INITIAL REMOTE-CONTROLLED PARKING OF A VEHICLE VIA A MOBILE DEVICE

Abstract

Method for initiating remote parking of a vehicle, wherein the method comprises the following: Displaying an initial motion trace that is predefined by a user and is continuous, via a touchscreen of a mobile device; Detecting a user's driving point on the touchscreen; Initiating a forward movement during the remote parking of a vehicle in response to a processor determining that the driving point is moving clockwise within the first movement track.

Description

CROSS-REFERENCE TO RELATED REGISTRATIONS

[0001] This application relates to US patent application no. 15 / 626,024, filed on June 16, 2017, and US patent application no. 15 / 626,036, filed on June 16, 2017, both of which are incorporated by reference in their entirety. TECHNICAL AREA

[0002] The present disclosure relates generally to the parking of a vehicle and in particular to the initiation of remotely controlled parking of a vehicle via a mobile device. GENERAL STATE OF THE ART

[0003] Many vehicles include features where at least some of the vehicle's motion functions are autonomously controlled by the vehicle itself. For example, some vehicles include cruise control, where the vehicle controls its acceleration and / or deceleration to maintain a set speed. Some vehicles also include adaptive cruise control, where the vehicle controls its acceleration and / or deceleration to maintain a set speed while simultaneously maintaining a predetermined following distance from other vehicles ahead. Furthermore, some vehicles include parking assistance features, where the vehicle autonomously controls its motion functions to park itself in a parking space. SUMMARY

[0004] The attached claims define this application. The present disclosure summarizes aspects of embodiments and should not be used to limit the claims. Other implementations are considered in accordance with the techniques described herein, as will be apparent to the person skilled in the art upon review of the following drawings and detailed description, and these implementations are intended to be within the scope of this application.

[0005] Exemplary embodiments for initiating remote-controlled parking of a vehicle via a mobile device are shown. One exemplary disclosed method for initiating remote-controlled parking of a vehicle involves displaying a first motion path, predefined and continuous by a user, via a touchscreen of a mobile device. The exemplary disclosed method further involves detecting a user's driving point on the touchscreen and initiating a forward movement during remote-controlled parking of the vehicle in response to a processor determining that the driving point is moving clockwise within the first motion path.

[0006] An exemplary disclosed physical computer-readable medium includes instructions that, when executed, cause a machine to display a first motion track, predefined and continuous by a user, on the touchscreen of a mobile device. The instructions also cause the machine, upon execution, to detect a user's driving point on the touchscreen and to initiate remote parking of a vehicle in response to a processor determining that the driving point is moving within the first motion track. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] For a better understanding of the invention, reference may be made to embodiments shown in the following drawings. The components in the drawings are not necessarily to scale, and related elements may be omitted, or in some cases, proportions may be enlarged to highlight and clearly illustrate the novel features described herein. Additionally, system components may be arranged in various ways, as is known in the field. Furthermore, corresponding parts in the different views of the drawings are identified by the same reference numerals. Fig. Figure 1 illustrates an exemplary mobile device that initiates remote-controlled parking of an exemplary vehicle, according to the teachings in this document. Fig. Figure 2 illustrates an example motion trace and an example travel path, which can be viewed via a touchscreen of the mobile device. Fig. 1. This will be presented according to the teachings in this text. Fig. Figure 3 illustrates exemplary movement paths that can be accessed via the touchscreen. Fig. 2 will be shown. Fig. Figure 4 illustrates another example of a motion trail that can be traced via the touchscreen. Fig. 2 is shown. Fig. Figure 5 illustrates another example motion trace, which is generated via the touchscreen. Fig. 2 is shown. Fig. Figure 6 illustrates another example motion trace, which is generated via the touchscreen. Fig. 2 is shown. Fig. Figure 7 is a block diagram of the mobile device and the vehicle. Fig. 1. Fig. 8 is a block diagram of electronic components of the mobile device. Fig. 1 and Fig. 7. Fig. Figure 9 is a block diagram of the vehicle's electronic components. Fig. 1 and Fig. 7. Fig. 10 is a flowchart for initiating remote parking of the vehicle from Fig. 1 and Fig. 7 via the mobile device Fig. 1-7 according to the teachings in this scripture. DETAILED DESCRIPTION OF EXAMPLE EXECUTIONS

[0008] Although the invention may be implemented in various forms, some exemplary and non-limiting embodiments are shown in the drawings and described below, it being understood that the present disclosure is to be regarded as an explanation of the invention by means of examples and is therefore not intended to limit the invention to the specific embodiments illustrated.

[0009] Many vehicles include features where at least some of the vehicle's motion functions are controlled autonomously by the vehicle itself. For example, some vehicles include cruise control, where the vehicle controls its acceleration and / or deceleration to maintain a set speed. Some vehicles also include adaptive cruise control, where the vehicle controls its acceleration and / or deceleration to maintain a set speed while simultaneously maintaining a predetermined following distance from other vehicles ahead.

[0010] Furthermore, some vehicles include parking assistance features (e.g., a remote parking assist feature) where the vehicle autonomously controls its movement functions to park itself in a parking space. A remote parking assist feature allows a vehicle to park autonomously even after the driver has exited the vehicle. For example, the driver can position the vehicle near a parking space, exit the vehicle, and remotely instruct the vehicle (e.g., via a button on a key fob or a portable device) to park itself autonomously. A driver can use remote parking to park a vehicle in a space where they would subsequently be unable to exit the vehicle's cabin (e.g., due to a nearby vehicle, wall, or other structure).

[0011] The exemplary methods, devices, and machine-readable media include a mobile device that displays continuous motion traces, allowing a user to trace these with their finger on a touchscreen of the mobile device to initiate remote parking of a vehicle. To enable the user to quickly initiate the start and stop of remote parking, an autonomy unit of the vehicle causes the vehicle to move during remote parking only when the user moves their finger (e.g., thumb), conductive stylus, and / or prosthetic finger within a motion trace along the touchscreen. The motion traces of the examples disclosed herein are predefined by the user and can be of any continuous shape (e.g., non-circular, non-elliptical, wavy, obtuse-angled, etc.).) exhibiting features that reflect a natural movement or hand movement of the user to make it easier for the user to simply follow the movement path that initiates the remote-controlled parking of the vehicle.

