware and firmware for controlling the ignition, fuel injection, emission system, transmission and / or braking system of the vehicle 100. The powertrain control module 132 monitors sensors (such as fuel injection sensors, wheel speed sensors, exhaust sensors, etc.) and uses control algorithms to control, for example, the fuel mixture, ignition timing, variable cam timing, emission control, fuel pumps, engine cooling fans, and / or charging systems. In addition, the powertrain control module 132 monitors and transmits measurements from the track sensors 116, 118, and 122. The powertrain control module 132 communicates with the vehicle 100 via a vehicle data bus (e.g., via Fig.13 The vehicle data bus 1302) sends messages about the engine status (e.g., driving, idling, stopped, etc.).

[0052] The body control module 134 controls various subsystems of the vehicle 100. For example, the body control module 134 can control power windows, power locks, anti-theft systems, and / or power mirrors, etc. The body control module 134 includes circuits for, for example, driving relays (e.g., controlling wiper fluid, etc.), driving brushed DC motors (e.g., controlling power seats, power locks, power windows, wipers, etc.), driving stepper motors, and / or driving LEDs, etc. In some examples, the body control module 134 is communicatively coupled to a remote keyless entry system 142 that receives signals from a key fob 144 to control functions of the vehicle 100. The remote keyless entry system 142 sends a polling signal requesting the key fob 144 to measure the polling signal strength between the vehicle 100 and the key fob 144, and reports the polling signal strength to the remote keyless entry system 142. In the example shown, the body control module 134 includes a boundary monitor 146 that (a) tracks the distance (D) between the mobile device 138 and / or the key fob 144 and the vehicle 100; (b) determines that the mobile device 138 and / or the key fob 144 is within a threshold distance to the vehicle 100; and (c) controls various subsystems of the vehicle 100 (e.g., lights 124 and 126) based on the determination.

[0053] The boundary monitor 146 tracks the time when the vehicle 100 last determined a fixed point of the mobile device 138. When the time elapsed from the last fixed point and / or the distance traveled from the last fixed point meet the corresponding thresholds, the boundary monitor 146 is activated as follows in conjunction with Figure 2 , 3, 4A, 4B, 5, 6, 15, 16, 17, 18, and 19, the boundary monitor 146 obtains a new fixed point from the mobile device 138. The boundary monitor 146 uses dead reckoning (e.g., receiving data from an inertial sensor of the mobile device 138, etc.) and / or positioning technology (e.g., via wireless nodes 102 and 104, via remote keyless entry system 142, etc.) to track the location of the mobile device 138 and / or key fob 144. As described below in conjunction with Figure 7 , 8A , 8B, 8C, 20 and 21, the boundary monitor 146 tracks whether the mobile device 138 and / or the key card 144 is within a threshold distance (e.g., 6 meters, etc.) defining the boundary. Fig. 9 , 10A , 10B, 10C, 11A, 11B, 11C, 12A, 12B, 12C, and 22, the boundary monitor 146 notifies the user of the location of the mobile device 138 and / or the key fob 144 relative to the boundary location.

[0054] The active safety module 136 controls the autonomous functions of the vehicle 100. More specifically, the active safety module 136 of the illustrated example includes a system for autonomously parking and unparking the vehicle 100 when the operator is outside the vehicle (sometimes referred to as "remote parking", "vehicle remote parking assistance", "remote parking assistance" and "RePA"). For example, the RePA system of the active safety module 136 controls the vehicle's motion functions when activated from the mobile device 138 to remotely park the vehicle in a parking space. The RePA system of the active safety module 136 uses range detection sensors (e.g., ultrasonic sensors, radars, LiDARs, cameras, etc.) to sense the environment around the vehicle to detect a parking space. When activated via a mobile device 138 located within the boundary, the RePA system of the active safety module 136 plans and executes a path to enter or exit a parking space. In some examples, the RePA system is activated by the operator and scans for available parking spaces. When a parking space is detected, the RePA system sends a signal via an interface (e.g., a center console display, etc.) so that the operator parks near the detected parking space. The operator then exits the vehicle 100. The RePA system of the active safety module 136 is activated via the mobile device 138 to autonomously maneuver the vehicle 100 into the parking space according to the planned path. The RePA system will not autonomously move the vehicle 100 when the mobile device 138 is outside the boundary. As described below, because the vehicle 100 is in motion during the remote parking maneuver, the boundary moves with the vehicle 100. In this way, the mobile device 138 can, for example, transition outside the boundary even if the mobile device 138 is stationary.

[0055] Figure 2A method is shown which is configured to determine the initial location of the mobile device 138 when the mobile device 138 leaves the vehicle 100. Figure 1 The boundary monitor 146 detects: (a) when the mobile device 138 leaves the vehicle 100; and (b) from which door 140 the mobile device 138 leaves the vehicle 100. Based on which door 140 the mobile device 138 leaves the vehicle 100, the mobile device 138 designates a location 202 associated with the door 140 on the vehicle 100 as the initial location of the mobile device. The location 202 may be, for example, the middle of a panel of an associated one of the doors 140.

[0056] When the vehicle 100 includes a plurality of internal wireless nodes 102 and external wireless nodes 104 (eg, the vehicle 100 includes a phone-as-a-key system or When the mobile device 138 leaves the vehicle 100 (e.g., a key fob, etc.), the boundary monitor 146 uses the signal strength between the mobile device 138 and the wireless nodes 102 and 104 to determine: (i) when the mobile device 138 leaves the vehicle 100 (e.g., the mobile device 138 transitions from being inside the vehicle 100 to being outside the vehicle 100); and (ii) from which side of the vehicle 100 (e.g., the driver's side, the passenger's side, the rear, etc.) the mobile device 138 leaves. To determine which door 140 the mobile device 138 leaves from, the boundary monitor 146 uses measurements from the occupant detection sensors 106, 108, and 110 associated with the seats on the sides of the vehicle 100, which are determined via signal strength analysis. For example, when the mobile device 138 leaves the vehicle 100 and the door angle sensor 110 detects that the front driver's side door is open to an angle sufficient for exiting, the boundary monitor 146 can determine that the mobile device 138 leaves via the front driver's side door.

[0057] In some cases, multiple doors 140 may be opened at approximately the same time. In such an example, the boundary monitor 146 uses the measurements from the multiple occupant detection sensors 106, 108, and 110 to determine which door is associated with the mobile device 138. For example, if a door 140 is open but the measurements from the corresponding weight sensor 106 indicate that the corresponding seat is empty, the boundary monitor 146 may indicate that the door 140 is the door 140 from which the mobile device 138 exited. Alternatively or additionally, when the boundary monitor 146 detects the presence of multiple mobile devices paired with the vehicle 100, the boundary monitor 146 uses the timing of events associated with the occupant detection sensors 106, 108, and 110 to designate a door for each mobile device.

[0058] Alternatively, in some examples, the vehicle 100 does not include one or more interior antennas 102 and / or multiple exterior antennas 104 to distinguish which side of the vehicle 100 the mobile device 138 exited from. In such an example, the boundary monitor 146 receives initial data from an inertial sensor 204 (e.g., a gyroscope, an accelerometer, etc.) of the mobile device 138 via one of the wireless nodes 102 and 104. The boundary monitor 146 determines which side of the vehicle 100 the mobile device 138 exited from based on the inertial data. For example, the inertial data may indicate that the mobile device 138 moves toward the driver's side of the vehicle 100 just before the rear driver's side door is opened. In such an example, the boundary monitor 146 may determine that the mobile device 138 exits the vehicle 100 from the rear driver's side door.

