Vehicle calling system and method and vehicle comprising system

Abstract

A vehicle call system, method and vehicle incorporating the system. The vehicle (10) is configured to communicate with nodes (12a-12f) mounted on the vehicle (10) using a portable device (16), such as a mobile phone. The relative position of the portable device (16) is determined (23) by means of these communication nodes, which ultimately initiates autonomous driving (25) of the vehicle towards the location of the portable device. If the portable device moves, the path to the location can be updated (27) in real time.

Description

Technical Field

[0001] The present disclosure relates to a system for summoning a vehicle by a user external to the vehicle. Background Art

[0002] Many vehicles are now equipped with enhanced parking features. For example, limited forward and / or reverse movement can be remotely activated to enable an empty vehicle to maneuver into or out of a tight parking space where the driver would have difficulty opening the door. In a related example, a "Car Summon" feature enables the vehicle to autonomously drive a short distance, such as from a parking space to a waiting area on the roadside, much like a valet. These features can be operated using the vehicle key fob and / or as part of a Phone as a Key (PaaK) solution, enabling unlocking and activation of limited autonomous driving capabilities via a smartphone.

[0003] To improve user experience, convenience, and safety, the demand for such vehicle functions is growing. An example of calling a car through a mobile system is disclosed in US2022092718A1. Summary of the Invention

[0004] The present disclosure is directed to providing a vehicle summoning system that improves the user experience by achieving greater safety and / or convenience, or at least provides the public and manufacturers with an alternative to known solutions.

[0005] According to a first aspect, a vehicle summoning system is provided, comprising: a portable electronic device; a plurality of communication devices or nodes for installation at a vehicle, including an ultra-wideband (UWB) device; a controller configured to: establish wireless communication with the portable electronic device via the communication device or node; verify that the portable electronic device is an authorized device associated with the vehicle; determine a relative position of the portable device by triangulating / triangulating the distance between the portable device and the plurality of communication devices or nodes installed at the vehicle; calculate a path to the relative position; and activate a travel mechanism of the vehicle (10) to autonomously execute the path.

[0006] In a broader sense, the system includes at least: a portable electronic device, such as for a user to carry; a communication device configured to detect and determine the relative position of the portable electronic device; the system is configured to establish wireless communication with the portable electronic device through the communication device and control the interaction between them to determine the relative position; preferably authenticate the portable electronic device as a device authorized to activate the system; and calculate a path to the relative position. Alternatively: a system for summoning a vehicle, the system includes: a portable electronic device; a communication device or node for installation at a vehicle; a controller configured to: establish wireless communication with the portable electronic device through the communication device or node; verify that the portable electronic device is an authorized device associated with the vehicle; determine the relative position of the portable device through the communication device or node; calculate a path to the relative position; and activate a travel mechanism of the vehicle to autonomously execute the path.

[0007] The controller can be further configured to activate a travel mechanism of a vehicle in which the system is installed, thereby guiding the vehicle along the calculated path toward the portable electronic device, or at least close to the device. In this way, the system is particularly suitable for integration into vehicles with partial or full autonomous driving capabilities (e.g., capable of operating within a short distance) to "summon" the vehicle to the user.

[0008] This distance range may be determined by the capabilities of the communication device (e.g., an Ultra Wideband (UWB) device / transceiver). Alternatively, and in addition, for safe operation, the distance range is preferably within the user's line of sight. In any case, Ultra Wideband devices are already widely used in modern vehicles, for example in connection with proximity unlocking and "phone as a key" type functions. In other forms, other communication methods / wireless protocols may also be used, such as Bluetooth TM In principle, any current or future form of ranging / positioning protocol / function can be successfully implemented, or a combination of multiple devices / sensors can be used to accurately determine the relative position of the portable device through direct communication between the vehicle's onboard equipment and the portable device.

[0009] According to the present disclosure, such onboard communication devices / functions of a vehicle are given a more important role in the vehicle summoning system.

[0010] In this way, existing sensors / devices in the vehicle can be utilized without the need for additional or modified components. The control unit can be programmed with the required functionality to utilize the vehicle's resources and existing portable devices, such as smartphones equipped with compatible features such as ultra-wideband and "phone-as-key."

[0011] In some embodiments, the controller / system is configured to continuously or periodically communicate to determine the current relative position of the portable device and update / recalculate the path to the current relative position. In this way, if the user carrying the portable device moves, for example to find a more advantageous position (e.g., to avoid standing water or obstacles), the vehicle can be summoned to the updated position.