[0012] Exemplary mobile devices disclosed herein include a touchscreen that displays a continuous motion trail (e.g., a first motion trail) predefined by a user. In the sense used herein, a "predefined motion trail" and a "user-predefined motion trail" refer to a continuous trail displayed on the touchscreen to initiate remote parking of a vehicle and defined based on user input prior to display on the touchscreen. For example, to define a predefined motion trail, a path image of the mobile device detects a plurality of motion paths received from the user via the touchscreen and defines the motion trail based on the plurality of motion paths (e.g., by calculating an average of the plurality of motion paths).In the sense used here, a “continuous track” and a “continuous path” refer to a path that has no starting point and no end point (e.g. a circle, an oval, a stadium, etc.) and forms a closed geometric shape.

[0013] After the motion path has been displayed to the user, the touchscreen detects a driving point, which corresponds to a spot on the touchscreen that is touched or pressed by the user. Furthermore, the exemplary mobile devices disclosed herein include a parking initiator that determines whether the point of contact is moving within the motion path. In response to the determination that the driving point is moving clockwise within the motion path, the parking initiator of the mobile device wirelessly sends a signal to a vehicle to initiate forward movement during remotely controlled parking of the vehicle.In the sense used here, "remote parking" and "remote parking assistance" refer to a vehicle that controls the vehicle's movement functions without direct steering or speed input from a driver in order to autonomously park the vehicle in a parking space while the driver is outside the vehicle. For example, after a driver initiates the remote parking maneuver, a remote parking assistance system of an autonomous unit controls the vehicle's movement functions.

[0014] In some examples, the parking initiator of the mobile device wirelessly sends a signal to the vehicle to initiate a reverse movement during remote parking, in response to the determination that the driving point is moving counterclockwise within the movement track. Furthermore, in some examples, the speed of movement of the driving point within the movement track corresponds to the vehicle's speed during remote parking (e.g., the faster the user moves the driving point, the faster the vehicle moves during remote parking).

[0015] Additionally or alternatively, in response to the determination that the driving point is outside the movement path and / or moving, the parking initiator causes the mobile device to display a warning to the user (e.g., a visual warning, an audible warning, a haptic warning, etc.) so that the user can move the driving point back into the movement path to initiate remote parking of the vehicle. In some examples, the parking initiator sends a signal to stop remote parking of the vehicle in response to the determination that the driving point has been outside the movement path for at least a predetermined time threshold and / or is located at least a predetermined distance threshold from the movement path.

[0016] The exemplary mobile devices disclosed here can display additional continuous motion tracks via the touchscreen, which are intended for different configurations of the mobile devices. Each of the predefined motion tracks can be intended for a specific direction of travel of the vehicle, a specific orientation of the mobile device, a specific hand in which the mobile device is held, etc.

[0017] For example, the touchscreen of the mobile device displays a different motion path (e.g., a second motion path) that is distinct from the first motion path, predefined by the user, and continuous. In some examples, the second motion path has a different shape and / or location on the touchscreen relative to the first motion path. When the second motion path is displayed on the touchscreen, the parking initiator sends a signal to the vehicle to initiate a reverse movement during remote parking of the vehicle in response to the determination that the driving point is moving counterclockwise within the second motion path.This means that the touchscreen represents the first movement track to facilitate forward movement during remote parking of the vehicle and represents the second movement track to facilitate backward movement during remote parking of the vehicle.

[0018] Additionally or alternatively, the touchscreen of the mobile device displays a different motion trace (e.g., a third motion trace) that differs from the first motion trace, is user-defined, and continuous. Furthermore, the third motion trace may have a different shape and / or location on the touchscreen relative to the first motion trace. The touchscreen displays the first motion trace in response to the detection that the mobile device is in a portrait orientation and displays the third motion trace in response to the detection that the mobile device is in a landscape orientation.

[0019] For example, the mobile device includes an accelerometer to enable the mobile device to determine its orientation.

[0020] Furthermore, in some examples, the touchscreen of the mobile device displays a different motion trace (e.g., a fourth motion trace) that is distinct from the first, user-defined, and continuous. The fourth motion trace may have a different shape and / or location on the touchscreen relative to the first motion trace. The touchscreen displays the first motion trace in response to the detection that the user's right hand is holding the mobile device and displays the fourth motion trace in response to the detection that the user's left hand is holding the mobile device. For example, the mobile device may include an accelerometer and / or a camera to enable it to determine which of the user's hands is holding the device.

[0021] Furthermore, in some examples, the touchscreen of the mobile device represents a settings mode that allows the user to adjust a position of the motion track on the device. For example, if the user selects a calibration icon on the touchscreen, the mobile device allows the motion track to float to a different position on the touchscreen. This means the mobile device allows the user to reposition or adjust the motion track to a more ergonomically comfortable location on the touchscreen without having to redefine the shape of the motion track. Additionally, or alternatively, when the motion track is defined, the mobile device prevents the user from defining it and / or displays a warning if the user attempts to define the motion track along an edge of the touchscreen.

[0022] Reference is now made to the characters in which Fig. 1 An exemplary mobile device 100, which initiates remote-controlled parking of an exemplary vehicle 102, is illustrated according to the teachings in this document. The vehicle 102 can be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or a vehicle type with any other propulsion system. The vehicle 102 includes parts related to mobility, such as a powertrain with an engine, a transmission, a suspension, a drive shaft, wheels, etc. The vehicle 102 can be semi-autonomous (e.g., some routine motion functions are controlled by the vehicle 102) or autonomous (e.g., the motion functions are controlled by the vehicle 102 without direct driver input).

