Method and device for remotely controlling movement of vehicle

Abstract

A method of remotely controlling movement of a vehicle through a handheld device is described. The method comprises the following steps: a user activates the button by pressing and continuously pressing the button; when the button is activated, the user sets the inclination angle of the equipment from the initial inclination angle; receiving a signal representing a current inclination angle of the device; converting the received signal into a virtual pedal position, wherein the virtual pedal position corresponds to the position of a physical pedal corresponding to the virtual pedal; controlling movement of the vehicle according to the virtual pedal position; the vehicle is stopped when the pressing button is pressed and continues to be pressed.

Description

Technical Field

[0001] The invention relates to a method and a device for remotely controlling the movement, in particular longitudinal movement, of a vehicle, such as a motor vehicle, by means of a handheld device, such as a mobile device. The invention also relates to a vehicle. Background Art

[0002] Precise maneuvering of a vehicle at low speeds in situations where it is difficult to assess road conditions, in particular where it is difficult to estimate road friction and / or nearby surrounding objects, can be very challenging for the user, and for better readability only the male version will be used in the following text. This applies in particular to fully loaded vehicles and / or vehicles with trailers attached. An example situation is pulling a trailer with a boat out of the water. In such situations, users often use the assistance of other people outside the vehicle for navigation. The external person typically monitors the movement of the vehicle from the outside, in particular by observing the vehicle from different positions, and provides feedback to the user, for example by voice or gestures. However, such assistance is not always possible. In such situations, it would be useful if the user could assume both roles. This requires remote control of the vehicle, allowing the user to freely move around the vehicle from outside the vehicle while being able to control the vehicle from the respective position.

[0003] Similar assistance functions are known for parking scenarios, where the user can leave the vehicle before it automatically parks itself in a parking space, e.g. a narrow parking space. The longitudinal and lateral movement of the vehicle is controlled by the driver assistance function.

[0004] Under current driver assistance system legislation, the user must monitor the automated parking maneuver. For example, the monitoring is confirmed by drawing a specific pattern on a display or by pressing a button on a handheld device that is electronically connected to the vehicle (e.g. via Bluetooth). However, this user confirmation is binary, i.e. the confirmation depends on the quality of the input signal entered by the user. In the above case, the user usually operates in smaller increments when operating non-continuously, using the vehicle's control units (such as the brake pedal, accelerator pedal and steering wheel) to control the vehicle. Typically, the user will gently press the accelerator pedal or only slightly release the brake pedal to observe whether the vehicle reacts as expected. It would therefore be ideal if the handheld device used for remote control could reflect this process.

[0005] Documents US11648976B2 and US2022 / 0179410A1 disclose systems and methods for remotely controlling the movement of a vehicle and a trailer via a mobile device. Changes in the tilt angle of the mobile device are used for control. Document US2023 / 0128580A1 discloses a method for remote parking using a mobile device. Document EP3284651B1 discloses a method for remotely manipulating a motor vehicle using a mobile device. Summary of the invention

[0006] In view of the described background technology, the object of the present invention is to provide an advantageous method and control device for remotely controlling the movement of a vehicle by a handheld device, as well as an advantageous vehicle. These objects are achieved by a method for remotely controlling the movement of a vehicle according to the disclosed embodiments, a control device for remotely controlling the movement of a vehicle according to the disclosed embodiments, and a vehicle according to the disclosed embodiments. The disclosed embodiments include other advantageous embodiments of the present invention.

[0007] The method according to the invention for remotely controlling the movement (in particular longitudinal movement) of a vehicle (e.g. a motor vehicle) by means of a handheld device comprises the following steps. In a first step, a button is activated (e.g. an activation button) by the user pressing and holding the button. In other words, the user presses and holds the button permanently. This can be done, for example, on a display of the device.

[0008] In a next step, for example, when a button is activated, the user adjusts the tilt angle of the device starting from an initial tilt angle. When the button is activated, a signal representing the initial tilt angle can be detected. In a next step, a signal representing the current (e.g. set) tilt angle is received. In this case, in particular, the current tilt angle of the device can be detected.