[0012] This document outlines a vehicle implementing the system. The vehicle includes at least: a communication device (e.g., an ultra-wideband device) configured to wirelessly communicate with an external portable electronic device; and a processor configured to: establish and / or control wireless communication between the communication device and the portable electronic device; determine the relative position of the portable device to the vehicle (e.g., upon receiving a command from the portable device); calculate a path to the relative position; and manipulate a travel mechanism of the vehicle to guide the vehicle along the path toward the portable electronic device.

[0013] In this way, the vehicle can be summoned (e.g., autonomously driven) to or near the location of the portable device. The target location can be offset from the location of the portable device. This allows the user to more easily access the driver's door opener.

[0014] The vehicle is preferably equipped with sensors for collecting data on external environmental conditions in order to implement a collision avoidance function during the summoning process.

[0015] The present disclosure contemplates two main use scenarios / implementations. First, the system allows a user to access the vehicle when the car is parked in a tight parking space that makes it difficult to easily enter or exit the car. Second, in situations where the vehicle actually has an automated valet parking feature or a learned parking feature. In the latter case, the present disclosure takes into account situations where the driver / owner may not be standing precisely at a designated / convene (e.g., pre-learned) location, or where the driver / owner's location cannot be precisely determined (e.g., using a Global Navigation Satellite System (GNSS)). The present system discloses a method for enabling a vehicle to safely navigate toward a user within a short distance with greater accuracy than a GNSS solution.

[0016] The vehicle's secure short-range summon feature ensures the vehicle is unlocked and positioned precisely within the driver's reach of the driver's door. This functionality is achieved through one or more of the following:

[0017] i) Authentication of the vehicle owner’s smartphone (e.g. as part of a Phone as a Key (PaaK) system) or an equivalent smart key / mobile device carried by the user with a compatible communication protocol;

[0018] ii) Using a portable device as a proxy for the vehicle owner's location, the vehicle owner's location is determined relative to the vehicle coordinate system, for example by using an ultra-wideband transceiver to triangulate or trilaterate the distance between the phone and a set of nodes installed at the vehicle. In the case of trilateration (multilateral measurement), each transceiver gives a distance from the phone. The phone's position is estimated as the position that best fits these distance ranges. At least three transceivers are required to make this estimate. In the case of triangulation, the transceiver is able to measure the distance and direction (azimuth) of the phone, a measurement known as the angle of arrival (AoA). Two distances plus one angle of arrival measurement are sufficient to estimate the position of the portable device. In another form, a combination of angle of arrival, distance, inertial measurement unit (IMU) indication and / or limited field of view will allow the use of a single transceiver to obtain the position of an external portable device (phone), for example within the front semicircle of the vehicle;

[0019] iii) These features may be subject to pre-set distance limitations (e.g., only functioning within a range of up to 8 to 10 meters) and / or supervision limitations (e.g., vehicle owner oversight during operation);

[0020] iv) Parking automation options that allow closed-loop control at low speeds with full steering capabilities, where the vehicle can follow a moving user based on the current / updated / determined location of the mobile device.

[0021] The present disclosure contemplates integrating the above functionality into an active vehicle relocalization function that uses a rendezvous point and position, such as determined by an algorithm that leverages ultra-wideband positioning from an authenticated cell phone and environmental awareness based on safety sensors (such as, but not limited to, ultrasonic sensors, radars, vision sensors, surround-view cameras, and associated obstacle perception algorithms) to prevent collisions with other vehicles or obstacles.

[0022] In one specific implementation, the system can enable autonomous driving in a straight line and parking at an actively calculated rendezvous point. In other forms, the system can utilize a "phone-as-key" system and parking automation system; for example, when the full suite of instrumentation for high-speed L2+ (vehicle level 2+ autonomous driving), highway, or city autonomous driving is not required.

[0023] In broad terms, the present invention is based on the concept of utilizing sensors / functional devices already on a vehicle (eg, devices provided to a customer in an original factory vehicle) to perform additional tasks.

[0024] As previously mentioned, the present disclosure proposes a vehicle equipped with a plurality of ultra-wideband sensors, detection or communication devices for determining the position of a mobile / portable electronic device carried by a user relative to the vehicle. The vehicle includes a processor or control unit that can be configured to establish a connection with the mobile device, authenticate it, wake the vehicle from standby mode, determine or at least estimate the position of the mobile device, activate the vehicle's travel mechanism, and guide the vehicle to the location of the portable electronic device. In particular, after the position of the mobile device is detected, a path is calculated to a meeting point (i.e., a target or destination) determined based on the position of the mobile phone. In this way, according to one example, at least one passenger door or driver's door of the vehicle will become accessible to the user, which may have been difficult to access before.

