Dynamic range adjustment during remote control of a vehicle

Abstract

In order to create a method for determining a maximum permissible range (R1, R2) between a remote control (20) and a vehicle (100), which provides a dynamic adjustment of the maximum permissible range (R1, R2) for a driver assistance system for remote control of a vehicle (100), it is proposed to determine a relative position of the remote control (20) to the vehicle (100), to determine or receive a planned vehicle action, to determine at least one environmental condition, and to determine or adjust the maximum permissible range (R1, R2) based on the planned vehicle action and the at least one determined environmental condition.

Description

[0001] The invention relates to a method for determining a maximum permissible range between a remote control and a vehicle. Furthermore, the invention relates to a vehicle arrangement.

[0002] Automated or semi-automated vehicles enable a variety of innovative functions. One such function is a remote-controlled parking assistant, which allows a driver to park or exit the vehicle using the remote control or a smartphone. Currently, a constant and predefined range between the vehicle and the remote control has been permitted. In Europe, for example, this range is currently limited to 6 m by the so-called UNECE R79. In other countries, such as China, there are currently no legal requirements for a maximum permissible range. However, limiting the maximum range is sensible in view of the hazard potential of the function and questions of user safety and product liability.Accordingly, it is necessary to consider which permissible range provides a great benefit to the customer, but is nevertheless still acceptable in terms of the risk potential, visibility and monitorability of the function.

[0003] DE 102017 119 139 A1 describes a method for operating a driver assistance device of a vehicle using a remote control to enable remote-controlled parking. The vehicle is steered along a trajectory defined by the operator's field of vision.

[0004] DE 10 2014 019 570 A1 discloses a method for remotely controlling at least one function of a vehicle using a mobile unit. The remote control function is enabled when the distance between the vehicle and the mobile unit falls below a distance threshold. The distance threshold is a predefined value. In confusing parking situations, an alternative distance threshold can be set.

[0005] DE 10 2009 043 589 A1 describes a method for limiting the range of remote-controlled driver assistance systems. A propagation time measurement of signals between the vehicle and a remote control is performed to determine a distance. Based on the determined distance, the remote control is enabled, provided the distance is within a maximum range.

[0006] While an increased range of, for example, 10 m may provide greater customer benefit, it carries the risk that the vehicle can no longer be effectively monitored in every situation. Particularly in parking maneuvers, when a vehicle is moving away from the driver, the driver often cannot monitor the vehicle along its entire trajectory because the view is obscured by the vehicle itself or by obstacles.

[0007] The invention is based on the object of creating a method by which a dynamic adjustment of the maximum permissible range for a driver assistance system for remote control of a vehicle is provided.

[0008] This object is achieved by the features specified in claim 1. Further advantageous embodiments of the invention are described in the subclaims.

[0009] According to one aspect of the invention, a method is provided for determining a maximum permissible range or maximum range between a remote control and a vehicle. The remote control can advantageously be held or operated by a driver or passenger of the vehicle who has already exited the vehicle.

[0010] In one step, the relative position of the remote control relative to the vehicle is determined. Furthermore, a planned vehicle action is determined or received. Such a planned vehicle action can, for example, be in the form of an upcoming move or movement sequence of the vehicle, which the vehicle suggests to the remote control user. Alternatively or additionally, the user can select a possible vehicle action from several possible vehicle actions or specify one themselves.

[0011] The user of the remote control can be a driver, a passenger, or any other person who can control the vehicle using a portable remote control. The remote control can be used inside or outside the vehicle to transmit control commands to and / or receive commands from at least one on-board control unit.

[0012] In a further step, at least one environmental condition is determined. This step allows clear or drivable areas in the immediate vicinity of the vehicle, static and / or dynamic obstacles, and the like to be registered. Subsequently, the maximum permissible range is determined or adjusted based on the planned vehicle action and the at least one determined environmental condition.

[0013] According to a further aspect of the invention, a vehicle arrangement is provided which is configured to carry out the method according to the invention, wherein the vehicle arrangement comprises a vehicle and a remote control.

[0014] To reduce the risk potential while simultaneously increasing customer benefit, a situational or dynamic adjustment of the permitted maximum range is implemented. Depending on the situation, the vehicle layout automatically adjusts the maximum range between at least two ranges. For example, a long range of 10 m and a short range of 6 m can be provided.

[0015] By determining the position of the driver or user with the remote control relative to the vehicle and by taking into account, for example, the vehicle's next parking maneuver, the optimal, permissible maximum range can be determined. This can take into account, for example, the driver's or user's position relative to the vehicle at the beginning of the next parking maneuver and throughout the subsequent movement sequence, a distinction between forward and reverse movement of the vehicle, as well as steering angles and, accordingly, curve radii for the planned trajectory of the next parking maneuver.

[0016] The vehicle action can alternatively or additionally be realized in the form of a planned or selected trajectory.