[0009] In the next step, the received signal is converted into a virtual pedal position, which corresponds to the position of a physical pedal or real pedal corresponding to the virtual pedal. For example, the pedal can be an accelerator pedal or a brake pedal. The movement of the vehicle is then controlled according to the virtual pedal position. In other words, if the physical pedal corresponding to the virtual pedal is pressed, the vehicle will be controlled. In the case of the accelerator pedal, when the inclination angle of the device increases, the vehicle moves as if the accelerator pedal is pressed according to the inclination angle. In the case of the brake pedal, a decrease in the inclination angle of the device will correspond to a corresponding release of the brake pedal, and the vehicle will react in the same way as the corresponding release of the brake pedal.

[0010] If the pressing and holding of the button ceases, ie if the button is released or the holding is interrupted, the vehicle is stopped, preferably immediately. This is very advantageous from a safety point of view.

[0011] The handheld device is preferably a mobile device, such as a mobile phone, a tablet computer, a netbook, a smart watch, etc.

[0012] The method according to the invention has the following advantages: no second person is required to navigate the vehicle, the user can simultaneously assume the role of driver and navigator. Furthermore, possible misunderstandings between navigator and user are avoided. This improves safety in connection with vehicle navigation and increases the comfort of the user.

[0013] Preferably, the pedal position is an accelerator pedal position or a brake pedal position.The tilt angle may be determined relative to a set axis of the device, such as a longitudinal axis or a transverse axis.

[0014] In an advantageous variant, when the button is activated, the initial tilt angle of the device can be determined (e.g. detected). This can be done by the device. The tilt angle adjusted or set by the user can then be determined (e.g. detected). For example, the tilt angle difference between the initial tilt angle and the adjusted tilt angle can be determined, detected or calculated. This tilt angle difference can be converted as a signal into a virtual pedal position, i.e. in particular the position of the accelerator pedal or the brake pedal.

[0015] When the method is performed, the speed of the vehicle and / or the torque of the vehicle drive motor can be kept below a set maximum value. This increases the safety of persons or objects in the vicinity of the vehicle when the method is performed. In particular, this ensures that the vehicle can only move below a set speed during navigation.

[0016] Optionally, the vehicle can be controlled laterally by means of a driver assistance function. For example, the vehicle can be controlled laterally along a specified or preset trajectory using the driver assistance function. This can be done, for example, along a straight line or maintaining a specified steering angle or along road markings. The user can set the trajectory by drawing the trajectory on a display showing the vehicle's current surroundings. For this purpose, a camera-based image of the vehicle's current surroundings can be displayed on the display.

[0017] In another variant, the vehicle can be stopped if the distance between the vehicle and the device and / or at least one detected object and / or at least one detected person falls below a set minimum distance. In this context, the surroundings of the vehicle can be detected and evaluated, for example, by sensors, in particular cameras. This ensures a high level of safety when carrying out the method.

[0018] In addition, the vehicle's all-wheel drive can be activated or deactivated before moving the vehicle. The advantage of this is that this option is available not only when controlling the vehicle from the driver's seat, but also during remote control.

[0019] The control device according to the invention for remotely controlling the movement (in particular longitudinal movement) of a vehicle by means of a handheld device (preferably a mobile device) comprises a handheld device having an activation button (for example in the form of a depressible button on a display) and means for detecting a signal representing the current tilt angle of the device. For example, the means for detecting a signal representing the current tilt angle of the device may be a sensor, such as a gravity sensor. It is advantageous to implement other functions using a gyroscope which is usually installed in mobile devices.

[0020] The control device according to the invention further comprises an evaluation device for receiving a signal representing the current tilt angle and for converting the received signal into a virtual pedal position, which corresponds to the position of a physical pedal corresponding to the virtual pedal. The control device further comprises a device for transmitting data from the evaluation device to a vehicle control system in order to control the movement of the vehicle (in particular the longitudinal movement of the vehicle) according to the detected device tilt angle (i.e. corresponding to the virtual pedal position). The control device according to the invention is designed to carry out the method for remotely controlling the movement of a vehicle by means of a handheld device, which has already been described. The control device has the features and advantages already described herein.

[0021] The vehicle according to the invention comprises the control device according to the invention described above. The vehicle has the same features and benefits as the control device. The vehicle may be, for example, a motor vehicle or a watercraft. The motor vehicle may be a car, a truck, a bus or a minibus. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is explained in more detail below by exemplary embodiments with reference to the accompanying drawings. Although the present invention has been described and illustrated in detail by preferred exemplary embodiments, the present invention is not limited to the disclosed examples and other variations can be inferred by those skilled in the art without departing from the scope of the present invention.