[0059] In some examples, when there are multiple mobile devices in the vehicle 100, when the vehicle 100 is in motion, the boundary detector 146 specifies a seat in the vehicle 100 for each mobile device based on the difference in angular acceleration when the vehicle 100 turns. An example of specifying a seat for a mobile device is described in U.S. Patent No. 9,467,817, entitled "Determining Vehicle Occupant Location," issued on October 11, 2016, which is incorporated herein by reference in its entirety. Therefore, when a mobile device 138 is assigned a seat, the boundary detector 146 specifies a corresponding position 202 on the body of the vehicle 100 when the mobile device 138 leaves the vehicle 100.

[0060] Figure 3 A device configured to use the proximity sensor 112 to determine the initial position of the mobile device 138 is shown. Figure 1 When the mobile device 138 is within the vicinity of the vehicle 100 (e.g., as determined by GPS coordinates and / or positioning, etc.) and a new initial position of the mobile device is required (e.g., because the time elapsed and / or distance traveled since the last determination exceeds a threshold, etc.), the boundary monitor 146 sends a message to a corresponding application executing on the mobile device 138, which causes the mobile device 138 to instruct the operator to place the mobile device 138 within range of one of the proximity sensors 112. The proximity sensors 112 represent fixed reference points on the vehicle 100. When the vehicle is parked in a tight parking space, the proximity sensors are within reach of the operator. Figure 4A In the example shown, one of the proximity sensors 112 is located behind or integrated with the vehicle emblem 402. Additionally, in some examples, some of the proximity sensors 112 are located on the housing of the side view mirror 404 and / or on one or more door handles of the vehicle 100. Figure 4BIn the example shown, one of the proximity sensors 112 is located below the license plate area 406 of the vehicle 100. Alternatively or additionally, in some examples, the proximity sensor 112 is integrated into the keyless entry keypad (e.g., located near the B-pillar on the driver's side front door of the vehicle 100, etc.).

[0061] In some examples, the RePA application on the mobile device 138 displays the location of the proximity sensor on the interface. In some examples, the active safety module 136 activates the RePA system when an authorized mobile device 138 is detected near one of the proximity sensors 112. In such examples, in response to bringing the mobile device within range of the proximity sensor, the active safety module 136: (a) sends a message to automatically launch a corresponding RePA application on the mobile device 138; (b) unlocks the corresponding RePA application on the mobile device 138 (e.g., in a system where confirmation from the active safety module 136 of the vehicle 100 is required to enable RePA functionality in an application executed on the mobile device 138); (c) automatically presents a user default RePA state to the operator; (d) causes the corresponding RePA application on the mobile device 138 to present available parking maneuver options to the operator; and / or (e) automatically starts the engine of the vehicle 100 (e.g., via the powertrain control module 132, etc.).

[0062] In some examples, infrastructure items (e.g., parking meters, fire hydrants, light poles, etc.) may include infrastructure proximity sensors. Boundary monitor 146 determines the relative position of the infrastructure item relative to vehicle 100 (e.g., via the following in conjunction with Figure 5 130). In some such examples, the boundary monitor 146 establishes communication with the infrastructure item (e.g., via the vehicle communication module 130). In such examples, the infrastructure item sends a message when the user brings the mobile device 138 into proximity with a proximity sensor of the infrastructure item. For example, the parking meter may include an NFC contactless payment system, and when the payment is processed via the mobile device 138, a message is sent to the vehicle 100 via DSRC or WLAN using information in a user profile associated with a payment account and / or sent by the mobile device 138 (e.g., a vehicle identifier, a temporary password to access the WLAN, etc.). In such examples, the boundary monitor 146 determines the relative position of the parking meter by determining the relative position of the parking meter via image analysis or by determining which parking spot the vehicle 100 is parked in and receiving the distance between the parking spot and the parking meter from the parking meter.

[0063] Figure 5 A system configured to use image recognition to determine an initial position of a mobile device 138 is shown. Figure 1 of vehicles 100. Figure 6 14 shows a mobile device executing a RePA application 602 in communication with a boundary monitor 146. The boundary monitor 146 is communicatively coupled to the mobile device 138 and instructs an operator to perform a specific action via the corresponding RePA application 602 executed on the mobile device 138. In some examples, the boundary monitor 146 instructs the operator to hold the mobile device 138 perpendicular to the longitudinal axis of the vehicle 100 in the view of one of the cameras 114. The boundary monitor 146 captures an image of the mobile device 138. In some such examples, the body control module 134 includes a memory (e.g., the following Fig.13 The boundary monitor 146 may include a mobile device specification database 502 in a memory 1306 of the vehicle 100 that contains specifications (e.g., height, width, position, size of front and / or rear cameras, etc.) of mobile devices associated with (e.g., paired with, etc.) the vehicle 100. For example, the database 502 may include a record of the mobile device 138 indicating that the mobile device 138 is 17.75 cm×7.62 cm (6.2 inches×3 inches). In such an example, the boundary monitor 146 manages (e.g., receives updates from an external network, removes old or outdated records, etc.) the mobile device specification database 502 from time to time. Using the mobile device specification database 502 and / or specifications provided when a corresponding RePA application is installed on the mobile device 138, the boundary monitor 146 determines the relative position of the mobile device 138 based on the scale difference between the dimensional measurements of the mobile device 138 in the captured image and the reference dimensional measurements in the mobile device specification database 502. In some examples, the boundary monitor 146 uses the dimensions of the specific features 604 (such as screen size, mobile device camera size, etc.). In some examples, the RePA application executed on mobile device 138 displays an image 606 of known dimensions (such as a logo or a quick response (QR) code, etc.) In such examples, boundary monitor 146 compares the dimensions of image 606 in the captured image to the expected dimensions of image 606 based on the size and / or resolution of the screen of mobile device 138.

[0064] In some examples, boundary monitor 146 instructs a user to capture an image of a feature of a vehicle (e.g., a license plate frame, a label attached to the vehicle, etc.) using mobile device 138. In such examples, boundary monitor 146 determines the relative position of mobile device 138 based on the difference between the dimensional measurement of the feature in the captured image and the reference dimensional measurement of the feature. For example, vehicle 100 may have a graphic feature 504 (e.g., as a label, as part of a paint pattern, etc.) on the front and / or rear of vehicle 100. In some examples, graphic feature 504 is a code (e.g., a QR code, a barcode, etc.) constructed on an ultraviolet material that is visible only under ultraviolet light (UV). In such examples, vehicle 100 includes an ultraviolet light that, when illuminated, causes the ultraviolet graphic feature 504 to become visible.

[0065] In some examples, the boundary monitor 146 instructs the operator to point the flashlight 608 of the mobile device 138 at the camera 114 of the vehicle 100. In some such examples, the boundary monitor 146 communicates with the mobile device 138 using a form of visible light communication such as Li-Fi. In some such examples, the boundary monitor 146 determines the distance to the mobile device 138 based on the measured light intensity of the flashlight 608 compared to the expected light intensity. In some such examples, the RePA application 602 transmits the expected light intensity of the flashlight 608 to the boundary monitor 146. In some examples, the mobile device 138 repeats a pattern of different predetermined light intensities of the flashlight 608. The predetermined light intensity is the light intensity that both the boundary monitor 146 and the RePA application 602 are configured to expect. In such examples, the boundary monitor 146 determines the distance between the vehicle 100 and the mobile device 138 by analyzing the difference between the captured light intensity and the predetermined light intensity. For example, the mobile device may gradually increase the brightness of its flashlight 608 from 0% to 100% over a time frame established between the mobile device 138 and the boundary monitor 146 .

[0066] In some examples, boundary monitor 146 uses the above combined Figure 5 and Figure 6Various techniques are discussed to determine the relative position of the mobile device 138 relative to the vehicle 100. In some such examples, the distance estimates are combined (e.g., averaged, weighted averaged, etc.). For example, the boundary monitor 146 can capture an image of the mobile device 138 and receive an image captured by the mobile device 138. In such an example, the boundary monitor 146 can calculate a first estimate based on the image captured by the camera 114 of the vehicle 100, and calculate a second estimate based on the image received from the mobile device 138. In such an example, the boundary monitor 146 can average the first estimate and the second estimate to determine the distance between the mobile device 138 and the vehicle 100.