[0023] As in Fig. As illustrated in Figure 1, vehicle 102 is positioned to be remotely parked into an available parking space 104. The available parking space 104 is located between an occupied parking space 106 (e.g., the first occupied parking space) occupied by a parked vehicle 108 (e.g., the first parked vehicle) and another occupied parking space 110 (e.g., the second occupied parking space) occupied by another parked vehicle 112 (e.g., the second parked vehicle). In the illustrated example, the available parking space 104 is a parallel parking space. In other examples, the available parking space 104 into which vehicle 102 is to park may be a perpendicular parking space or another type of non-parallel parking space.In the illustrated example, vehicle 102 is positioned next to the occupied parking space 106 and / or the parked vehicle 108 to enable vehicle 102 to be parked lengthwise into the available parking space 104 using a remote-controlled parking aid.

[0024] The vehicle 102 from the illustrated example includes an autonomy unit 114. The autonomy unit 114 is an electronic control unit (ECU) of the vehicle 102 that autonomously controls the vehicle 102's movement functions to remotely park the vehicle 102 in available parking spaces (e.g., the available parking space 104) and / or otherwise autonomously propel the vehicle 102. For example, the autonomy unit 114 controls the vehicle 102's movement functions based on data from a sensor(s) of the vehicle 102 (e.g., the sensors 904). Fig. 9) will be collected.

[0025] The vehicle 102 also includes a communication module 116 (e.g., a first communication module). For example, the communication module 116 is a short-range wireless module for wireless communication with a mobile device (or devices) belonging to a user (or users) of the vehicle 102. In the illustrated example, the communication module 116 is communicatively connected to a mobile device 100 belonging to a user 118 of the vehicle 102. The communication module 116 includes hardware and firmware to establish a connection with the mobile device 100. In some examples, the communication module 116 implements the Bluetooth® and / or Bluetooth® Low Energy (BLE) protocols. The Bluetooth® and BLE protocols are described in Volume 6 of the Bluetooth® Specification 4.0 (and later revisions), maintained by the Bluetooth® Special Interest Group.In other examples, the communication module 116 can use WiFi, WiMax, NFC, UWB (Ultra-Wide Band) and / or any other communication protocol that allows the communication module 116 to be communicatively coupled to the mobile device 100.

[0026] Before communicating with the mobile device 100, the communication module 116 can authenticate the mobile device 100 for communication with the communication module 116. To authenticate the communication between the communication module 116 and the mobile device 100, the communication module 116 intermittently transmits a radio beacon (e.g., a low-energy radio beacon such as the Bluetooth Low Energy (BLE) beacon). If the mobile device 100 is within transmission range of the communication module 116, the mobile device 100 receives the radio beacon and then transmits an encryption key. The communication module 116 authenticates the mobile device 100 to itself after receiving the key from the mobile device 100.

[0027] In the illustrated example, user 118 (e.g., a driver of vehicle 102) uses the mobile device 100 (e.g., a smartphone, smartwatch, wearable, tablet, etc.) to initiate the remote parking of vehicle 102 into the available parking space 104. As shown in Fig. As illustrated in Figure 1, the mobile device includes a communication module 120 and a touchscreen 122.

[0028] The communication module 120 communicates with other communication modules. For example, the communication module 120 is a short-range wireless module that connects wirelessly to the communication module 116 to establish communication between the mobile device 100 and the vehicle 102. The communication module 120 includes the hardware and firmware to establish a connection with the communication module 116 of the vehicle 102. In some examples, the communication module 116 implements the WiFi, Bluetooth®, and / or Bluetooth® Low Energy (BLE) protocols.

[0029] The touchscreen 122 of the mobile device 100 provides an interface between the user 118 and the mobile device 100, enabling the user 118 to initiate remote parking of the vehicle 102. The touchscreen 122 is, for example, a resistive touchscreen, a capacitive touchscreen, and / or any other type of touchscreen that displays output information to the user 118 of the mobile device 100 and tactilely receives input information from them. In some examples, the mobile device 100 also includes other input devices (e.g., buttons, knobs, microphones, etc.) and / or output devices (e.g., speakers, LEDs, etc.) to receive input information from the user 118 of the mobile device 100 and / or to provide output information to them.During operation, user 118 interacts with the touchscreen 122 to initiate remote parking of vehicle 102 via the mobile device 100. Based on inputs received from user 118 via the touchscreen 122, the communication module 120 of the mobile device sends a signal 124 to the communication module 116 of vehicle 102, which instructs the autonomy unit 114 to initiate remote parking of vehicle 102.

[0030] Fig. Figure 2 illustrates an exemplary display 200 of the touchscreen 122 of the mobile device 100 according to the teachings in this document. The display 200 includes a motion track 202 (e.g., a first motion track) shown on the touchscreen 122, which is continuous and predefined by the user 118. The user 118 interacts with the motion track 202 by drawing a travel path 204 on the touchscreen 122 within the motion track 202 to define a pattern that he wishes to use to initiate the remote-controlled parking of the vehicle 102 in the available parking space 104.

[0031] As in Fig. As illustrated in Figure 2, the motion track 202 is defined by an inner boundary 206 and an outer boundary 208. The inner boundary 206 and the outer boundary 208 are spaced apart by a distance and / or a number of pixels of the touchscreen 122, such that the motion track 202 has a width 210, which is defined by the distance and / or the number of pixels between the inner boundary 206 and the outer boundary 208. In some examples, the width 210 of the motion track 202 is predefined by the user 118 and / or software used for remotely parking the vehicle 102 via the mobile device 100. In some examples, the width 210 of the motion track 202 is based on a difference between motion paths (e.g., the motion paths 302 from Fig. 3) defined, which the user 118 provides via the touchscreen 122 to define a route, direction, location and / or other feature of the movement track 202.

[0032] Display 200 from the illustrated example also includes the driving path 204, which user 118 provides via touchscreen 122 to initiate remote parking of vehicle 102. The driving path 204 is a continuous line that user 118 draws via touchscreen 122. As in Fig. As illustrated in Figure 2, route 204 includes a starting point 212 and a waypoint 214 opposite starting point 212. Starting point 212 corresponds to a location on touchscreen 122 where user 118 begins drawing route 204. Waypoint 214 corresponds to a location on touchscreen 122 where user 118 is currently touching or pressing the touchscreen 122 to continue drawing route 204.