[0023] The drawings are not necessarily true to detail and scale and may be enlarged or reduced to provide a better overview. Therefore, the functional details disclosed herein should not be understood as limiting, but merely as a descriptive basis to provide guidance for those skilled in the art to use the invention in various ways.

[0024] As used herein, the term "and / or," when used in a sequence of two or more elements, means that each element listed can be used alone, or any combination of two or more of the listed elements can be used. For example, if a composition comprising components A, B, and / or C is described, the composition can comprise A alone; B alone; C alone; a combination of A and B; a combination of A and C; a combination of B and C; or a combination of A, B, and C.

[0025] Figure 1 A mobile device for implementing a method according to an embodiment of the present invention is schematically shown; Figure 2 A first variation of the method according to an embodiment of the present invention is schematically shown in the form of a flow chart; Figure 3 A second variation of the method according to an embodiment of the present invention is schematically shown in the form of a flow chart; Figure 4 A control device according to an embodiment of the present invention is schematically shown; Figure 5A vehicle according to an embodiment of the invention is schematically shown. DETAILED DESCRIPTION

[0026] Figure 1 A mobile device for performing the method according to the invention is schematically shown. In the example shown, the mobile device is a mobile phone. Figure 1 Three axes about the mobile device are defined: the x-axis, the y-axis, and the z-axis. By rotating the mobile device 1 about the x-axis, the tilt angle can be changed. This is indicated by arrow 2. When the mobile device 1 is rotated about the y-axis, the rotation angle changes. This is indicated by arrow 3. When the mobile device 1 is rotated about the z-axis, the roll angle changes. This is indicated by arrow 4.

[0027] The mobile device 1 comprises a display 5. On the display 5 there are a plurality of buttons designed to be pressed. Button 6, shown as an example, is a button for deactivating the remote control. Button 7 is a button for pressing the accelerator pedal. Button 8 is a button for releasing the brake pedal. The optional button 9 is a button for activating the all-wheel drive.

[0028] Figure 2 A first variant of the method according to the invention is schematically shown in the form of a flow chart. In this variant, a virtual accelerator pedal is operated via a mobile device and the vehicle is remotely controlled accordingly.

[0029] In step 11, the method starts. To this end, the user activates the corresponding control system. In step 12, the vehicle locks the vehicle's brakes, i.e. fully engages the brakes so that the vehicle does not move. In step 13, it is checked whether a button for deactivating the remote control has been pressed, such as Figure 1 Button 6 is shown. If this is the case, the vehicle will continue to lock the brakes, ie brake completely, so that the vehicle cannot move, in step 21. The method is then ended in step 22, for example by deactivating the control system.

[0030] If the deactivation button 6 is not pressed in step 13, a check is performed in step 14 to determine whether the button for virtual actuation of the accelerator pedal is pressed continuously, for example Figure 1 The button 7 is shown. If this is not the case, the method jumps back to step 12. If this is the case, it is checked in step 15 whether the tilt angle 2 of the mobile device 1 has increased. If this is the case, the method continues to step 17. If this is not the case, the method continues to step 16.

[0031] If the inclination angle increases in step 15, a check is made in step 17 whether the vehicle speed is below a set limit, for example a low speed limit. The limit value may be a maximum of 10 km / h, in particular a maximum of 5 km / h. If the vehicle speed is below the limit value, the drive motor torque is increased in step 19 and the method is continued in step 13. If the vehicle speed is not below the limit value, the method jumps directly back to step 13.

[0032] If the inclination angle has not increased or risen in step 15, then in step 16 a check is made as to whether the inclination angle has been reduced. If this is not the case, the method jumps back to step 13. If this is the case, a check is made in step 18 as to whether the drive motor torque is greater than zero. If this is not the case, the method jumps back to step 13. If this is the case, i.e. the drive motor torque is greater than zero, the drive motor torque is reduced in step 20 and the method then continues to step 13.

[0033] In the context of steps 15 and 16, the tilt angle of the mobile device 1 is detected in each case, for example from the pressing of a button for operating the accelerator pedal (e.g. Figure 1 The evaluation device of the control device for carrying out the method receives a signal representing the tilt angle and converts the received signal into a virtual pedal position, in this case an accelerator pedal position. The drive motor torque is then increased or decreased depending on the virtual pedal position. The vehicle is moved by the drive torque controlled in this way.