[0067] Figure 7 FIG. 1 shows a method configured to use trajectory data to determine when the mobile device 138 is within range of the vehicle 100 (e.g., within the boundary 702). Figure 1 The boundary monitor 146 uses the mobile device 138 and the key fob 144 to determine the location of the mobile device 138 relative to the location of the vehicle 100. Typically, the key fob 144 communicates with the vehicle 100 at a lower frequency (e.g., 315 MHz to 902 MHz) than the mobile device 138 (e.g., 2.4 GHz). In addition, the key fob polling signal is a low frequency signal (e.g., 125 kHz, etc.). As such, positioning techniques using the key fob 144 signal strength are typically more accurate than positioning using the mobile device 138 signal strength. Because the key fob 144 has limited battery power, the boundary monitor 146 conserves power usage of the key fob 144 by disabling and / or changing the intervals between polling signals, and alternatively, uses polling from the mobile device 138 when it is not necessary to improve the accuracy of the polling signal from the key fob 144. The boundary monitor 146 uses the trajectory of the mobile device 138 and the trajectory of the vehicle 100 to determine when to use the polling signal of the key fob 144 and what polling interval to use.

[0068] The boundary monitor 146 determines the trajectory (e.g., speed and direction) of the vehicle 100 based on measurements from one or more of the trajectory sensors 116, 118, and 122. The RePA application 602 on the mobile device 138 sends measurements from the inertial sensor 204 to the boundary monitor 146. The boundary monitor 146 determines the trajectory of the mobile device 138 based on the measurements received from the mobile device 138. The boundary monitor 146 determines whether the location of the vehicle 100 and the location of the mobile device 138 are converging (e.g., getting closer) or diverging (e.g., getting farther away). Using positioning technology, the boundary monitor 146 determines a probability area 706 for the operator. The probability area 706 represents an area that contains the location of the operator, taking into account positioning errors via triangulation or trilateration of signal strength of the mobile device 138 and / or the key fob 144. For example, the probability area 706 can be defined by a point 7 meters (estimated using positioning technology) from the vehicle, with an error radius of 0.25 meters. Using the signal strength measurements from the key fob 144 makes the probability region 706 smaller than using the signal strength measurements from the mobile device 138 .

[0069] The boundary 702 is defined by a threshold distance between the vehicle 100 and the mobile device 138 at which the RePA system will operate. For example, the boundary 702 may be 6 meters from each point on the outer surface of the vehicle 100. When the probability area 706 is completely within the boundary 702 and the distance between the vehicle 100 and the mobile device 138 is decreasing, the boundary monitor 146 reduces or pauses the interval of polling the key fob 144. In this case, because the positions of the mobile device 138 and the vehicle 100 are getting closer within the boundary 702, the mobile device 138 will not leave the boundary 702, so it is less important to accurately track the position of the mobile device 138. When the probability area 706 is within the boundary 702 and the distance between the vehicle 100 and the mobile device 138 increases, the boundary monitor 146 resumes the key fob polling if it has been paused, and increases the polling interval when the vehicle 100 moves away from the mobile device 138. In this way, the boundary monitor 146 detects more quickly whether the mobile device 138 moves out of range.

[0070] In some examples, the boundary monitor 146 changes the polling interval of the key fob 144 according to the relative speed of the vehicle 100 relative to the mobile device 138. For example, the faster the relative speed of the vehicle 100 relative to the mobile device 138, the larger the polling interval can be increased by the boundary monitor 146. In such an example, the polling interval is increased because when the relative speed of the vehicle 100 relative to the mobile device 138 is faster, the mobile device 138 can leave the boundary 702 faster, so increasing the frequency of estimating the location of the mobile device 138 is conducive to more quickly determining when the mobile device 138 crosses the boundary 702.

[0071] Fig. 8A , 8B 8C shows a method configured to use the probability region 706 to determine when the mobile device 138 is within the range of the vehicle 100 (e.g., within the boundary 702). Figure 1 The boundary monitor 146 uses the positioning technology for the mobile device 138 and the key fob 144 to track the probability area 706 of the location of the mobile device 138. Fig. 8A , 8B In the example shown in 8C, the vehicle 100 may include only one external wireless node 104, and therefore, the boundary monitor 146 tracks the distance of the mobile device 138 and / or the key fob 144 from the vehicle 100. In such an example, the probability area 706 encompasses a ring area around the vehicle 100. Initially, polling of the key fob 144 is disabled to conserve the battery life of the key fob 144.

[0072] Boundary monitor 146 compares probability region 706 to boundary 702. Boundary monitor 146 uses signals from mobile device 138 to calculate probability region 706. Generally, the farther mobile device 138 is from vehicle 100, the larger the area included in probability region 706. Boundary monitor 146 reacts based on the relationship between probability region 706 and boundary 702. Fig. 8A A probability region 706 is shown that is completely inside the boundary 702. When the probability region 706 is completely inside the boundary 702, the boundary monitor 146 determines that the mobile device 138 is inside the boundary 702 and does not instruct the key fob 144 to begin sending signal strength measurements of its polling signal. Figure 8B A probability region 706 is shown that is completely outside of the boundary 702. When the probability region 706 is completely outside of the boundary 702, the boundary monitor 146 determines that the mobile device 138 is outside of the boundary 702 and does not initiate a key fob 144 poll or instruct the key fob 144 to begin evaluating a polling signal.

[0073] Figure 8CBoundary 702 is shown within probability region 706. When boundary 702 is within probability region 706, boundary monitor 146 instructs key fob 144 to send signal strength measurements of its polling signal. Boundary monitor 146 determines location 802 (or a radius of location) of key fob 144. When location 802 is within boundary 702, boundary monitor 146 determines that mobile device 138 is inside boundary 702. When location 802 is not within boundary 702, boundary monitor 146 determines that mobile device 138 is outside boundary 702. Boundary monitor 146 continues to monitor probability region 706. When probability region 706 is completely outside boundary 702, boundary monitor 146 stops polling key fob and / or instructs key fob 144 to stop evaluating polling signals. Additionally, when probability region 706 is completely within boundary 702, boundary monitor 146 stops polling key fob 144 or instructs key fob 144 to stop evaluating polling signals.

[0074] Fig. 9 A display configured to visually indicate when the mobile device 138 is within range of the vehicle 100 is shown. Figure 1 The boundary monitor 146 determines the relative position of the mobile device 138 relative to the vehicle 100 and signals using the lights 124 and 126 and / or the projection light 128 of the vehicle 100. The boundary monitor 146 provides different visual indications based on: (a) the relative position of the mobile device 138 relative to the vehicle 100; (b) the movement of the vehicle 100; and / or (c) the status of the RePA system, etc. The boundary monitor 146 provides different visual indications in the following situations: (i) when the RePA system is activated but the mobile device 138 is not detected by the boundary monitor 146; (ii) when the RePA system is activated and the mobile device 138 is outside the boundary 702; (iii) when the RePA system is activated, the mobile device 138 is inside the boundary 702, and the vehicle 100 is in motion; (iv) when the RePA system is activated, the mobile device 138 is inside the boundary 702, and the vehicle 100 is stationary; and (v) the RePA system is activated and the mobile device 138 is inside the boundary 702 but near the edge of the boundary 702 (e.g., within 0.5 meters of the boundary 702, etc.).