[0033] The touchscreen 122 detects the driving point 214, the starting point 212, and points on the driving path 204 in between to determine whether the mobile device 100 should send the signal 124 to the autonomy unit 114 of the vehicle 102 to initiate remote parking of the vehicle 102. For example, based on the information gathered by the touchscreen 122, the mobile device 100 determines whether the driving point 214 is moving within the driving path 202. Furthermore, in some examples, the mobile device 100 determines the direction in which the driving point 214 is moving within the driving path 202 by comparing the driving point 214 (i.e., the current position) with the starting point 212 (i.e., the initial position) and all points on the driving path 204 in between.Based on the movement of the driving point 214 detected via the touchscreen 122 on the display 200, the mobile device 100 wirelessly sends the signal 124 via the communication module 116 and the wireless communication module 120 to the autonomy unit 114 of the vehicle 102 in order to initiate remote parking of the vehicle 102.

[0034] In some examples, the mobile device 100 is configured to send the signal 124 to initiate remote parking of the vehicle 102 such that the autonomy unit 114 continues to remotely park the vehicle 102 as long as the touchscreen 122 continues to detect movement of the driving point 214 within the driving path 204. This means that during remote parking of the vehicle 102, the autonomy unit 114 performs both forward and reverse maneuvers in response to the touchscreen 122 continuing to detect movement of the driving point 214 within the driving path 202 (e.g., clockwise and / or counterclockwise).

[0035] In some examples, the mobile device 100 is configured to send the signal 124 to initiate movement of the vehicle 102 in a specific direction during remote parking, based on the detected direction of movement of the driving point 214 within the movement track 202. For example, the communication module 120 of the mobile device 100 sends the signal 124 to initiate forward movement during remote parking of the vehicle 102 in response to the touchscreen 122 detecting that the driving point 214 is moving clockwise within the movement track 202.In some such examples, the communication module 120 of the mobile device 100 sends the signal 124 to initiate a reverse movement during remote parking of the vehicle 102 in response to the touchscreen 122 detecting that the driving point 214 is moving counterclockwise within the movement track 202. In other such examples, a counterclockwise movement of the driving point 214 corresponds to a forward movement of the vehicle 102, and a clockwise movement of the driving point 214 corresponds to a reverse movement of the vehicle 102. Furthermore, in other examples, the movement track 202 of the display 200 is only intended to initiate a forward movement during remote parking if the driving point 214 is moving clockwise within the movement track 202. The display 200 from the illustrated example includes a reverse button 216, which displays another display with a different movement track (e.g.B. a display 400 with a movement trace 402 from . Fig. 4) represents, which is intended only to initiate a reverse movement when selected by user 118.

[0036] Furthermore, in some examples, the movement speed of the driving point 214 detected via the touchscreen 122 corresponds to the driving speed of the vehicle 102 during remote-controlled parking. For example, the faster the user 118 moves the driving point 214 along the touchscreen 122, the faster the autonomous unit 114 moves the vehicle 102 during remote-controlled parking. Conversely, the slower the user 118 moves the driving point 214 along the touchscreen 122, the slower the autonomous unit 114 moves the vehicle 102 during remote-controlled parking.

[0037] If the driving point 214 is not within the movement lane 202, the mobile device 100 does not send the signal 124 to initiate remote parking of the vehicle 102. Furthermore, the mobile device 100 provides an alarm to the user 118 if the driving point 214 is outside the movement lane 202. For example, the mobile device 100 provides a visual warning via the touchscreen 122, a haptic warning by vibration of the mobile device 100, and / or an audible warning via the speaker of the mobile device 100. Additionally or alternatively, the mobile device 100 provides the alarm if the driving point 214 approaches a boundary (e.g., the inner boundary 206, the outer boundary 208) of the movement lane 202.This means that the mobile device 100 provides the user 118 with an alarm to make it easier for the user 118 to move the driving point 214 back into the movement path 202 and / or to continue parking the vehicle 102 remotely. Additionally or alternatively, the mobile device 100 provides an alarm if a user attempts to define a movement path that runs too close to an edge of the touchscreen 122.

[0038] In some examples, the mobile device 100 continues to send the signal 124 to initiate remote parking of the vehicle 102 if the driving point 214 is outside the movement track 202 for less than the predetermined time threshold and / or by less than the predetermined distance threshold. In such examples, the mobile device 100 provides an alarm to the user 118 if the driving point 214 is outside the movement track 202 for less than the predetermined time threshold and / or by less than the predetermined distance threshold.If the driving point 214 has been outside the movement track 202 for at least the predetermined time threshold and / or is located at least the predetermined distance threshold away from the movement track 202 on the display 200, the mobile device 100 sends another signal to the vehicle 102 to stop the remotely controlled parking of the vehicle 102 and thus stop the automated movement of the vehicle 102.

[0039] Fig. Figure 3 illustrates another exemplary display 300 of the touchscreen 122 of the mobile device 100 according to the teachings in this document. The display 300 includes the motion paths 302, which are received from the user 118 via the touchscreen 122 and are used to define a location and shape of the motion trace 202 on the display 200. For example, to enable the user 118 to define the shape and location of the motion path on the display 200, the user 118 draws a first motion path 302a, a second motion path 302b, and a third motion path 302c. In the illustrated example, the touchscreen 122 receives the first motion path 302a, the second motion path 302b, and the third motion path 302c, which the user 118 provides in a continuous motion starting at a starting point 304. The movement trace 202 is determined based on the location and shape of each of the movement paths (by, for example,B. an average of the position and / or shape of the motion paths 302 is determined). In some examples, a deviation between the motion paths 302 is used to determine the width 210 of the motion track 202. For example, the width 210 of the motion track 202 is smaller the more similar the shape and position of each of the motion paths 302 are to each other, and the width 210 of the motion track 202 is larger the less similar the shape and position of each of the motion paths 302 are to each other.