[0034] Figure 3 A second variant of the method according to the invention is schematically shown in the form of a flow chart. In this variant, a virtual brake pedal is operated via a mobile device and the vehicle is remotely controlled accordingly.

[0035] Steps 11, 12, 13, 21, and 22 correspond to Figure 2 The steps shown in and described in this context. Figure 2 If the deactivation button is not pressed in step 13, a check is made in step 23 whether the button for virtual release of the brake is pressed continuously, e.g. Figure 1 8 shown in FIG. 8 . If this is not the case, the method jumps back to step 12. If this is the case, a check is made in step 24 whether the tilt angle of the mobile device is increased or increased. If this is not the case, the method continues to step 25. If this is the case, the method continues to step 26.

[0036] In step 26, it is checked whether the brakes are locked or fully engaged, i.e. whether the brakes are fully applied. If this is the case, the method jumps back to step 13. If this is not the case, the brake pressure is increased in step 28 and the method then resets to step 13.

[0037] If the tilt angle of the mobile device 1 has not increased in step 24, it is checked in step 25 whether the tilt angle has decreased. If this is not the case, the method jumps back to step 13. If this is the case, it is checked in step 27 whether the vehicle speed is below a set limit and whether the brake pressure is greater than zero. If this is not the case, the method jumps back to step 13. If this is the case, the brake pressure is reduced in step 29. In other words, the brake is released in the same way as a corresponding operation of a physical brake pedal.

[0038] In the context of steps 24 and 25, the tilt angle of the mobile device 1 is detected in each case, for example from pressing a button for operating or releasing a brake pedal (e.g. Figure 1 The evaluation device of the control device for carrying out the method receives a signal representing the tilt angle and converts the received signal into a virtual pedal position, in this case a brake pedal position. The brake pressure is then increased or decreased depending on the virtual pedal position. The brake pressure controlled in this way moves the vehicle, i.e. allows the vehicle to tilt.

[0039] Figure 4 A control device 30 according to the present invention is schematically shown. The control device 30 may be a mobile device 1, such as Figure 1 The mobile phone shown in FIG. 1 and comprising computer hardware and software. The mobile device 1 has at least one button 7, 8 for operating a pedal. The button can be, for example, a button 7 for operating an accelerator pedal or a button 8 for operating (especially releasing) a brake pedal. The mobile device 1 also has a device 31 for detecting a signal representing the current tilt angle of the device, such as a corresponding sensor.

[0040] The control device 30 also has an evaluation device 32 for receiving a signal representing the current tilt angle and for converting the received signal into a virtual pedal position corresponding to a physical pedal corresponding to the virtual pedal. The transmission of a signal from the device 31 for detecting a signal representing the current tilt angle of the mobile device to the evaluation device 32 is indicated by an arrow 34. The evaluation device 32 can be integrated into the mobile device 1 or can be integrated into the vehicle to be controlled.

[0041] The control device further comprises means 33 for transmitting data from the evaluation device 32 to the vehicle control system in order to control the movement of the vehicle, in particular the longitudinal movement, as a function of the tilt angle detected by the mobile device corresponding to the virtual pedal position. In other words, the means 33 are designed to transmit data on the drive torque and / or the brake pressure to the control system.

[0042] Figure 5 A vehicle 35 according to the invention is schematically shown. The vehicle comprises a control device according to the invention, e.g. Figure 4 The vehicle 35 further comprises a device 36 for controlling the drive torque, such as an accelerator pedal, and a device 37 for controlling the brake pressure, such as a brake pedal, which are respectively connected to the control device 30 for signal transmission 34, in particular to the device 33 for data transmission.

[0043] List of reference numerals: 1 Mobile Devices 2 Tilt Angle 3 Pivot Angle 4 Roll Angle 5 Display 6 Button for deactivating remote control 7 Button for pressing the accelerator pedal 8 Button for releasing the brake pedal 9 Button for activating all-wheel drive 11 Start, activate the control system 12 Lock the brakes 13 Was the button for deactivating remote control pressed? 14 Is the button for virtual operation of the accelerator pedal pressed continuously? 15 Does the tilt angle of the mobile device increase? 16 Is the tilt angle of the mobile device reduced? 17 Is the vehicle speed below the set limit? 18 Is the drive motor torque greater than zero? 19 Increase drive motor torque 20 Reduce drive motor torque 21 Lock the brake 22 End, deactivate control system 23 Is the button for virtually releasing the brake pressed continuously? 24 Does the tilt angle of the mobile device increase? 25 Is the tilt angle of the mobile device reduced? 26 Are the brakes locked? 27 Is the vehicle speed below the specified limit and is the brake pressure greater than zero? 28 Increase brake pressure 29 Reduce brake pressure 30 Control device 31. means for detecting a signal representing the current tilt angle of the device 32 Evaluation Device 33 Data transmission device 34 Signal Transmission 35 Vehicles 36 Device for controlling drive torque 37 Device for controlling brake pressure J is N No x-axis y-axis z axis