[0075] exist Fig. 9In the example shown, boundary monitor 146 controls projection light 128 to project a representation 902 of boundary 702. Projection light 128 is configured to project representation 902 to a location substantially proximate boundary 702. Boundary monitor 146 changes different aspects of lights 124 and 126 and / or projection light 128 to change the visual indication presented by vehicle 100. In some examples, boundary monitor 146 changes the interior lights and / or exterior lights. In some examples, boundary monitor 146 changes the color of lights 124 and 126 and / or the representation 902 of boundary 702 projected by projection light 128. For example, boundary monitor 146 may cause lights 124 and 126 and / or projection light 128 to have a green hue that gradually changes to a yellow hue and eventually to a red hue as the relative distance between vehicle 100 and mobile device 138 increases to within boundary 702, near the interior of boundary 702, and outside of boundary 702, respectively. In some examples, boundary detector 146 causes the brightness of lights 124 and 126 and / or projection lights 128 to change. For example, boundary detector 146 causes lights 124 and 126 and / or projection lights 128 to be at 100% intensity when mobile device 138 is in close proximity to vehicle 100, and gradually to 0% as mobile device 138 crosses boundary 702 to outside of boundary 702. In some examples, boundary detector 146 causes representation 902 to be animated based on the position of mobile device 138 relative to the position of vehicle 100. For example, representation 902 may flash and / or rotate at a speed proportional to the distance between mobile device 138 and vehicle 100.

[0076] As an example, when the RePA system is activated but the boundary monitor 146 does not detect the mobile device 138, the boundary monitor 146 may cause the lights 124 and 126 and / or the projection lights 128 to have a flashing red hue. As another example, when the RePA system is activated and the mobile device 138 is outside the boundary 702, the boundary monitor 146 may cause the lights 124 and 126 and / or the projection lights 128 to have a solid red hue. As another example, when the RePA system is activated, the mobile device 138 is inside the boundary 702, and the vehicle 100 is in motion, the boundary monitor 146 may cause the lights 124 and 126 and / or the projection lights 128 to have a flashing green hue. As another example, when the RePA system is activated, the mobile device 138 is inside the boundary 702, and the vehicle 100 is stationary, the boundary monitor 146 may cause the lights 124 and 126 and / or the projection lights 128 to have a solid green hue. As another example, when the RePA system is activated and the mobile device 138 is inside the boundary 702 but near the edge of the boundary 702 , the boundary monitor 146 may cause the lights 124 and 126 and / or the projection light 128 to have a yellow hue.

[0077] In some examples, when the mobile device 138 is within the boundary 702, the interior passenger cabin lighting and lights 124 and 126 are at full light output, and the projection light 128 projects a representation 902 of the boundary 702 as a solid green line. In some such examples, when the mobile device 138 is within the boundary 702 and the vehicle 100 is in motion, the representation 902 of the boundary 702 is animated to indicate the direction of travel. For example, the representation 902 of the boundary 702 may be animated, such as a dashed line representation 902 of the boundary 702, wherein the dashed line moves in the direction that the vehicle 100 is turning and / or moving. In some such examples, when the mobile device 138 is within the boundary 702 and near the edge of the boundary 702, the lights 124 and 126 flash in a certain pattern, and the representation 902 of the boundary 702 is animated as a dashed line that appears and disappears gradually.

[0078] Fig. 10A , 10B 10C illustrate a method of changing the lights 124 of the vehicle 100 based on the position of the mobile device 138 relative to the position of the vehicle 100. The example lights 124 include a backlit sign 1002 and a front light 1004. When the light or LED behind the backlit sign 1002 is illuminated, the backlit sign 1002 is illuminated. The front light 1004 includes an LED strip 1006 and a main light 1008. In the example shown, the LED strip 1006 extends along two sides of the main light 1008. Alternatively, in some examples, the LED strip 1006 extends along three or four sides of the main light 1008. For example, when the main light 1008 is a circular assembly, the LED strip 1006 can surround the main light 1008. The backlit sign 1002, the LED strip 1006, and the main light 1008 are individually controllable. In some examples, the LEDs of the LED strip 1006 are individually controllable so that the LED strip 1006 can be configured to display different LED patterns. The boundary monitor 146 controls the backlit logo 1002, LED strip 1006, and main light 1008 to provide visual indication to the operator.

[0079] exist Fig. 10A , the backlit logo 1002 is illuminated and the LED strip 1006 and the main light 1008 are not illuminated. For example, when the RePA system is activated and the mobile device 138 is outside the boundary 702, the boundary monitor 146 may provide Fig. 10A Visual indication of Fig. 10B , backlit logo 1002 and LED strip 1006 are illuminated and main light 1008 is not illuminated. For example, when the RePA system is activated and mobile device 138 is inside boundary 702 and near the edge of boundary 702, boundary monitor 146 may provide Fig. 10B Visual indication of Fig. 10C, backlit logo 1002, LED strip 1006, and main light 1008 are illuminated. For example, when the RePA system is activated and mobile device 138 is inside boundary 702, boundary monitor 146 may provide Fig. 10C visual instructions.

[0080] Fig.11A , 11B 11C show a method of changing the lights 126 of the vehicle 100 based on the position of the mobile device 138 relative to the position of the vehicle 100. In the example shown, the lights 126 include a light strip 1102 extending across the length of the rear of the vehicle 100, side lights 1104, and main tail lights 1106. The light strip 1102, side lights 1104, and main tail lights 1106 are individually controllable. In some examples, the light strip 1102 includes individually controllable segments that can be configured to illuminate the light strip 1102 in different patterns.

[0081] exist Fig.11A , the light strip 1102 is illuminated and the side lights 1104 and the main tail lights 1106 are not illuminated. For example, when the RePA system is activated and the mobile device 138 is outside the boundary 702, the boundary monitor 146 may provide Fig.11A Visual indication of Fig. 11B , light strip 1102 and side lights 1104 are illuminated and main tail lights 1106 are not illuminated. For example, when the RePA system is activated and mobile device 138 is inside boundary 702 and near the edge of boundary 702, boundary monitor 146 may provide Fig. 11B Visual indication of Fig. 11C , light strip 1102, side lights 1104, and main tail lights 1106 are illuminated. For example, when the RePA system is activated and mobile device 138 is inside boundary 702, boundary monitor 146 may provide Fig. 11C visual instructions.

[0082] Fig. 12A , 12B 12C shows a light 126. In the example shown, the light 126 includes an LED array 1202. The LED array 1202 can be embedded in the tailgate, liftgate, or trunk of the vehicle 100. Each element of the LED array 1202 includes one or more LEDs. In some examples, the elements of the LED array 1202 include multi-color LEDs. In addition, each element of the LED 1202 array is individually controllable to facilitate displaying different modes based on the position of the mobile device 138 relative to the position of the vehicle 100.

[0083] exist Fig. 12AFor example, when the RePA system is activated and the mobile device 138 is outside the boundary 702, the boundary monitor 146 may provide Fig. 12A Visual indication of Fig. 12B For example, when the RePA system is activated and the mobile device 138 is inside the boundary 702 and close to the edge of the boundary 702, the boundary monitor 146 may provide Fig. 12B Visual indication of Fig. 12C , all LEDs in the LED 1202 array are illuminated. For example, when the RePA system is activated and the mobile device 138 is inside the boundary 702, the boundary monitor 146 may provide Fig. 12C visual instructions.

[0084] Fig.13 yes Figure 1 1 is a block diagram of electronic components 1300 of vehicle 100. In the example shown, electronic components 1300 include wireless nodes 102 and 104, occupant detection sensors 106, 108, and 110, proximity sensor 112, one or more cameras 114, track sensors 116, 118, and 122, lights 124 and 126, projection lights 128, vehicle communication module 130, powertrain control module 132, body control module 134, active safety module 136, and vehicle data bus 1302.