[0025] In some embodiments, the processor is configured to actively (eg, continuously or at time intervals) determine the current location of the mobile device and update the rendezvous point and its path.

[0026] According to a third aspect, a method for summoning a vehicle is provided. The method includes at least: establishing wireless communication between a communication device on the vehicle and a portable electronic device external to the vehicle; verifying that the portable electronic device is authorized to summon the vehicle; determining a target location of the portable device relative to the vehicle; and autonomously driving the vehicle toward the target location in response to a summon command issued by the portable electronic device. In one specific form, the target location is updated over time to reflect the current location of the portable electronic device.

[0027] Location is determined by trilateration or an equivalent method of determining relative position / coordinates. It is important to note that authorization may include biometrics, passcodes, and / or other security features available on the portable device. This prevents unauthorized persons from activating the summon and unlock functions.

[0028] According to a fourth aspect, a non-transitory computer-readable medium is provided, comprising instructions that, when executed by one or more processors, implement the method of the third aspect. According to a further aspect, a computer software product is provided, comprising instructions that, when executed by one or more processors, implement the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Illustrative embodiments will now be described with reference to the accompanying drawings, in which:

[0030] Figure 1 A vehicle incorporating a system according to the present disclosure is shown;

[0031] Figure 2 A block diagram showing a system implementation according to the present invention; and

[0032] Figure 3 An example of a vehicle equipped with the system in use is shown. DETAILED DESCRIPTION

[0033] The following description provides exemplary embodiments and, in conjunction with the accompanying drawings, serves to explain the principles of the present invention. However, the scope of the present invention is not intended to be limited to the precise details of these embodiments, nor does it require that all system features and / or method steps be followed completely, as various variations will be apparent to those skilled in the art and are considered to be within the scope of this description. Terms used herein to describe components should be interpreted broadly to encompass components with equivalent functions and features.

[0034] In some cases, several alternative terms (synonyms) are provided for structural and / or system features, but these terms are not exhaustive. Descriptive terms should also be interpreted in the broadest sense possible; for example, the word "comprising" as used in this specification means "consisting at least in part of...", so when interpreting each statement in this specification containing the word "comprising", other features may be present in addition to the features mentioned by or before the word. Related terms such as "comprising" and "containing" should be interpreted in the same manner. Any directional terms, such as "forward", "rearward", "vertical", "horizontal", "upward", "downward", "lateral", "above" and "below", are generally used for ease of explanation with reference to the form shown in the figures, and these terms are not intended to be final if the equivalent function can be achieved by alternative sizes and / or directions. All directional terms are relative to each other.

[0035] The description herein refers to embodiments having specific combinations of steps or features. However, it is contemplated that compatible steps or features may be further combined and cross-combined between different embodiments. In fact, isolated features can function as an invention independently of other features and do not necessarily need to be implemented as a complete combination.

[0036] It should be understood that the illustrated embodiments are only used for illustrative purposes to illustrate their application. In actual applications, the present invention can be applied to many different configurations, and it is relatively straightforward for those skilled in the art to implement these embodiments.

[0037] Figure 1 An exemplary vehicle operating in accordance with the system / method disclosed herein is shown. The system is generally adapted for summoning a vehicle by a user outside the vehicle when the vehicle is summoned, such as within a short range.

[0038] A vehicle is generally designated 10, and for purposes of explaining the present summoning system, the vehicle includes a vehicle body perimeter 11, one or more communication devices or nodes 12(af), and a controller 13, such as an electronic control unit configured to utilize the communication devices on the vehicle 10. In the illustrated form, there are six communication devices / nodes, including two devices each near the front bumper 14 and the rear bumper 15 (e.g., 12c, 12d on either side of the front bumper 14, and 12a, 12f on either side of the rear bumper 15, for a total of four), and one device on each side of the vehicle, such as near the door handles, with respect to the vehicle's direction of travel, namely, a left device 12b and a right device 12e.

[0039] Outside of vehicle 10, outside vehicle perimeter 11, there may be a portable communication device 16, such as a smartphone or equivalent device, that is compatible with the communication protocol of communication device 12. When located outside the vehicle, portable device 16 represents the location of the vehicle user (e.g., the driver).

