Method and device for remotely controlling the movement of a vehicle

Abstract

A method for remotely controlling the movement of a vehicle (35) using a handheld device (1) is described. The method comprises the following steps: activating (11, 14, 23) a button (7, 8) by a user pressing and holding the button (7, 8); setting a tilt angle (2) of the device (1) by the user starting from an initial tilt angle when the button (7, 8) is activated; receiving a signal representing the current tilt angle (2) of the device (1) (15, 16, 24, 25); converting the received signal into a virtual pedal position corresponding to a position of a physical pedal; controlling the movement of the vehicle (35) according to the virtual pedal position (19, 20, 28, 29); and stopping (12, 21) the vehicle (35) when the pressing and holding of the button (7, 8) is discontinued.

Description

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

[0002] Precisely maneuvering a vehicle at low speeds in situations with unpredictable road conditions, especially unpredictable road friction, and / or near nearby objects can be very challenging for a user. This is particularly true for a fully loaded vehicle and / or a trailer. An example scenario is pulling a trailer loaded with a boat out of the water. In such situations, users often rely on assistance from others outside the vehicle for navigation. The person outside typically monitors the vehicle's movement from the outside, particularly by observing it from different positions, and provides feedback to the user, for example, by voice or hand signals.However, such assistance is not always available. In this case, it would be useful if the user could assume both roles. This requires a remote control of the vehicle that allows the user to move freely around the vehicle while controlling it from their respective position.

[0003] Similar assistance functions are known for parking situations, where a user can leave the vehicle before it is automatically maneuvered into a parking space, for example, a tight one. In these situations, the longitudinal and lateral movement of the vehicle is controlled by a driver assistance function.

[0004] According to current legislation for driver assistance systems, a user must monitor the automatic parking maneuver. This is done, for example, by confirming the monitoring, either by drawing a specific pattern on a display or by pressing a button on a handheld device that is electronically paired with the vehicle, such as via Bluetooth. However, this user confirmation is binary, meaning that confirmation or non-confirmation depends on the quality of the input signal provided by the user. In the situation described above, a user typically operates the vehicle's control units, such as the brake pedal, accelerator pedal, and steering wheel, in much smaller increments, if not continuously.Users often apply only very light pressure to the accelerator pedal or release the brake pedal very slightly to observe whether the vehicle reacts as expected. It would therefore be desirable if a handheld device used for remote control could replicate this process.

[0005] Documents US 11,648,976 B2 and US 2022 / 0179410 A1 disclose systems and methods for remotely controlling the movement of a vehicle and trailer using a mobile device. These systems utilize a change in the tilt angle of the mobile device for control. Document US 2023 / 0128580 A1 describes a method for remotely parking a vehicle using a mobile device. Document EP 3284651 B1 discloses a method for remotely maneuvering a motor vehicle using a mobile device.

[0006] Against the background described above, the object of the present invention is to provide an advantageous method and a control device for remotely controlling the movement of a vehicle by means of 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 claim 1, a control device for remotely controlling the movement of a vehicle according to claim 10, and by a vehicle according to claim 11. The dependent claims contain further advantageous embodiments of the invention.

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

[0008] In the next step, the user adjusts the device's tilt angle, starting from an initial tilt angle when the button is activated. A signal representing the initial tilt angle can be detected when the button is activated. In a further step, a signal representing the current tilt angle (e.g., the set angle) is received. In this context, the device's current tilt angle can be specifically determined.

[0009] In a further step, the received signal is converted into a virtual pedal position, which corresponds to the position of a physical pedal. This pedal could be, for example, an accelerator pedal or a brake pedal. The vehicle's movement is then controlled according to this virtual pedal position. In other words, the vehicle is controlled as if the corresponding physical pedal were actually pressed. In the case of an accelerator pedal, increasing the device's tilt angle causes the vehicle to move as if an accelerator pedal were being pressed down at the same angle.In the case of a brake pedal, a reduction in the tilt angle of the device would correspond to a corresponding release of the brake, and the vehicle would react in the same way as if the brake pedal were released.