[0085] In the example shown, the body control module 134 includes a processor or controller 1304 and a memory 1306. In some examples, the active safety module 136 also includes a processor or controller and a memory. In the example shown, the body control module 134 is configured to include a boundary monitor 146. Alternatively, in some examples, the active safety module 136 is configured to include a boundary monitor 146. The processor or controller 1304 can be any suitable processing device or set of processing devices, such as but not limited to: a microprocessor, a microcontroller-based platform, a suitable integrated circuit, one or more field programmable gate arrays (FPGAs) and / or one or more application-specific integrated circuits (ASICs). The memory 1306 can be a volatile memory (e.g., RAM, which can include non-volatile RAM, magnetic RAM, ferroelectric RAM, and any other suitable form), a non-volatile memory (e.g., disk memory, flash memory, electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), non-volatile solid-state memory, etc.), an unchangeable memory (e.g., EPROM), a read-only memory, and / or a mass storage device (e.g., a hard disk drive, a solid-state drive, etc.). In some examples, memory 1306 includes multiple types of memory, particularly volatile memory and non-volatile memory. In the example shown, memory 1306 stores mobile device specification database 502.

[0086] The memory 1306 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. In certain embodiments, the instructions may reside completely or at least partially in any one or more of the memory 1306, the computer-readable medium, and / or the processor 1304 during the execution of the instructions.

[0087] The terms "non-transitory computer-readable medium" and "tangible computer-readable medium" should be understood to include a single medium or multiple media, such as centralized or distributed databases, and / or associated caches and servers that store one or more sets of instructions. The terms "non-transitory computer-readable medium" and "tangible computer-readable medium" also include any tangible medium that can store, encode, or carry a set of instructions for execution by a processor, or any tangible medium that causes a system to perform any one or more of the methods or operations disclosed herein. As used herein, the term "tangible computer-readable medium" is expressly defined to include any type of computer-readable storage device and / or storage disk and does not include propagating signals.

[0088] The vehicle data bus 1302 can be communicatively coupled to the vehicle communication module 130, the powertrain control module 132, the body control module 134, and / or the active safety module 136, etc. In some examples, the vehicle data bus 1302 includes one or more data buses. The vehicle data bus 1302 can be based on 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 controller area network 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 It is implemented by bus protocol IEEE 802.3 (since 2002) and others.

[0089] Fig.14 is a flow chart of a method for performing remote assisted parking, which may be performed by Fig.13 1300 . Initially, at box 1402, the boundary monitor 146 waits until the RePA system of the active safety module 136 is enabled. In some examples, the RePA system is remotely enabled via a RePA application executed on the mobile device 138. Alternatively or additionally, in some examples, the RePA system is enabled via an interface (e.g., a touch screen interface) of the infotainment system. Additionally or alternatively, in some examples, the RePA system is enabled when the mobile device 138 is communicatively coupled to one of the proximity sensors 112. At box 1404, the boundary monitor 146 determines whether a significant amount of time has passed since the last position fix or the mobile device 138 has traveled a significant distance. In some examples, when more than 15 minutes have passed since the last position fix, the boundary monitor 146 determines that a significant amount of time has passed. In some examples, when the mobile device travels more than 18 meters, the boundary monitor 146 determines that a significant distance has been traveled. When a significant amount of time has passed or a significant distance has been traveled, the method continues to block 1406. Otherwise, when a significant amount of time has not passed and a significant distance has not been traveled, the method continues at block 1408. At block 1406, the boundary monitor 146 determines the current location of the mobile device 138. Fig.15 , 18 19 disclose example methods of obtaining the current location of the mobile device 138. At block 1408, the boundary monitor 146 tracks the location of the mobile device 138 using dead reckoning and / or positioning techniques.

[0090] At block 1410, the boundary monitor 146 determines whether the mobile device 138 has sent a request to park or unpark. When the mobile device 138 has sent a request to park or unpark, the method continues at block 1412. Otherwise, when the mobile device 138 has not sent a request to park or unpark, the method continues at block 1426. At block 1412, the boundary monitor 146 tracks the location of the mobile device 138 using dead reckoning and / or positioning techniques. At block 1414, the boundary monitor 146 determines whether the mobile device 138 is within a threshold distance of the vehicle 100 (e.g., inside the boundary 702). Fig. 20 and 21 An example method of determining whether the mobile device 138 is within a threshold distance of the vehicle 100 is disclosed. At block 1416, the boundary monitor 146 notifies the user of the distance between the mobile device 138 and the vehicle 100 and / or the relationship between the mobile device 138 and the boundary 702. Fig. 22 An example method of notifying a user is disclosed. At block 1418, the boundary monitor 146 determines whether the mobile device 138 is within the boundary 702. When the mobile device 138 is within the boundary 702, the method continues at block 1420. Otherwise, when the mobile device 138 is not within the boundary 702, the method returns to block 1412.

[0091] At block 1420, the boundary monitor 146 enables the RePA system to move the vehicle 100 along the path to park or unpark the vehicle 100. At block 1422, the boundary monitor 146 determines whether the vehicle 100 is in the final position. For example, the boundary monitor 146 may determine whether the vehicle 100 is parked in the target parking space. As another example, the boundary monitor 146 may determine that the vehicle has returned to a previously parked position. When the vehicle 100 is in the final position, the method continues at block 1424. Otherwise, when the vehicle 100 is not in the final position, the method returns to block 1412.

[0092] At block 1424, the boundary monitor 146 uses dead reckoning and / or positioning techniques to track the location of the mobile device 138. At block 1426, the boundary monitor 146 determines whether the mobile device 138 is in the vicinity of the vehicle 100. For example, when the mobile device is within 18 meters of the vehicle 100, the boundary monitor 146 may determine that the mobile device 138 is in the vicinity of the vehicle 100. When the mobile device 138 is in the vicinity of the vehicle 100, the method returns to block 1404. Otherwise, when the mobile device 138 is not within the vicinity of the vehicle 100, the method returns to block 1424.

[0093] Fig.15 is a flow chart of a method for determining an initial position of the mobile device 138 when the mobile device 138 leaves the vehicle 100, which can be performed by Fig.13 At block 1502, the boundary monitor 146 detects when the mobile device 138 leaves the vehicle 100 and determines the position of the mobile device 138 relative to the vehicle 100 when leaving the vehicle 100. Fig.16 and 17 An example method is disclosed for detecting when a mobile device 138 leaves a vehicle 100 and determining the location of the mobile device 138 relative to the vehicle 100 when leaving the vehicle 100. At block 1504, the boundary monitor 146 sets the initial location of the mobile device 138 to the location determined at block 1502. At block 1506, the boundary monitor 146 tracks the location of the mobile device 138 using dead reckoning and / or positioning techniques.

[0094] Fig.16 is a flow chart of a method for using positioning technology to determine the initial location of the mobile device 138, which can be Fig.13 Initially, at block 1602, the boundary monitor 146 determines the location of the mobile device 138 relative to the passenger compartment of the vehicle 100 (e.g., inside the passenger compartment or outside the passenger compartment) using positioning technology through the internal wireless node 102 and the external wireless node 104. At block 1604, the boundary monitor 146 determines whether the mobile device 138 leaves the vehicle 100. When the mobile device 138 leaves the vehicle 100, the method continues at block 1606. Otherwise, when the mobile device 138 remains in the vehicle 100, the method returns to block 1602.