[0017] In one embodiment, the relative position of the remote control relative to the vehicle is compared with the maximum permissible range, whereby the vehicle's remote control is enabled, for example, to initiate the planned vehicle action, if the remote control is registered within the maximum range. This measure permits or enables operation of the remote control exclusively within the determined maximum range.

[0018] According to a further embodiment, the relative position of the remote control relative to the vehicle is determined by triangulation, in particular by ultra-wideband triangulation. The use of radio technologies for communication between the remote control and the vehicle enables precise distance determination and, in particular, localization of the user with the remote control relative to the vehicle. In particular, the use of ultra-wideband triangulation can achieve user localization with uncertainties of a few centimeters.

[0019] The next planned parking maneuver can be designed particularly detailed and precise if the planned vehicle action is determined in the form of an impending vehicle movement, in particular in the form of a trajectory.

[0020] According to a further embodiment, the planned vehicle action is determined by taking into account travel in the direction of the remote control or travel against the direction of the remote control and / or a steering angle of the vehicle. The maximum range can be increased if the travel during the planned vehicle action leads toward the user's position or past them, while ensuring sufficient monitorability. Accordingly, the maximum range can be increased if the vehicle is steered into an area in the direction of travel or partially laterally to the direction of travel of the vehicle during the planned vehicle action. In this case, the distance between driver and vehicle is continuously reduced, thereby increasing monitorability.Small steering angles on a planned trajectory and correspondingly large curve radii can also result in simplified monitoring of the vehicle with larger possible maximum ranges.

[0021] However, the maximum range can be reduced or minimized if the vehicle is moved away from the user's position during the vehicle maneuver, resulting in a steadily decreasing monitorability due to the increasing distance. Furthermore, areas entering the vehicle during the vehicle maneuver along the trajectory can be monitored less precisely due to small curve radii or obscuration by the vehicle itself or other static or dynamic obstacles. Reducing the maximum range can therefore lead to increased traffic safety.

[0022] According to a further embodiment, a wireless communication connection is established between the remote control and at least one vehicle-mounted control unit, wherein a signal strength of the communication connection is measured. The at least one environmental condition is determined in the form of at least one obstacle between the vehicle and the remote control based on the signal strength of the communication connection. The wireless communication connection can be implemented, for example, in the form of radio waves, radar waves, light waves, mobile radio waves, WLAN signals, and the like. Thus, by measuring the signal strengths between the transceivers in the vehicle and the remote control, it can be determined whether there are obstacles between the vehicle and the user that could affect visibility and / or monitorability.

[0023] If obstacles are detected between the vehicle or the vehicle's entry area and the remote control, the maximum range or maximum permissible range for the use of the remote control can be reduced according to a further embodiment.

[0024] The at least one environmental condition can be determined in a particularly versatile manner within the context of situational range determination if it is determined by receiving and evaluating measurement data from at least one vehicle-mounted ultrasonic sensor and / or at least one camera sensor, for example in the form of 360° cameras or top-view cameras, and / or at least one LIDAR sensor and / or at least one radar sensor. In this case, the measurement data from the vehicle sensors can advantageously be accessed in order to monitor the immediate surroundings of the vehicle. Depending on the configuration, the vehicle-mounted control unit can access previously evaluated and / or merged data in order to minimize the computational effort.

[0025] Alternatively or in addition to accessing the measurement data from the vehicle sensors, access to measurement data from sensors in the remote control can be achieved in order to monitor the immediate surroundings of the vehicle. This can advantageously be achieved with a remote control designed as a smartphone or tablet, as these usually have one or more cameras to visually detect and track the vehicle to be controlled. The measurement data can be evaluated by a control unit and / or processor unit in the remote control to determine an unobstructed view of the vehicle or to detect an obstruction to the view due to an obstacle. For example, the received and evaluated measurement data can be used to detect a vehicle's license plate. If the license plate is not detected or recognized at some point during remote control, it is likely that it is obscured by an obstacle.This event can be used to reduce the maximum range.

[0026] Depending on the configuration, the remote control can also access the measurement data from the vehicle's sensors for evaluation purposes. The corresponding measurement data can be transmitted to the remote control in fused and / or summarized form.

[0027] In particular, free spaces around the entrance area of ​​the next parking maneuver can be determined and the maximum range increased accordingly. Small obstacles or, in particular, people or living beings can be detected near the planned trajectory to reduce the maximum range. Furthermore, problematic surfaces in the area of ​​the planned trajectory, for example, those that are not (yet) visible to the driver due to their location or location history, can result in a reduction in the maximum range.

[0028] The method can be designed to be particularly simple from a technical perspective if the maximum permissible range is determined as a relative distance between the remote control and the vehicle.

[0029] According to a further embodiment, the maximum permissible range is determined as an absolute distance distribution along a road surface. This measure can be used, for example, to create a two-dimensional map, which can be adjusted or recreated depending on the situation. Depending on the location of the remote control within this distance distribution, a maximum range can be assigned and compared with the actual distance of the remote control from the vehicle in order to grant or deny authorization.