[0010] If the button press and hold is stopped, i.e., if the button is released or the hold is interrupted, the vehicle will stop, preferably immediately. This is very advantageous from a safety perspective.

[0011] The handheld device is preferably a mobile device, for example a mobile phone, a tablet, a netbook, a smartwatch, etc.

[0012] The method according to the invention has the advantage that no second person is required to navigate the vehicle and that one user can assume both the role of the driver and that of the person navigating. Furthermore, potential misunderstandings between the person navigating and the user are avoided. This improves safety in connection with vehicle navigation and increases user comfort.

[0013] Preferably, the pedal position is either an accelerator pedal position or a brake pedal position. The tilt angle can be determined with respect to a defined axis, e.g., a longitudinal or a transverse axis, of the device.

[0014] In an advantageous variant, the device's initial tilt angle can be determined, for example, detected, when the button is activated. This can be done using the device itself. Subsequently, a tilt angle adjusted or set by the user can be determined, for example, detected. The difference between the initial tilt angle and the adjusted tilt angle can be determined, for example, detected or calculated. This tilt angle difference can then be converted into a signal representing a virtual pedal position, specifically the position of an accelerator pedal or a brake pedal.

[0015] The vehicle's speed and / or the torque of its drive motor can be kept below a specified maximum value during the procedure. This improves the safety of people or objects in the vicinity of the vehicle during the procedure. In particular, it ensures that the vehicle can only move below a specified speed during the navigation process.

[0016] Optionally, the vehicle can be steered laterally using a driver assistance function. For example, the vehicle can be steered laterally along a defined or predefined trajectory using this function. This can be done, for example, along a straight line, while maintaining a set steering angle, or along lane markings. The user can define a trajectory by drawing it on a display that shows the vehicle's current surroundings. A camera-based image of the vehicle's current surroundings can be displayed for this purpose.

[0017] In another variant, the vehicle can be stopped if it falls below a specified minimum distance to the device and / or at least one detected object and / or at least one detected person. In this context, the immediate surroundings of the vehicle can be recorded and analyzed, for example, using sensors, particularly cameras. This ensures a high level of safety during the procedure.

[0018] Furthermore, the vehicle's all-wheel drive can be activated or deactivated before moving it. This has the advantage that the user also has this option available via remote control, an option otherwise available when controlling the vehicle from the driver's seat.

[0019] The control device according to the invention for remotely controlling the movement, in particular the longitudinal movement, of a vehicle by means of a handheld device, preferably a mobile device, comprises a handheld device with an activation button, for example in the form of a button that can be pressed on a display, and a device for detecting a signal that represents the current tilt angle of the device. The device for detecting the signal representing the current tilt angle of the device can, for example, be a sensor, e.g., a gravity sensor. Advantageously, the gyroscope, which is usually installed in mobile devices for other functions, can be used for this purpose.

[0020] The control device according to the invention also comprises an evaluation unit 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 means for transmitting data from the evaluation unit to a vehicle control system for controlling the movement, in particular the longitudinal movement, of the vehicle as a function of the detected tilt angle of the device, i.e., corresponding to a virtual pedal position. The control device according to the invention is designed for carrying out a previously described method according to the invention for remotely controlling the movement of a vehicle by means of a handheld device. The control device has the features and advantages already described in this context.

[0021] The vehicle according to the invention comprises a control device according to the invention as described above. It has the same features and advantages as those described above. The vehicle can be, for example, a motor vehicle or a ship. The motor vehicle can be a passenger car, a truck, a bus, or a minibus.

[0022] The invention is explained in more detail below with reference to exemplary embodiments and the accompanying figures. Although the invention is illustrated and described in detail by the preferred embodiments, the invention is not limited by the disclosed examples and other variations can be derived from them by a person skilled in the art without departing from the scope of protection of the invention.