[0095] At block 1606, the boundary monitor 146 uses positioning technology through the internal wireless node 102 and the external wireless node 104 to determine which side of the vehicle 100 the mobile device 138 exited from. At block 1608, the boundary monitor 146 determines the probability that the mobile device 138 exited from each door 140 on the side of the vehicle 100 based on the signal strength between the mobile device 138 and each external wireless node 104. At block 1610, the boundary monitor 146 modifies the probability based on the measurement results from one or more of the occupant detection sensors 106, 108, and 110. At block 1612, the boundary monitor 146 selects one of the doors 140 based on the modified probability. For example, when the mobile device 138 exits the passenger side of the vehicle 100 within a time range consistent with the opening and closing of the rear passenger side door, the boundary monitor 146 can select the rear passenger side door as the most likely door from which the mobile device 138 exited. At block 1614 , the boundary monitor 146 sets the location 202 associated with the selected door 140 as the current location of the mobile device 138 .

[0096] Fig.17is a flow chart of a method for determining an initial position of the mobile device 138 using the inertial sensor 204 of the mobile device 138, which may be performed by Fig.13 Initially, at block 1702, the boundary monitor 146 determines the relative position of the mobile device 138 within the vehicle 100 based on the measurements of the inertial sensor 204 of the mobile device 138 (e.g., received via the interior wireless node 102, etc.). At block 1704, the boundary monitor 146 tracks the movement of the mobile device 138 within the vehicle 100 based on the measurements of the inertial sensor 204 of the mobile device 138. At block 1706, the boundary monitor 146 determines whether the data from the inertial sensor 204 of the mobile device 138 indicates that the mobile device 138 is leaving the vehicle 100. For example, the data from the inertial sensor 204 of the mobile device 138 may indicate movement in a direction greater than the width of the interior of the vehicle 100, or may indicate through vertical movement of the mobile device 138 that the user is moving in a pattern that prompts leaving the vehicle 100. When the data from the inertial sensor 204 of the mobile device 138 indicates that the mobile device 138 is leaving the vehicle 100, the method continues at box 1708. Otherwise, when the data from the inertial sensor 204 of the mobile device 138 does not indicate that the mobile device 138 is leaving the vehicle 100, the method returns to box 1702.

[0097] At box 1708, the boundary monitor 146 uses data from the inertial sensor 204 of the mobile device 138 to determine which side of the vehicle 100 the mobile device 138 exited from. At box 1710, the boundary monitor 146 determines the probability that the mobile device 138 exited from each door 140 on the side of the vehicle 100 based on the measurement results from one or more of the occupant detection sensors 106, 108, and 110. At box 1712, the boundary monitor 146 selects one of the doors 140 based on the probability. At box 1714, the boundary monitor 146 sets the location 202 associated with the selected door 140 as the current location of the mobile device 138.

[0098] Fig.18 is a flow chart of a method for determining an initial position of a mobile device 138 using a proximity sensor 112, which may be performed by Fig.13Initially, at block 1802, boundary monitor 146 establishes communication with mobile device 138. At block 1804, boundary monitor 146 instructs the user to make contact with one of proximity sensors 112 via a corresponding application executed on mobile device 138. At block 1806, boundary monitor 146 waits until mobile device 138 makes contact with one of proximity sensors 112. At block 1808, boundary monitor 146 sets the current position of mobile device 138 to the position of the contacted proximity sensor 112.

[0099] Fig.19 is a flow chart of a method for determining an initial position of a mobile device 138 using image analysis, which may be performed by Fig.13 1300 . Initially, at box 1902, the boundary monitor 146 establishes communication with the mobile device 138. At box 1904, the boundary monitor 146 instructs the user to perform an action via a corresponding application executed on the mobile device 138. In some examples, the boundary monitor 146 instructs the operator to hold the mobile device 138 perpendicular to the longitudinal axis of the vehicle in the view of one of the cameras 114. In some examples, the boundary monitor 146 instructs the user to capture an image of a feature of the vehicle (e.g., a license plate frame, a label affixed to the vehicle, etc.) using the mobile device 138. In some examples, the boundary monitor 146 instructs the operator to point the flash 608 of the mobile device 138 at the camera 114 of the vehicle 100. At box 1906, the boundary monitor 146 waits until the mobile device 138 performs the action. At block 1908, boundary monitor 146: (a) captures an image of mobile device 138 using camera 114; (b) captures the intensity of flash 608 of mobile device 138; and / or (c) receives an image from mobile device 138. At block 1910, boundary monitor 146 determines an initial position of the mobile device based on an analysis of the captured image.

[0100] Fig. 20 is a flow chart of a method for determining whether the mobile device 138 is within the range of the vehicle 100 based on comparing the trajectories of the mobile device 138 and the vehicle 100, which can be performed by Fig.13 Initially, at block 2002, the boundary monitor 146 estimates the distance from the vehicle 100 to the mobile device 138 within the probability region 706. At block 2004, the boundary monitor determines whether the probability region 706 is within a threshold distance of the vehicle 100 (e.g., within the boundary 702). When the probability region 706 is within the boundary 702, the method continues at block 2006. Otherwise, when the probability region 706 is not within the boundary 702, the method returns to block 2002.

[0101] At box 2006, the boundary monitor 146 activates the key fob polling at the initial polling interval. At box 2008, the boundary monitor 146 estimates the distance from the vehicle 100 to the key fob 144. At box 2010, the boundary monitor 146 determines whether the key fob 144 is within the boundary 702. When the key fob 144 is within the boundary 702, the method continues at box 2012. Otherwise, the method continues at box 2020. At box 2012, the boundary monitor 146 calculates the trajectory of the vehicle 100 based on the measurements from one or more of the trajectory sensors 116, 118, and 122. The boundary monitor 146 also calculates the trajectory of the mobile device 138 based on the measurements of the inertial sensor 204 of the mobile device 138 received from the mobile device 138. At box 2014, the boundary monitor 146 determines whether the location of the mobile device 138 and the location of the vehicle 100 are diverging. When the location of the mobile device 138 and the location of the vehicle 100 are diverging, the method continues at box 2016. Otherwise, when the location of the mobile device 138 and the location of the vehicle 100 are not diverging, the method continues at box 2018.

[0102] At box 2016, the boundary monitor 146 increases the polling interval of the key fob 144 based on the rate at which the location of the mobile device 138 and the location of the vehicle 100 are moving apart. At box 2018, the boundary monitor 146 decreases the polling interval of the key fob 144 based on the rate at which the location of the mobile device 138 and the location of the vehicle 100 are moving together.

[0103] At block 2020 , the boundary monitor 146 disables key fob polling.

[0104] Fig.21 is a flow chart of a method for determining whether the mobile device 138 is within the range of the vehicle 100 based on the probability area 706, which can be Fig.13 Initially, at block 2102, the boundary monitor 146 determines the probability region 706 for the location of the mobile device 138. At block 2104, the boundary monitor 146 determines whether the probability region 706 is completely outside the boundary 702. When the probability region 706 is completely outside the boundary 702, the method continues at block 2106. When the probability region 706 is not completely outside the boundary 702, the method continues at block 2108.

[0105] At block 2106 , the boundary monitor 146 disables key fob polling (if enabled).

[0106] At block 2108, the boundary monitor 146 determines whether the probability region 706 is completely within the boundary 702. When the probability region 706 is completely within the boundary 702, the method continues at block 2106. Otherwise, when the probability region is not completely within the boundary 702, the method continues at block 2110.

[0107] At block 2110, the boundary monitor 146 enables key fob polling. At block 2112, the boundary monitor 146 estimates the location of the mobile device 138 based on the key fob polling.

[0108] Fig. 22 is a flow chart of a method for visually indicating when a mobile device 138 is within range of a vehicle 100, which may be performed by Fig.13 At block 2202, the boundary monitor 146 determines whether the mobile device 138 is detected. When the mobile device 138 is not detected, the method continues at block 2204. Otherwise, when the mobile device 138 is detected, the method continues at block 2206. At block 2204, the boundary monitor 146 stops projecting the representation 902 of the boundary 702 and / or turns off the lights 124 and 126 of the vehicle 100.