[0040] Fig. Figure 4 illustrates another exemplary display 400 of the touchscreen 122 of the mobile device 100 according to the teachings in this document. In the illustrated example, the display 400 includes a motion track 402 (e.g., a second motion track) that is continuous, predefined by the user 118, and defined by an inner boundary 404 and an outer boundary 406. As in Fig. As illustrated in Figure 4, the motion track 402 has a different shape, size, and / or position on the touchscreen 122 compared to the motion track 202. The motion track 402 is solely intended for initiating a reverse movement during the remote-controlled parking of the vehicle 102. The mobile device 100 sends the signal 124 to initiate the reverse movement during the remote-controlled parking of the vehicle 102 in response to the touchscreen 122 detecting that the driving point 214 is moving counterclockwise within the motion track 402.This means that display 200 is used to initiate forward movement during remote parking when the driving point 214 moves clockwise within the movement track 202 of display 200, and display 400 is used to initiate reverse movement during remote parking when the driving point 214 moves counterclockwise within the movement track 402 of display 400. For example, display 400 includes a forward button 408, which represents display 200 with movement track 202, intended only to initiate forward movement when selected by user 118.

[0041] Fig. Figure 5 illustrates another exemplary display 500 of the touchscreen 122 of the mobile device 100 according to the teachings in this document. In the illustrated example, the display 500 includes a motion track 502 (e.g., a third motion track) that is continuous, predefined by the user 118, and defined by an inner boundary 504 and an outer boundary 506. The motion track 502 has a different shape, size, and / or location on the touchscreen 122 with respect to the motion track 202 and / or the motion track 402. For example, in response to the mobile device 100 detecting that it is in a landscape orientation, the display 500 is shown on the touchscreen 122, whereas in response to the mobile device 100 detecting that it is in a portrait orientation, the display 200 is shown on the touchscreen 122.In the illustrated example, the motion track 502 of the display 500 is intended solely to initiate a forward movement during remote-controlled parking in response to the touchscreen 122 detecting that the driving point 214 is moving clockwise within the motion track 502. The display 500 also includes a reverse button 508, which is a different display when the mobile device 100 is in landscape orientation and is intended solely to initiate a reverse movement when selected by the user 118.

[0042] Fig. Figure 6 illustrates another exemplary display 600 of the touchscreen 122 of the mobile device 100 according to the teachings in this document. In the illustrated example, the display 600 includes a motion track 602 (e.g., a fourth motion track) that is continuous, predefined by the user 118, and defined by an inner boundary 604 and an outer boundary 606. The motion track 602 has a different shape, size, and / or position on the touchscreen 122 with respect to the motion track 202, the motion track 402, and / or the motion track 502.For example, in response to the mobile device 100 detecting that it is being held by the user's right hand 118, the display 600 is shown on the touchscreen 122, while in response to the mobile device 100 detecting that it is being held by the user's left hand 118, the display 200 is shown on the touchscreen 122. In the illustrated example, the motion track 602 of the display 600 is intended solely to initiate a forward movement during remote-controlled parking in response to the touchscreen 122 detecting that the driving point 214 is moving clockwise within the motion track 602.The display 600 also includes a reverse button 608, which displays a different display when the mobile device 100 is in landscape orientation, intended only to initiate a reverse movement when selected by the user 118.

[0043] Fig. Figure 7 is a block diagram of the mobile device 100 and the vehicle 102. As shown in Fig. As illustrated in Figure 7, the mobile device 100 includes the touchscreen 122, a pathfinder 702, a parking initiator 704, and the communication module 120. The touchscreen 122 is communicatively connected to the pathfinder 702 and the parking initiator 704, the pathfinder 702 and the parking initiator 704 are communicatively connected to each other, and the parking initiator 704 is communicatively connected to the communication module 120. Furthermore, the vehicle 102 includes the autonomy unit 114 and the communication module 116, which are communicatively connected to each other.

[0044] The touchscreen 122 displays a screen (e.g., screen 200, screen 300, screen 400, screen 500) to the user 118 and receives input from the user 118. For example, the touchscreen 122 detects a movement along which the user touches or presses the touchscreen 122.

[0045] To define, for example, a motion track (e.g., motion track 202, motion track 402, motion track 502, motion track 602), the path imager 702 detects a multitude of motion paths (e.g., motion paths 302) received from the user 118 via the touchscreen 122 and defines the corresponding motion track based on this multitude of motion paths (e.g., by calculating an average of the multitude of motion paths). The path imager 702 defines a shape, size, and / or location on the touchscreen 122 based on this multitude of motion paths.

[0046] To facilitate the initiation of remote parking of vehicle 102, the touchscreen 122 displays one of the motion paths predefined by user 118 via path images 702. After the motion path has been displayed, the touchscreen 122 detects a driving point (e.g., driving point 214). The parking initiator 704 from the illustrated example determines whether the touch point is moving within the displayed motion path. In response to the determination that the driving point is moving within the motion path, the parking initiator 704 wirelessly transmits a signal (e.g., signal 124) via communication module 120 and communication module 116 to the autonomy unit 114 of vehicle 102 to initiate remote parking of vehicle 102.In some examples, the parking initiator 704 sends a signal to initiate forward movement during remote parking of vehicle 102 in response to the determination that the driving point is moving clockwise within the movement track. In some examples, the parking initiator 704 sends a signal to initiate reverse movement during remote parking of vehicle 102 in response to the determination that the driving point is moving counterclockwise within the movement track.

[0047] Additionally or alternatively, the parking initiator 704 causes the mobile device 100 to issue a warning (e.g., a visual warning, an audible warning, a haptic warning, etc.) to the user 118 in response to the determination that the driving point is located outside the movement path and / or moving. This warning makes it easier for the user 118 to move the driving point back into the movement path, thus initiating remote parking of the vehicle 102. Furthermore, in some examples, the parking initiator 704 sends a signal to stop remote parking of the vehicle 102 in response to the determination that the driving point is located outside the movement path, has been located outside the movement path for at least a predetermined time threshold, and / or is located at least a predetermined distance threshold away from the movement path.

[0048] Fig. Figure 8 is a block diagram of electronic components 800 of the mobile device 100. As in Fig. As illustrated in Figure 8, the electronic components 800 of the mobile device 100 include the communication module 120, the touchscreen 122, a processor 802, a memory 804, an accelerometer 806 and a camera 808.