[0040] In one particular embodiment, the communication device 12 is an ultra-wideband (UWB) device, and the portable device 16 is capable of communicating with these devices. In this way, the vehicle controller 13 can communicate with the portable device 16 through one or more devices 12 fixed to the vehicle, for example, to identify the device 16 and determine its position relative to the vehicle 10. The dashed arrow 17 represents two-way wireless communication and distance measurement to enable the spatial location of the device 16 to be determined, thereby determining the location of an authorized vehicle operator or the like.

[0041] refer to Figure 2 can best explain the further operation of the system, Figure 2 A block diagram of the summoning method 20 is shown.

[0042] In the first state 21, the vehicle may be in standby mode, such as when it is parked in a parking space. At the portable device 16, the user may initiate a vehicle activation operation, such as to "summon" the vehicle from the parking space. A signal is sent from the portable device 16 to the controller 13, such as via the communication device 12.

[0043] In a second step 22 , the user's device 16 may be authenticated, ie, verified to be associated with the vehicle owner and therefore authorized to wake the vehicle and activate its mobile functions.

[0044] If a summon has been requested from the device 16 (eg, in addition to an unlock function), in step 23 the controller 13 now calculates / estimates / determines the position of the device 16 using the vehicle's sensors / devices 12 , eg, by trilateration or an equivalent process.

[0045] Once the location is determined, typically with an accuracy greater than that of a global positioning system (GPS), such as achieved with ultra-wideband communications, step 24 represents calculating a path from the stationary location (e.g., a parking space) to the portable device. This calculation may take into account the orientation of the device, user, and / or vehicle. Preferably, the target / destination at the end of the path will be a location convenient for the user to enter the vehicle's door, such as near device 12b or 12e.

[0046] The system may report to the user via device 16 that it is ready to be activated / summoned, which may require an additional confirmation step. In any case, step 25 represents path execution, at which point the vehicle's travel mechanism is activated via controller 13 and the vehicle begins to move, including forward or backward movement depending on the vehicle's relative position and orientation in the parking space.

[0047] Step 26 indicates the termination of the summon function, at which point the calculated path has been executed. Depending on the user's preference, the vehicle doors may already be unlocked, or unlocked upon completion. The user can now enter the vehicle, for example, to take manual control or activate other autonomous driving functions.

[0048] An optional function is represented by block 27, namely a loop during the execution of the route 25 and the determination of the location of the portable device in step 23. Such a loop enables continuous or periodic recalculation of the route based on the updated / detected location of the portable device. In other words, if the user moves, the system allows the destination to change, for example, to take into account new circumstances / observations. In this mode (which can be disabled / selected by the user via device 16 if desired), the vehicle can follow the user at a safe speed / minimum distance.

[0049] It's important to note that all vehicle movement occurs at relatively low speeds. Furthermore, the operating range is typically limited to approximately ten meters and / or line of sight. This allows the user to monitor the vehicle's movements and terminate / stop the summoning process at any time.

[0050] Obviously, summon computing can use the vehicle's steering function to make the vehicle reach the most convenient position for the user to enter the door, etc.

[0051] Figure 3 Shown diagrammatically Figure 2The concepts outlined in the steps above illustrate vehicle 10 autonomously driving from a parking space S, defined by a boundary line L, toward user / device 16. In the specific example shown, a vehicle P parked to the right is parked on parking space boundary line L, making entry into that vehicle narrow and inconvenient. Therefore, a summon operation is necessary. Furthermore, the user carrying device 16 decides to move further from parking space S to a second location 16a. Consequently, the path of vehicle 10 is slightly adjusted according to block 27, and the vehicle 10 steers toward user / device 16a.

[0052] The system disclosed in this article can be integrated with many extended functions. For example:

[0053] As the vehicle approaches the meeting point, the driver's settings (such as seat position and mirror angle / preferences) can be adjusted based on the user's profile;

[0054] As the final stage of a learned parking maneuver or as a pickup for an automated valet parking function:

[0055] o The vehicle can determine the rendezvous point based on authentication of the owner's phone (e.g., "phone as key" setup) and ultra-wideband (UWB) positioning capabilities (e.g., within a range of up to 8 to 10 meters);

[0056] The vehicle can perform parking maneuvers and adjust its position based on the actively determined meeting point;

[0057] The vehicle can use the same system functionality to relocate itself to a desired relative position (rendezvous point) to an ultra-wideband node that is not the owner's personally activated device (i.e., different from the owner's device), such as a node installed at the vehicle charger in a garage. In this case, the desired position can be determined independently of external perception sensors (e.g., radar, vision sensors, ultrasonic sensors, surround-view cameras);

[0058] The location of the driver’s phone / device can be determined by the UWB system and can be additionally verified using perception sensors (e.g., radar, vision sensors) and associated algorithms.