[0109] At block 2206, the boundary monitor 146 determines whether the mobile device 138 is detected outside the boundary 702. When the mobile device 138 is detected outside the boundary 702, the method continues at block 2208. Otherwise, when the mobile device 138 is detected inside the boundary 702, the method continues at block 2210. At block 2208, the boundary monitor 146 projects a representation 902 of the boundary 702 via the projection light 128.

[0110] At box 2210, the boundary monitor 146 determines whether the mobile device 138 is detected inside the boundary 702 and near the edge of the boundary 702. When the mobile device 138 is detected inside the boundary 702 and it is near the edge of the boundary 702, the method continues at box 2212. Otherwise, when the mobile device 138 is detected inside the boundary 702 but it is not near the edge of the boundary 702, the method continues at box 2214. At box 2212, the boundary monitor 146 changes the lights 124 and 126 to the first setting and / or changes the projection of the representation 902 of the boundary 702. For example, the boundary monitor 146 can cause the lights 124 and 126 and / or the projection lights 128 to have a yellow hue. As another example, the boundary monitor 146 can cause the lights 124 and 126 to flash in a certain pattern, and the representation 902 of the boundary 702 is animated as a dotted line that is presented in a fade-in and fade-out manner.

[0111] At box 2214, the boundary monitor 146 determines whether the mobile device 138 is inside the boundary 702 and the vehicle 100 is stationary. When the mobile device 138 is inside the boundary 702 and the vehicle 100 is stationary, the method continues at box 2216. Otherwise, when the mobile device 138 is inside the boundary 702 and the vehicle 100 is not stationary, the method continues at box 2218. At box 2216, the boundary monitor 146 changes the lights 124 and 126 to a second setting and / or changes the projected representation 902 of the boundary 702. For example, the boundary monitor 146 can cause the lights 124 and 126 and / or the projected lights 128 to have a solid green hue.

[0112] At box 2218, the boundary monitor 146 determines whether the mobile device 138 is inside the boundary 702 and the vehicle 100 is in motion. When the mobile device 138 is inside the boundary 702 and the vehicle 100 is in motion, the method continues at box 2220. Otherwise, when the mobile device 138 is inside the boundary 702 and the vehicle 100 is not in motion, the method returns to box 2202. At box 2220, the boundary monitor 146 changes the lights 124 and 126 to a third setting and / or changes the projected representation 902 of the boundary 702. For example, the boundary monitor 146 can cause the lights 124 and 126 and / or the projected lights 128 to have a flashing green hue. As another example, the boundary monitor 146 can cause the representation 902 of the boundary 702 to be animated to indicate the direction of travel, so that the representation 902 is animated to a dashed line representation 902 of the boundary 702, wherein the dashed line moves in the direction in which the vehicle 100 is turning and / or moving.

[0113] Fig.14 , 15 , 16, 17, 18, 19, 20, 21 and 22 represent flowcharts stored in a memory (e.g., the above Fig.13 The machine-readable instructions in the memory 1306 of the processor include one or more programs, which are executed by the processor (such as the above-mentioned Fig.13 When the processor 1304 of the vehicle 100 executes Figure 1 , 2 , 3, 5, 7, 8A, 8B, 8C and / or 9, and / or more generally implement the example body control module 134. In addition, although reference is made to Fig.14 , 15 , 16, 17, 18, 19, 20, 21, and 22 depict example routines, but many other methods of implementing the example boundary monitor 146 and / or more generally the example body control module 134 may alternatively be used. For example, the order of execution of the blocks may be changed, and / or some of the blocks described may be changed, eliminated, or combined.

[0114] In this application, the use of transitional conjunctions is intended to include conjunctions. The use of definite or indefinite articles is not intended to indicate cardinality. In particular, reference to "the" object or "one" and "a" object is intended to also 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". As used herein, the terms "module" and "unit" refer to hardware having circuits that are typically combined with sensors to provide communication, control and / or monitoring capabilities. "Modules" and "units" may also include firmware executed on the circuit. The term "includes" is inclusive and has the same scope as "includes" and "contains".

[0115] The above embodiments, especially any "preferred" embodiments, are possible examples of implementations and are presented merely for a clear understanding of the principles of the present invention. Many changes and modifications may be made to the above 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 this disclosure and protected by the appended claims.

[0116] The exemplary vehicle 100 includes a camera 114 and a body control module 134. The body control module 134 sends instructions to a mobile device 138 and uses the camera 114 to capture an image of the mobile device 138. The body control module 134 also analyzes the image to determine an initial position of the mobile device 138 relative to the vehicle 100, and performs dead reckoning on the mobile device 138 based on the initial position to track the mobile device 138. When the mobile device 138 is within a threshold distance, the body control module 134 enables autonomous parking. In some examples, the instructions cause the mobile device 138 to display a graphic design. In such an example, the body control module 134 analyzes the dimensions of the graphic design displayed on the mobile device 138 to determine the relative distance of the mobile device 138 from the vehicle 100.

[0117] In some examples, the vehicle 100 includes a database 502 containing mobile device dimension specifications. In such examples, the body control module 134 analyzes the dimensions of the mobile device 138 in the image with reference to the expected dimensions of the mobile device 138 in the database 502 to determine the relative distance of the mobile device 138 from the vehicle 100.

[0118] In some examples, the instructions cause the mobile device 138 to activate a camera flash. In such examples, the body control module 134 analyzes the light intensity of the flash to determine the relative distance of the mobile device 138 from the vehicle 100. In some examples, the instructions cause the mobile device 138 to activate the camera flash according to a predetermined light intensity pattern. In such examples, the body control module 134 analyzes the light intensity captured by the camera 114 to determine the relative distance of the mobile device 138 from the vehicle 100. In some examples, the vehicle 100 includes a light proximate to the camera 114, and the visible light communication module 130 to communicatively couple to the mobile device 138 using visible light communication.

[0119] In some examples, the vehicle 100 includes a first graphic design 504 on the exterior of the vehicle 100. In such an example, the instructions cause the mobile device 138 to display a second graphic design 606. In such an example, the body control module 134: (a) receives an image of the first graphic design 504 from the mobile device 138; and (b) analyzes the second graphic design 606 displayed on the mobile device 138 and the dimensions of the first graphic design 504 to determine the relative distance of the mobile device 138 from the vehicle 100.

[0120] In some examples, the vehicle 100 includes an ultraviolet light source and a graphic image 504 that is not visible unless illuminated by the ultraviolet light. In some such examples, the instruction causes the mobile device 138 to capture an image of the graphic image 504. In some such examples, before sending the instruction, the body control module 134 activates the ultraviolet light source to make the graphic image 504 visible. The body control module 134 then receives the image of the first graphic design 504 from the mobile device 138, and analyzes the dimensions of the graphic design 504 to determine the relative distance of the mobile device 138 from the vehicle 100.

[0121] According to the present invention, a vehicle is provided, having: a camera; and a body control module, the body control module being configured to: send instructions to a mobile device; capture an image of the mobile device using the camera; analyze the image to determine an initial position of the mobile device relative to the vehicle; perform dead reckoning on the mobile device based on the initial position to track the mobile device; and enable autonomous parking when the mobile device is within a threshold distance.

[0122] According to one embodiment, the instructions cause the mobile device to display a graphic design, and wherein the body control module analyzes dimensions of the graphic design displayed on the mobile device to determine a relative distance of the mobile device from the vehicle.

[0123] According to one embodiment, the vehicle includes a database containing mobile device dimensional specifications, and wherein the body control module analyzes the dimensions of the mobile device in the image with reference to expected dimensions of the mobile device in the database to determine a relative distance of the mobile device from the vehicle.

[0124] According to one embodiment, the instructions cause the mobile device to activate a camera flash, and wherein the body control module analyzes a light intensity of the camera flash to determine a relative distance of the mobile device from the vehicle.