[0049] The 802 processor is structured such that it includes the 702 path image and the 704 park initiator. Alternatively, in some examples, the 702 path image and / or the 704 park initiator are combined into a single processor (e.g., a 910 processor). Fig. 9) of the vehicle 102. The processor 802 can be any suitable processing device or set of processing devices, such as, but not limited to, a microprocessor, a microcontroller-based platform, an integrated circuit, one or more field-programmable gate arrays (FPGAs) and / or one or more application-specific integrated circuits (ASICs).

[0050] Memory 804 can refer to volatile memory (e.g., RAM, including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.), non-volatile memory (e.g., disk storage, FLASH memory, EPROMs, EEPROMs, memristor-based non-volatile solid-state memory, etc.), immutable memory (e.g., EPROMs), read-only memory, and / or high-capacity storage devices (e.g., hard disks, solid-state drives, etc.). In some examples, Memory 804 encompasses multiple memory types, particularly volatile and non-volatile memory.

[0051] The Memory 804 is a computer-readable medium on which one or more sets of instructions, such as the software for executing the methods of this disclosure, may be embedded. The instructions may embody one or more of the methods or logic as described herein. For example, during execution, the instructions may be located wholly or at least partially within any one or more of the Memory 804, the computer-readable medium, and / or the Processor 802.

[0052] The terms “non-transitory computer-readable medium” and “computer-readable medium” include one or more media, such as a centralized or distributed database and / or associated caches and servers, on which one or more sets of instructions are stored. Furthermore, the terms “non-transitory computer-readable medium” and “computer-readable medium” include any physical medium capable of storing, encrypting, or carrying a set of instructions for execution by a processor, or capable of causing a system to perform any one or more of the methods or operations disclosed herein. As used herein, the term “computer-readable medium” is expressly defined to include any type of computer-readable storage device and / or storage disk and excludes the propagation of signals.

[0053] Furthermore, the accelerometer 806 detects the orientation of the mobile device 100, the acceleration at which the mobile device 100 is moving, and / or the velocity at which the mobile device 100 is moving. In some examples, the pathfinder 702 uses data collected by the accelerometer 806 to determine the orientation (e.g., portrait or landscape) and / or which hand of the user 118 (e.g., left or right) is holding the mobile device 100. For example, the camera 808 takes a picture and / or video of an area adjacent to the mobile device 100. The pathfinder 702 analyzes the picture(s) and / or video taken by the camera 808 to determine whether the mobile device 100 is being held by the left or right hand of the user 118.

[0054] Fig. Figure 9 is a block diagram of electronic components 900 of vehicle 102. As in Fig. As illustrated in Figure 9, the electronic components 900 of the vehicle 102 include the communication module 116, an on-board computing platform 902, sensors 904, electronic control units 906 (ECUs) and a vehicle data bus 908.

[0055] The onboard computing platform 902 includes a microcontroller unit, a controller or processor 910, and a memory 912. The processor 910 can be any suitable processing device or set of processing devices, such as, but not limited to, a microprocessor, a microcontroller-based platform, an integrated circuit, one or more field-programmable gate arrays (FPGAs), and / or one or more application-specific integrated circuits (ASICs). The memory 912 can be volatile memory (e.g., RAM, including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.), non-volatile memory (e.g., disk memory, FLASH memory, EPROMs, EEPROMs, memristor-based non-volatile solid-state memory, etc.), or non-removable memory (e.g.,This refers to EPROMs), read-only memory, and / or high-capacity storage devices (e.g., hard disks, solid-state drives, etc.). In some examples, Memory 912 includes several types of memory, particularly volatile and non-volatile memory.

[0056] Memory 912 is a computer-readable medium on which one or more sets of instructions, such as the software for executing the methods of this disclosure, may be embedded. The instructions may embody one or more of the methods or logic as described herein. For example, during execution, the instructions may be located wholly or at least partially within any one or more of Memory 912, the computer-readable medium, and / or the Processor 910.

[0057] The sensors 904 are arranged in and around the vehicle 102 to monitor properties of the vehicle 102 and / or an environment in which the vehicle 102 is located. One or more of the sensors 904 may be mounted around an exterior surface of the vehicle 102 to measure properties. Additionally or alternatively, one or more of the sensors 904 may be mounted inside a cabin of the vehicle 102 or in a body of the vehicle 102 (e.g., an engine compartment, wheel wells, etc.) to measure properties in an interior space of the vehicle 102. Examples of sensors 904 include accelerometers, odometers, speedometers, pitch and yaw rate sensors, wheel speed sensors, microphones, tire pressure sensors, biometric sensors, and / or sensors of any other suitable type.In the illustrated example, the sensors 904 include a camera 914, a radar sensor 916, and a vehicle speed sensor 918. For example, the camera 914 acquires an image and / or video to enable the detection and localization of a nearby object or objects, or the radar sensor 916 detects and localizes the nearby object or objects via radio waves to facilitate the autonomous unit 114's autonomous parking of the vehicle 102 in the available parking space 104. Furthermore, the vehicle speed sensor 918 monitors the speed of the vehicle 102 to facilitate the autonomous unit 114's autonomous parking of the vehicle 102.

[0058] The ECUs 906 monitor and control the subsystems of the vehicle 102. For example, the ECUs 906 are discrete sets of electronic components that include their own circuitry (e.g., integrated circuits, microprocessors, RAM, data storage, etc.) and firmware, sensors, actuators, and / or mounting hardware. The ECUs 906 communicate and exchange information via a vehicle data bus (e.g., the vehicle data bus 908). Additionally, the ECUs 906 can communicate properties (e.g., ECU 906 status, sensor readings, control state, fault and diagnostic codes, etc.) to each other and / or receive requests from each other. For example, the vehicle 102 may have seventy or more ECUs 906 positioned at various locations around the vehicle 102 and communicatively linked via the vehicle data bus 908. In the illustrated example, the ECUs 906 include an Autonomous Control Unit 114 and a Body Control Module 920.The body control module 920 controls one or more subsystems in the entire vehicle 102, such as electric windows, central locking, an immobilizer, electrically adjustable mirrors, etc. For example, the body control module 920 includes circuits that drive one or more of relays (e.g., for controlling windshield washer fluid, etc.), brushed direct current (DC) motors (e.g., for controlling electrically adjustable seats, central locking, electric windows, windshield wipers, etc.), stepper motors, LEDs, etc.