[0023] The figures are not necessarily detailed or to scale and may be enlarged or reduced to provide a better overview. Therefore, the functional details disclosed here are not to be understood as limiting, but merely as an illustrative basis to guide those skilled in this field of technology in using the present invention in a variety of ways.

[0024] The expression "and / or" used here, when used in a series of two or more elements, means that each of the listed elements can be used alone, or any combination of two or more of the listed elements can be used. For example, when describing a composition containing the components A, B, and / or C, the composition can contain A alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B, and C in combination. Fig. Figure 1 schematically shows a mobile device for carrying out a method according to the invention. Fig. Figure 2 schematically shows a first variant of a method according to the invention in the form of a flowchart. Fig. Figure 3 schematically shows a second variant of a method according to the invention in the form of a flowchart. Fig. Figure 4 schematically shows a control device according to the invention. Fig. Figure 5 schematically shows a vehicle according to the invention.

[0025] The Fig. Figure 1 schematically shows a mobile device for carrying out a method according to the invention. In the example shown, it is a mobile phone. Fig. In Figure 1, three axes are defined with respect to the mobile device: an x-axis, a y-axis, and a z-axis. Rotating the mobile device 1 around the x-axis changes the tilt angle. This is indicated by arrow 2. Rotating the mobile device 1 around the y-axis changes the pan angle. This is indicated by arrow 3. Rotating the mobile device 1 around the z-axis changes the roll angle. This is indicated by arrow 4.

[0026] The mobile device 1 includes a display 5. Several buttons are shown on the display 5, designed to be activated by pressing them. Button 6, shown as an example, is a button for deactivating the remote control. Button 7 is a button for pressing an accelerator pedal. Button 8 is a button for releasing a brake pedal. The optional button 9 is a button for activating all-wheel drive.

[0027] The Fig. Figure 2 schematically shows a first variant of a method according to the invention in the form of a flowchart. In this variant, a virtual accelerator pedal is actuated by means of the mobile device and a vehicle is remotely controlled accordingly.

[0028] In step 11, the procedure is started. For this, a user activates the corresponding control system. In step 12, the vehicle's brakes are engaged, meaning they are fully applied so that the vehicle does not move. In step 13, it is checked whether a button for deactivating the remote control, for example, the one in the Fig. The button shown in step 6 is pressed. If this is the case, in step 21 the vehicle's brakes remain engaged, i.e., fully applied, so that the vehicle cannot move. Then, in step 22, the process is terminated, for example, by deactivating the control system.

[0029] If the deactivation button 6 is not pressed in step 13, step 14 checks whether a button for the virtual activation of an accelerator pedal, for example the one in the Fig. The procedure checks if the button shown (7) is pressed and held. If not, the procedure returns to step 12. If it is, step 15 checks whether the tilt angle 2 of the mobile device 1 is increased. If it is, the procedure continues with step 17. If not, the procedure continues with step 16.

[0030] If the tilt angle is increased in step 15, step 17 checks whether the vehicle speed is below a defined limit, for example, a low-speed limit. The limit can be a maximum of 10 km / h, or in particular, a maximum of 5 km / h. If the vehicle speed is below the limit, the drive motor torque is increased in step 19, and the procedure continues with step 13. If the vehicle speed is not below the limit, the procedure returns directly to step 13.

[0031] If the tilt angle is not increased in step 15, step 16 checks whether the tilt angle is decreased. If not, the procedure returns to step 13. If it is, step 18 checks whether the drive motor torque is greater than zero. If not, the procedure returns to step 13. If it is greater than zero, step 20 reduces the drive motor torque, and the procedure then continues with step 13.

[0032] In connection with steps 15 and 16, the tilt angle of the mobile device 1 is recorded, for example, starting from an initial tilt angle when pressing a button to activate an accelerator pedal, e.g., button 7 in the Fig. 1. An evaluation device of a control unit for carrying out the procedure receives a signal representing the tilt angle and converts the received signal into a virtual pedal position, in this example, the position of an accelerator pedal. The drive motor torque is then increased or decreased according to the virtual pedal position. The vehicle is moved by means of the drive torque controlled in this way.