[0125] According to one embodiment, the instructions cause the mobile device to activate a camera flash according to a predetermined light intensity pattern, and wherein the body control module analyzes the light intensity captured by the camera to determine a relative distance of the mobile device from the vehicle.

[0126] According to one embodiment, the above invention is further characterized by being proximate to a camera, and a visible light communication module to communicatively couple to a mobile device using visible light communication.

[0127] According to one embodiment, the above invention is also characterized by a first graphic design attached to the vehicle; wherein the instructions cause the mobile device to display a second graphic design, and the body control module is used to: receive an image of the first graphic design from the mobile device; and analyze the second graphic design displayed on the mobile device and the dimensions of the first graphic design to determine the relative distance between the mobile device and the vehicle.

[0128] According to one embodiment, the above invention is further characterized by: a source of ultraviolet light; and a graphic image that is not visible unless illuminated by the ultraviolet light.

[0129] According to one embodiment, the instructions cause the mobile device to capture an image of a graphical image.

[0130] According to one embodiment, the body control module is configured to: activate an ultraviolet light source to make a graphic image visible before sending a command; receive an image of the graphic image from a mobile device; and analyze dimensions of the graphic image to determine a relative distance of the mobile device from the vehicle.

[0131] According to the present invention, a method of controlling a vehicle includes: sending a command to a mobile device; capturing an image of the mobile device using a camera; analyzing the image using a processor to determine an initial position of the mobile device relative to the vehicle; performing dead reckoning on the mobile device based on the initial position to track the mobile device; and enabling autonomous parking when the mobile device is within a threshold distance.

[0132] According to one embodiment, the instructions cause the mobile device to display a graphic design, and wherein the method includes analyzing dimensions of the graphic design displayed on the mobile device to determine a relative distance of the mobile device from the vehicle.

[0133] According to one embodiment, the vehicle comprises a database containing dimensional specifications of mobile devices, and wherein the method comprises analyzing the dimensions of the mobile device in the image with reference to expected dimensions of the mobile device in the database to determine the relative distance of the mobile device from the vehicle.

[0134] According to one embodiment, the instructions cause the mobile device to activate a camera flash, and wherein the method includes analyzing a light intensity of the camera flash to determine a relative distance of the mobile device from the vehicle.

[0135] According to one embodiment, the instructions cause the mobile device to activate a camera flash according to a predetermined light intensity pattern, and wherein the method includes analyzing the light intensity captured by the camera to determine a relative distance of the mobile device from the vehicle.

[0136] According to one embodiment, the above invention is further characterized by being communicatively coupled to a mobile device using visible light communications via optical and visible light communications modules.

[0137] According to one embodiment, the instructions cause the mobile device to display a first graphic design, and the method includes: receiving an image of a second graphic design attached to a vehicle from the mobile device; and analyzing the first graphic design displayed on the mobile device and the dimensions of the second graphic design to determine the relative distance between the mobile device and the vehicle.

[0138] According to one embodiment, the vehicle includes: a source of ultraviolet light; and a graphic image that is not visible unless illuminated by the ultraviolet light.

[0139] According to one embodiment, the instructions cause the mobile device to capture an image of a graphical image.

[0140] According to one embodiment, the above invention is further characterized by: activating the ultraviolet light source to make the graphic image visible before sending the instruction; receiving an image of the graphic image from the mobile device; and analyzing the dimensions of the graphic image to determine the relative distance between the mobile device and the vehicle.

Claims

1. A vehicle comprising: camera; and A body control module, the body control module is used for: sending instructions to the mobile device; capturing an image of the mobile device using the camera; analyzing the image to determine an initial position of the mobile device relative to the vehicle; performing dead reckoning on the mobile device based on the initial position to track the mobile device; After a threshold time has passed, capturing a second image of the mobile device using the camera again; analyzing the second image to determine a second initial position of the mobile device relative to the vehicle; performing dead reckoning on the mobile device based on the second initial position to track the mobile device; Autonomous parking is enabled when the mobile device is within a threshold distance.

2. The vehicle of claim 1 , wherein the instructions cause the mobile device to display a graphic design, and wherein the body control module analyzes dimensions of the graphic design displayed on the mobile device to determine a relative distance of the mobile device from the vehicle.

3. The vehicle of claim 1 , wherein the vehicle includes a database containing mobile device dimensional specifications, and wherein the body control module analyzes the dimensions of the mobile device in the image with reference to the expected dimensions of the mobile device in the database to determine the relative distance of the mobile device from the vehicle.

4. The vehicle of claim 1 , wherein the instructions cause the mobile device to activate a camera flash, and wherein the body control module analyzes a light intensity of the camera flash to determine a relative distance of the mobile device from the vehicle.

5. The vehicle of claim 1 , wherein the instructions cause the mobile device to activate a camera flash according to a predetermined light intensity pattern, and wherein the body control module analyzes the light intensity captured by the camera to determine a relative distance of the mobile device from the vehicle. 6 . The vehicle of claim 1 , comprising a light proximate the camera, and a visible light communication module to communicatively couple to the mobile device using visible light communication.

7. The vehicle of claim 1, comprising a first graphic design affixed to the vehicle; and wherein: The instructions cause the mobile device to display a second graphic design; and The body control module is used to: receiving an image of the first graphic design from the mobile device; as well as The second graphic design displayed on the mobile device and dimensions of the first graphic design are analyzed to determine a relative distance between the mobile device and the vehicle.

8. The vehicle according to claim 1, comprising: UV light source; and A graphic image that is invisible unless illuminated by ultraviolet light.

9. The vehicle of claim 8, wherein the instructions cause the mobile device to capture an image of the graphical image.

10. The vehicle of claim 9, wherein the body control module is configured to: before sending the instruction, activating the ultraviolet light source to make the graphic image visible; receiving an image of the graphical image from the mobile device; and Dimensions of the graphical image are analyzed to determine a relative distance of the mobile device from the vehicle.

11. A method of controlling a vehicle, comprising: sending instructions to the mobile device; capturing an image of the mobile device using a camera; analyzing the image with a processor to determine an initial position of the mobile device relative to the vehicle; performing dead reckoning on the mobile device based on the initial position to track the mobile device; After a threshold time has passed, capturing a second image of the mobile device using the camera again; analyzing the image with a processor to determine a second initial position of the mobile device relative to the vehicle; performing dead reckoning on the mobile device based on the second initial position to track the mobile device; as well as Autonomous parking is enabled when the mobile device is within a threshold distance.

12. The method of claim 11, wherein the vehicle includes a database containing mobile device dimensional specifications, and wherein the method includes analyzing the dimensions of the mobile device in the image with reference to the expected dimensions of the mobile device in the database to determine the relative distance of the mobile device from the vehicle.

13. The method of claim 11, wherein the instructions cause the mobile device to activate a camera flash according to a predetermined light intensity pattern, and wherein the method includes analyzing the light intensity captured by the camera to determine a relative distance of the mobile device from the vehicle.

14. The method of claim 11, wherein the instructions cause the mobile device to display a first graphic design, and the method comprises: receiving from the mobile device an image of a second graphic design affixed to the vehicle; as well as The first graphic design displayed on the mobile device and dimensions of the second graphic design are analyzed to determine a relative distance between the mobile device and the vehicle.

15. The method of claim 11, wherein the vehicle includes an ultraviolet light source and a graphic image that is not visible unless illuminated by the ultraviolet light, and wherein: activating the ultraviolet light source to make the graphic image visible prior to sending the instruction, the instruction causing the mobile device to capture an image of the graphic image; receiving an image of the graphical image from the mobile device; as well as Dimensions of the graphical image are analyzed to determine a relative distance of the mobile device from the vehicle.

Images