[0059] The system disclosed in this article has the following obvious advantages:

[0060] The location and orientation of the rendezvous point can be actively determined based on the determined / known location of the vehicle owner's mobile device, such as through an ultra-wideband system;

[0061] For maximum convenience, the driver can actively control / adjust the location and desired orientation of the rendezvous point using a mobile phone or equivalent.

[0062] Enhances Learned Parking / Automated Valet Parking functionality by proactively determining the location and orientation of a rendezvous point once the driver's device is within range of the UWB system.

[0063] In summary, the present disclosure outlines a system and method for summoning a vehicle, and a vehicle configured to perform the summoning function. Implementations include using a portable electronic device; a communication device or node installed at the vehicle; a controller or processor configured to: establish wireless communication with the portable electronic device via the communication device or node; verify that the portable electronic device is an authorized device associated with the vehicle; determine the relative position of the portable device via the communication device or node; calculate a path to the relative position; and activate a travel mechanism of the vehicle to autonomously execute the path.

[0064] The present invention can also be summarized as a system, method, or vehicle configured to utilize a portable device (e.g., a mobile phone) to communicate with a node installed on the vehicle. The communication node determines the relative location of the portable device, which ultimately initiates autonomous driving of the vehicle toward the location of the portable device. If the portable device moves, the path to that location can be updated in real time.

Claims

1. A system for summoning a vehicle, the system comprising: portable electronic devices; Multiple communication devices or nodes for installation in a vehicle, including ultra-wideband (UWB) devices; A controller configured to: establishing wireless communication with the portable electronic device via the communication device or node; verifying that the portable electronic device is an authorized device associated with the vehicle; The relative position of the portable electronic device is determined by triangulating / trilateration the distances between the portable electronic device and the plurality of communication devices or nodes installed in the vehicle. Location; calculating a path to the relative position; as well as The vehicle's travel mechanism is activated to autonomously execute the path.

2. The system according to claim 1, wherein: The controller is further configured to track any movement of the portable electronic device to determine a current relative position of the portable electronic device and update a path calculation.

3. The system according to claim 1, wherein: The path calculation is adjusted for the orientation of the vehicle and / or the portable electronic device.

4. The system according to claim 1, wherein: The controller is further configured to reposition the vehicle to a desired location relative to other devices / nodes other than the portable electronic device.

5. A vehicle configured to be summoned by a user, the vehicle comprising: a plurality of communication devices or nodes configured to wirelessly communicate with an external portable electronic device, including ultra-wideband (UWB) devices; as well as A processor configured to: establishing and / or controlling wireless communications between the plurality of communication devices or nodes and the portable electronic device; The relative position of the portable electronic device with respect to the vehicle is determined by triangulating / trilateration the distances between the portable electronic device and the plurality of communication devices or nodes. Place; calculating a path to the relative position; The vehicle's travel mechanism is mobilized to guide the vehicle along the path toward the portable electronic device.

6. The vehicle according to claim 5, wherein: The processor is further configured to track any movement of the portable electronic device via the wireless communications to determine a current relative position of the portable electronic device and update a path calculation.

7. A method for summoning a vehicle, the method comprising the following steps: establishing wireless communications between a plurality of communication devices or nodes, including ultra-wideband (UWB) devices, mounted on a vehicle and a portable electronic device external to the vehicle; verifying that the portable electronic device is a device authorized to summon the vehicle; receiving a summon command from the portable electronic device; determining a target position of the portable electronic device relative to the vehicle by triangulating / trilateration the distances between the portable electronic device and the plurality of communication devices or nodes; In response to the summon command issued by the portable electronic device, the vehicle is autonomously driven toward the target location.

8. The method according to claim 7, wherein: The autonomous driving of the vehicle is terminated at a position where at least one door of the vehicle is accessible to a user carrying the portable electronic device.

9. The method according to claim 7 or 8, wherein The target location is updated over time to reflect the current location of the portable electronic device (16a).

10. A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, implement the method according to any one of claims 7 to 9.

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