[0059] The vehicle data bus 908 connects the communication module 116, the on-board computing platform 902, the sensors 904, and the ECUs 906. In some examples, the vehicle data bus 908 includes one or more data buses that are isolated by a gateway module or a gateway function in the communication module 116, the on-board computing platform 902, or the ECUs 906. The vehicle data bus 908 can be implemented according to a Controller Area Network (CAN) bus protocol as defined by International Standards Organization (ISO) 11898-1, a Media-Oriented Systems Transport (MOST) bus protocol, a CAN Flexible Data (CAN FD) bus protocol (ISO 11898-7) and / or a K-line bus protocol (ISO 9141 and ISO 14230-1) and / or an Ethernet™ bus protocol IEEE 802.3 (from 2002 onwards), etc.

[0060] Fig. Figure 10 is a flowchart of an exemplary procedure 1000 for initiating remote-controlled parking of a vehicle using a mobile device. The flowchart from Fig. 10 is representative of machine-readable instructions stored in a memory (such as the 804 memory from Fig. 8) are stored and contain one or more programs which, when executed by a processor (such as the 802 processor from Fig. 8) cause the mobile device 100 to display the exemplary path images 702 and / or the exemplary parking inlet 704 from Fig. 7 and Fig. 8 to be implemented. Additionally or alternatively, the flowchart of Fig. 10 representative of machine-readable instructions stored in a memory (such as memory 912 from Fig. 9) are stored and contain one or more programs which, when executed by a processor (such as the 910 processor from Fig. 9) cause the autonomy unit 114 to withdraw vehicle 102 from Fig. 1, Fig. 7 and Fig. 9 to park remotely. Although the exemplary program refers to the one in Fig. As described in the illustrated flowchart 10, many other methods can alternatively be used to initiate remote parking of vehicle 102. For example, the execution sequence of the blocks can be rearranged, changed, eliminated, and / or combined to perform procedure 1000. Since procedure 1000, in conjunction with the components from Fig. Furthermore, as disclosed in 1-9, some functions of these components are not described in detail below.

[0061] First, at block 1002, the path imager 702 of the mobile device 100 determines a configuration of the mobile device 100. For example, the path imager 702 detects whether the mobile device 100 is in a portrait or landscape orientation, and / or it determines whether the user 118 is holding the mobile device 100 with their right or left hand. At block 1004, the touchscreen 122 receives a selection of a desired direction of travel during the remote-controlled parking of the vehicle 102 from the user 118. For example, the touchscreen 122 receives whether the vehicle 102 should move forward or backward during the remote-controlled parking of the vehicle 102.

[0062] At block 1006, path image 702 determines whether a motion track (e.g., motion track 202, motion track 402, motion track 502, motion track 602) exists that corresponds to the configuration of the mobile device 100 and the intended direction of travel of the vehicle 102. For example, if path image 702 determines that the mobile device 100 is in a portrait orientation and is being held by the left hand of the user 118, and the user 118 selects a forward movement via the touchscreen 122, path image 702 determines whether a motion track exists that has been predefined for the user 118 for cases in which the mobile device 100 is in a portrait orientation, is being held by the left hand, and a forward movement is intended.

[0063] In response to the path image 702 determining that no motion track exists that was previously defined by the user 118 for the configuration of the mobile device 100 and the intended direction of travel of the vehicle 102, the procedure 1000 proceeds to block 1008, where the path image 702 determines the orientation (e.g., portrait orientation, landscape orientation) of the mobile device 100. At block 1010, the path image 702 determines which hand (e.g., right hand, left hand) of the user 118 is holding the mobile device 100. The path image 702 determines the orientation of the mobile device 100 at block 1008 and the hand holding the mobile device 100 at block 1010 in order to determine the configuration of the mobile device 100 that should correspond to the motion track to be defined.At block 1012, the path imager 702 receives a targeted direction of travel, which is detected by the touchscreen 122 and provided by the user 118. At block 1014, the path imager 702 receives movement paths (e.g., the movement paths 302 from...). Fig. 3) via the touchscreen 122. At block 1016, the path image 702 determines a motion track for the configuration of the mobile device 100 and the targeted direction of travel of the vehicle 102, which were received at blocks 1008, 1010, and 1012, based on the motion paths received at block 1014. For example, at block 1016, the path image 702 determines the location, size, and shape of the motion track 202 based on the motion paths 302 received via the touchscreen 122.

[0064] Returning to block 1006, the procedure 1000, in response to the path image 702 determining that no motion path exists that was previously defined by the user 118 for the configuration of the mobile device 100 and the intended direction of travel of the vehicle 102, proceeds to block 1018, where the parking initiator 704 displays the motion path to the user 118 via the touchscreen 122. For example, the parking initiator 704 displays the screen 200, which includes the motion path 202 (e.g., a first motion path), when the mobile device 100 is in portrait orientation, the mobile device 100 is held in the right hand of the user 118, and / or a forward movement is to be initiated during remotely controlled parking of the vehicle 102. Additionally or alternatively, the parking initiator 704 displays the screen 400 via the touchscreen 122, which shows the movement track 402 (e.g.a second movement track) if a reverse movement is to be initiated during the remote-controlled parking of the vehicle 102; it displays the display 500 via the touchscreen 122, which includes the movement track 502 (e.g. a third movement track) if the mobile device 100 is in landscape orientation; and / or it displays the display 600 via the touchscreen 122, which includes the movement track 602 (e.g. a fourth movement track) if the mobile device 100 is held by the left hand of the user 118.

[0065] At block 1020, the parking initiator 704 detects whether the user 118 has provided a driving point (e.g., driving point 214) via the touchscreen 122. For example, the user 118 provides the driving point by pressing or touching the touchscreen 122. In response to the parking initiator 704 not detecting the driving point on the touchscreen 122, the procedure 1000 returns to block 1018. Otherwise, in response to the parking initiator 704 detecting the driving point on the touchscreen 122, the procedure 1000 proceeds to block 1022, where the parking initiator 704 determines whether the driving point is moving within the motion path represented by the touchscreen 122.