Claims

1. A method for remotely controlling vehicle movement via a handheld device, comprising the following steps: detecting activation of a button of the device being pressed and held down by a user; When the button is activated, setting the tilt angle of the device according to the initial tilt angle; receiving a signal representing a current tilt angle of the device; converting the received signal into a virtual pedal position, the virtual pedal position corresponding to the position of a physical pedal corresponding to the virtual pedal; controlling movement of the vehicle according to the virtual pedal position; and The vehicle is stopped when the button is no longer pressed and continues to be pressed.

2. The method according to claim 1, wherein: The pedal position is an accelerator pedal position or a brake pedal position.

3. The method according to claim 1, further comprising the steps of: determining an initial tilt angle when the button is activated; Determine the tilt angle after user adjustment; determining a tilt angle difference between the initial tilt angle and the adjusted tilt angle; as well as The tilt angle difference is converted as a signal into a virtual pedal position. The method of claim 1 , wherein the tilt angle is determined relative to a set axis of the device. 5 . The method of claim 1 , wherein at least one of the speed of the vehicle or the torque of a drive motor of the vehicle is maintained below a set maximum value. The method of claim 1 , wherein the vehicle is laterally controlled via a driver assistance function. 7 . The method according to claim 6 , wherein the vehicle is laterally controlled along a set trajectory by the driver assistance function.

8. The method according to claim 1, wherein the vehicle stops when the distance between the vehicle and one or more of the device, at least one detected object or at least one detected person is less than a set minimum distance. 9 . The method of claim 1 , wherein all-wheel drive of the vehicle is activated or deactivated before the vehicle moves.

10. A control device for remotely controlling the movement of a vehicle, comprising: a handheld device having a button that can be activated by pressing and holding it, and means for detecting a signal representing an angle of inclination of said device; an evaluation device for receiving a signal representing said inclination angle and converting said received signal into a virtual pedal position corresponding to the position of a physical pedal corresponding to the virtual pedal; and Data transmission means for transmitting data from the evaluation device to a vehicle control system in order to control the movement of the vehicle as a function of the tilt angle of the device.

11. The control device according to claim 10, wherein the control device performs the following steps: detecting activation of a button of the control device being pressed and held down by a user; When the button is activated, setting the tilt angle of the control device based on the initial tilt angle; receiving a signal indicative of the tilt angle of the control device; converting the received signal into a virtual pedal position, the virtual pedal position corresponding to the position of a physical pedal corresponding to the virtual pedal; controlling movement of the vehicle according to the virtual pedal position; and The vehicle is stopped when the button is no longer pressed and continues to be pressed. 12 . The control device according to claim 10 , wherein the pedal position is an accelerator pedal position or a brake pedal position.

13. The control device according to claim 10, further comprising the following steps: determining a second tilt angle when the button is activated; Determine the tilt angle after user adjustment; determining an inclination angle difference between the second inclination angle and the adjusted inclination angle; as well as The tilt angle difference is converted as a signal into a virtual pedal position.

14. The control device of claim 10, wherein the tilt angle is determined relative to a set axis of the device.

15. The control device of claim 10, wherein at least one of the speed of the vehicle or the torque of the drive motor of the vehicle is maintained below a set maximum value.

16. The control device of claim 10, wherein the vehicle is laterally controlled by a driver assistance function.

17. The control device according to claim 16, wherein the vehicle is laterally controlled along a set trajectory by the driver assistance function.

18. The control device according to claim 10, wherein the vehicle stops when the distance between the vehicle and one or more of the device, at least one detected object or at least one detected person is lower than a set minimum distance.

19. The control device of claim 10, wherein all-wheel drive of the vehicle is activated or deactivated before the vehicle moves.

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