[0033] The Fig. Figure 3 schematically shows a second variant of a method according to the invention in the form of a flowchart. In this variant, a virtual brake pedal is actuated by means of the mobile device and a vehicle is remotely controlled accordingly.

[0034] Steps 11, 12, 13, 21 and 22 correspond to those in the Fig. The two steps shown and described in this context are therefore referred to in the description at Fig. 2. If the deactivation button is not pressed in step 13, step 23 checks whether a button for virtually releasing a brake, for example the one in the Fig. The process checks if button 8, shown in step 1, is pressed and held. If not, the process jumps back to step 12. If it is, step 24 checks whether the tilt angle of the mobile device is increased. If not, the process continues with step 25. If it is, the process continues with step 26.

[0035] Step 26 checks whether the brakes are engaged or fully applied. If so, the procedure returns to step 13. If not, step 28 increases the brake pressure and then returns the procedure to step 13.

[0036] If the tilt angle of mobile device 1 is not increased in step 24, step 25 checks whether the tilt angle is decreased. If not, the procedure returns to step 13. If it is, step 27 checks whether the vehicle speed is below a defined limit and whether the brake pressure is greater than zero. If not, the procedure returns to step 13. If it is, step 29 reduces the brake pressure. In other words, the brake is released analogously to the application of a physical brake pedal.

[0037] In connection with steps 24 and 25, the tilt angle of the mobile device 1 is recorded, for example, starting from an initial tilt angle when pressing a button to activate or release a brake pedal, e.g., button 8 in the Fig. 1. An evaluation device of a control unit for carrying out the procedure receives a signal representing the tilt angle and converts the received signal into a virtual pedal position, in this example, a brake pedal position. The brake pressure is then increased or decreased according to the virtual pedal position. The vehicle is moved, i.e., allowed to roll, by means of the brake pressure controlled in this way.

[0038] The Fig. Figure 4 schematically shows a control device 30 according to the invention. The control device 30 comprises a mobile device 1, for example, one located in the Fig. Figure 1 shows a mobile phone. The mobile device 1 has at least one button 7, 8 for actuating a pedal. The button could, for example, be a button 7 for actuating an accelerator pedal or a button 8 for actuating, in particular releasing, a brake pedal. The mobile device 1 also has a device 31, e.g., a corresponding sensor, for detecting a signal representing the current tilt angle of the device.

[0039] The control device 30 also includes an evaluation unit 32 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 signal transmission from the device 31 for acquiring a signal representing the current tilt angle of the mobile device to the evaluation unit 32 is indicated by an arrow 34. The evaluation unit 32 can be integrated into the mobile device 1 or into the vehicle to be controlled.

[0040] The control device also includes a device 33 for transmitting data from the evaluation device 32 to a vehicle control unit for controlling the movement, in particular the longitudinal movement, of the vehicle as a function of the detected tilt angle of the mobile device corresponding to a virtual pedal position. In other words, the device 33 is designed to transmit data to a control unit for the drive torque and / or the brake pressure.

[0041] The Fig. Figure 5 schematically shows a vehicle 35 according to the invention. The vehicle comprises a control device according to the invention, for example one in the Fig.4 Control device 30 shown. The vehicle 35 also includes a device for controlling the drive torque 36, e.g. an accelerator pedal, and a device for controlling the brake pressure 37, e.g. a brake pedal, each of which is connected to the control device 30, in particular to the data transmission device 33, for signal transmission 34. Reference symbol list: 1 mobile device 2 tilt angles 3 swivel angles 4 Roll angle 5 Display 6 Buttons to deactivate the remote control 7 Buttons for pressing an accelerator pedal 8 Buttons for releasing a brake pedal 9 Buttons to activate all-wheel drive 11. Start, activate the control system 12. Check brakes 13. Button pressed to deactivate the remote control? 14. Did you hold down the button to virtually operate an accelerator pedal? 15 Increased tilt angle of the mobile device? 16. Reduced the tilt angle of the mobile device? 17. Vehicle speed below the specified limit? 18 Drive motor torque > 0? 19 Increase drive motor torque 20 Reduce drive motor torque 21. Check brakes 22 End, deactivate control system 23. Did you hold down the button to virtually release a brake? 24 Increased tilt angle of the mobile device? 25% tilt angle of the mobile device reduced? 26 brakes detected? 27. Vehicle speed below a specified limit and brake pressure greater than zero? 28 Increase brake pressure 29 Reduce brake pressure 30 Control device 31 Device for detecting a signal representing the current tilt angle of the device 32 Evaluation unit 33 Data transmission device 34 Signal transmission 35 vehicles 36 Device for controlling the drive torque 37 Device for controlling brake pressure Yes No x coordinate axis y coordinate axis z coordinate axis QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 11 648 976 B2