[0066] In response to the parking initiator 704 determining that the driving point is not within the movement path, procedure 1000 proceeds to block 1024, where the parking initiator 704 presents a warning (e.g., audible, visual, haptic, etc.) to user 118 to inform them that the driving point is positioned or moving outside the movement path. At block 1026, the parking initiator 704 determines whether the driving point has been outside the movement path for at least a predetermined time threshold and / or by at least a predetermined distance threshold. In response to the parking initiator 704 determining that the driving point has not been outside the movement path for at least the predetermined time threshold or by at least the predetermined distance threshold, procedure 1000 returns to block 1018.In response to the parking initiator 704 determining that the driving point has been outside the movement path for at least the predetermined time threshold or by at least the predetermined distance threshold, the procedure 1000 proceeds to block 1028, where the parking initiator 704 sends signal 124 via communication module 120 and communication module 116 to the autonomy unit 114 of vehicle 102 to stop remote parking and / or any other movement of vehicle 102.

[0067] Returning to block 1022, procedure 1000 proceeds to block 1030 in response to the parking initiator 704 determining that the driving point is within the movement path. At block 1030, the parking initiator 704 determines the direction of movement of the driving point within the movement path and sends signal 124 to the autonomy unit 114 of vehicle 102 to initiate remote parking based on the determined direction of movement of the driving point within the movement path. For example, the parking initiator 704 sends signal 124 to initiate forward movement during the remote parking of vehicle 102 in response to the parking initiator 704 determining that the driving point is moving clockwise within the movement path.Additionally or alternatively, the parking initiator 704 sends signal 124 to initiate a reverse movement during remote parking of the vehicle 102 in response to the parking initiator 704 determining that the driving point is moving counterclockwise within the movement path. In other examples, the parking initiator 704 sends signal 124 to initiate both forward and reverse maneuvers during remote parking, as determined by the autonomy unit 114, in response to the parking initiator 704 detecting clockwise and / or counterclockwise movement of the driving point.

[0068] At block 1032, the autonomy unit 114 of vehicle 102 moves vehicle 102, based on signal 124, to remotely park vehicle 102 in the available parking space 104. At block 1034, the autonomy unit 114 determines whether vehicle 102 has been parked in the available parking space 104. In response to the autonomy unit 114 determining that vehicle 102 has not been parked in the available parking space 104, procedure 1000 returns to block 1018. In response to the autonomy unit 114 determining that vehicle 102 has been parked in the available parking space 104, procedure 1000 terminates.

[0069] In this application, the use of disjunction should include conjunction. The use of definite or indefinite articles should not indicate cardinality. In particular, a reference to "the" object or "a" object should also refer to one from a possible multitude of such objects. Furthermore, the conjunction "or" can be used to indicate features that are present simultaneously, rather than mutually exclusive alternatives. In other words, the conjunction "or" should be understood as including "and / or." The expressions "includes," "containing," and "include" are inclusive and have the same scope as "comprises," "comprising," and "encompassing," respectively.

[0070] The embodiments described above, and in particular any "preferred" embodiments, are possible examples of implementations and are presented solely for the purpose of clearly understanding the principles of the invention. Many variations and modifications can be made to the embodiment(s) described above without substantially departing from the spirit and principles of the techniques described herein. All such modifications are hereby included within the scope of this disclosure and protected by the following claims.

Claims

[1] Method for initiating remote parking of a vehicle, the method comprising: Displaying an initial motion trace that is predefined by a user and is continuous, via a touchscreen of a mobile device; Detecting a user's driving point on the touchscreen; Initiating a forward movement during the remote parking of a vehicle in response to a processor determining that the driving point is moving clockwise within the first movement track. [2] Method according to claim 1, further comprising initiating a reverse movement during remotely controlled parking of the vehicle in response to the determination that the driving point is moving counterclockwise within the first movement track. [3] Method according to claim 1, further comprising displaying a warning in response to the determination that the driving point is moving outside the first movement track. [4] Method according to claim 3, further comprising stopping the remotely controlled parking of the vehicle in response to the determination that the driving point has moved outside the first movement lane for at least a predetermined time threshold. [5] Method according to claim 1, further comprising detecting a plurality of motion paths received from the user via the touchscreen and defining the first motion path of the user based on the plurality of motion paths. [6] Method according to claim 1, wherein a movement speed of the driving point within the first movement track corresponds to a driving speed of the vehicle during remote-controlled parking. [7] Method according to claim 1, further comprising displaying a second motion track, which differs from the first motion track, is predefined by the user and is continuous, via the touchscreen. [8] Method according to claim 7, wherein the second motion track has a different shape and a different location on the touchscreen in relation to the first motion track. [9] Method according to claim 8, further comprising representing the first motion track for initiating a forward movement during remote-controlled parking of the vehicle or representing the second motion track for initiating a reverse movement during remote-controlled parking of the vehicle. [10] Method according to claim 9, further comprising, when the second motion track is displayed via the touchscreen, initiating the reverse movement during remotely controlled parking of the vehicle in response to the determination that the driving point is moving counterclockwise within the second motion track. [11] Method according to claim 1, further comprising displaying a third motion track, which differs from the first motion track, is predefined by the user and is continuous, via the touchscreen. [12] Method according to claim 11, further comprising: Displaying the first movement trace via the touchscreen in response to the detection that the mobile device is in a portrait orientation; and Displaying the third motion trace via the touchscreen in response to the detection that the mobile device is in a landscape orientation. [13] Method according to claim 1, further comprising displaying a fourth motion track, which differs from the first motion track, is predefined by the user and is continuous, via the touchscreen. [14] Method according to claim 13, further comprising: Displaying the initial movement trace across the touchscreen in response to the detection that the user's right hand is holding the mobile device; and Displaying the fourth motion trace via the touchscreen in response to the detection that the user's left hand is holding the mobile device. [15] Method according to claim 14, further comprising determining whether the user’s left hand or right hand is holding the mobile device, via at least one camera and accelerometer of the mobile device.

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