[0005] US 2022 / 0 179 410 A1

[0005] US 2023 / 0 128 580 A1

[0005] EP 3 284 651 B1

[0005]

Claims

[1] Method for remotely controlling the movement of a vehicle (35) by means of a hand-held device (1), characterized by that the procedure includes the following steps: - Activation (11, 14, 23) of a button (7, 8) by pressing and holding the button (7, 8) by a user, - Setting of a tilt angle (2) of the device (1) by the user starting from an initial tilt angle when activating the button (7, 8), - Receiving a signal representing the current tilt angle (2) of the device (1) (15, 16, 24, 25), - Converting the received signal into a virtual pedal position, which corresponds to a position of a physical pedal corresponding to the virtual pedal, - controlling the movement of the vehicle (35) according to the virtual pedal position (19, 20, 28, 29), - Stop (12, 21) the vehicle (35) if pressing and holding the button (7, 8) is stopped. [2] Method according to claim 1, characterized by that the pedal position is an accelerator pedal position or a brake pedal position. [3] Method according to claim 1 or claim 2, characterized by , that an initial tilt angle (2) is determined when the button (7, 8) is activated, a tilt angle (2) adjusted by the user is determined, the tilt angle difference is determined from the initial tilt angle and the adjusted tilt angle and the tilt angle difference is converted into a virtual pedal position as a signal. [4] Method according to one of claims 1 to 3, characterized by that the tilt angle (2) is determined with respect to a fixed axis of the device (1). [5] Method according to one of claims 1 to 4, characterized bythat the speed of the vehicle (35) and / or the torque of a drive motor of the vehicle (35) is kept below a predetermined maximum value during the execution of the method. [6] Method according to one of claims 1 to 5, characterized by that the vehicle (35) is controlled laterally by means of a driver assistance function. [7] Method according to claim 6, characterized by that the vehicle (35) is controlled laterally along a defined trajectory by means of the driver assistance function. [8] Method according to one of claims 1 to 7, characterized by that the vehicle (35) is stopped if the vehicle (35) falls below a specified minimum distance to the device and / or at least one detected object and / or at least one detected person. [9] Method according to one of claims 1 to 8, characterized bythat an all-wheel drive of the vehicle (35) is activated or deactivated before moving the vehicle (35). [10] Control device (30) for remotely controlling the movement of a vehicle (35) by means of a hand-held device (1), characterized by , that the control device (30) is a hand-held device (1) with a button (7, 8) that can be activated by pressing and holding and a device (31) for detecting a signal that represents the current tilt angle (2) of the device (1), an evaluation device (32) for receiving a signal representing the current tilt angle (2) and for converting the received signal into a virtual pedal position corresponding to a position of a physical pedal corresponding to the virtual pedal, and a device for transmitting data (33) from the evaluation device (32) to a vehicle control system for controlling the movement of the vehicle (35) as a function of the detected tilt angle (2) of the device (1), wherein the control device (30) is designed to carry out a method according to one of claims 1 to 9. [11] Vehicle (35) comprising a control device (30) according to claim 10. [12] Vehicle (35) according to claim 11, characterized by that the vehicle (35) is a motor vehicle or a vessel.

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