[0030] A dynamic change in the maximum range can be realized particularly continuously or without jumps if it is determined in the form of at least two overlapping ellipses within the road plane with different axis lengths. This measure can replace a jump in range (e.g., from a large to a small maximum range) with a continuously changing range curve. The continuously changing range curve can be limited in time, so that the change in the maximum range is implemented within a dynamically changing or static time window.

[0031] The remote control can be particularly versatile if it is designed as a remote control or as a portable device.

[0032] According to a further embodiment, the portable device is configured as a tablet, a smartphone, or a smartwatch. This allows remote control to be implemented within the framework of an installed application to perform locally limited vehicle control.

[0033] The remote control can further increase road safety if it is configured to start and / or operate the vehicle. This allows the driver or user to use the remote control to assume an optimal position for controlling the vehicle when the vehicle is switched off or deactivated, and then confirm or select the planned vehicle action. This allows the vehicle to be started automatically and controlled to carry out the vehicle action.

[0034] An exemplary embodiment of the invention is explained in more detail below with reference to a drawing. It shows: Fig. 1 a plan view of a vehicle arrangement according to the invention according to an embodiment.

[0035] In the figure, the same structural elements have the same reference numerals.

[0036] The Fig. Figure 1 shows a plan view of a vehicle assembly 10 according to the invention according to one embodiment. The vehicle assembly 10 serves, in particular, to carry out a method according to the invention for determining a maximum permissible range R1, R2, or maximum range, between a remote control 20 and a vehicle 100. Steps of the method are also described in more detail in the context of the description of the figures.

[0037] The vehicle assembly 10 comprises a vehicle 100 and a remote control 20. In the illustrated embodiment, a user 200 has exited the vehicle 100 and is holding the remote control 20 in one hand. The remote control 20 is configured as a smartphone that can access a range of functions using an application, for example, to issue control commands to the vehicle 100.

[0038] A wireless communication connection 21 is established between the remote control 20 and at least one vehicle-mounted control unit 120. The signal strength of the communication connection 21 between the remote control 20 and the control unit 120 is also measured. The communication connection 21 is embodied, for example, by a radio connection, a WLAN connection, or a Bluetooth connection. Based on the signal strength, obstacles 130 between the vehicle 100 and the user 200 can be detected.

[0039] To clarify the functioning of the vehicle arrangement 10, the Fig. 1 shows a minimal example in which only two different maximum ranges R1, R2 are provided with a simplified switching mechanism. The maximum range R1, R2 is determined or set by the method according to the invention. In one step, a relative position of the remote control 20 relative to the vehicle 100 is determined. For example, a large maximum range of 10 m and a small maximum range of 6 m can be provided.

[0040] Furthermore, a planned vehicle action is determined or received. Such a planned vehicle action can, for example, be configured in the form of an upcoming parking maneuver or movement sequence of the vehicle 100, which is suggested by the vehicle 100 to the user 200 of the remote control 20.

[0041] The planned vehicle action of vehicle 100 is illustrated in the form of a trajectory 30, which describes a journey toward user 200 in the form of a reverse journey. Vehicle 100 performs a reverse maneuver, steering into a parking space 140.

[0042] By reversing and following the trajectory 30 to the left in the direction of travel, the maximum range R2 in this area is increased (maximum permissible range shown in a dashed line). Thus, the maximum permissible range R1, R2 is determined as a distance distribution along a road plane F. In the opposite direction, only a reduced maximum range R1 is permitted. When determining the maximum range R1, R2, at least one environmental condition is determined in a further step of the method. This step can be used to register clear or drivable areas in the immediate vicinity of the vehicle 100, static and / or dynamic obstacles 130, and the like. Vehicle-mounted sensors 110, such as 360° cameras, LIDAR sensors, and / or radar sensors, can also be used to register the at least one environmental condition.In the illustrated embodiment, the parked vehicles 130 together constitute the environmental condition that can impair the ability to monitor the vehicle movement from the position of the user 200. The maximum permissible range is then determined based on the planned vehicle action and the at least one determined environmental condition.

[0043] By locating the user 200 within the area spanned by the two maximum ranges R1, R2, a so-called Remote Parking Assist (RPA) function can be enabled in the embodiment shown, which can implement a remote-controlled parking process of the vehicle 100. List of reference symbols 100 vehicles 110 vehicle-side sensors 120 vehicle-side control unit 130 obstacles 140 parking space 200 users 10 Vehicle arrangement 20 Remote control 21 Communication connection 30 Trajectory F Road level R1 reduced maximum range R2 increased maximum range QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] DE 102017 119 139 A1

[0003] DE 10 2014 019 570 A1

[0004] DE 10 2009 043 589 A1

[0005]

Claims

[1] Method for determining a maximum permissible range (R1, R2) between a remote control (20) and a vehicle (100), wherein - a relative position of the remote control (20) relative to the vehicle (100) is determined, - a planned vehicle action is detected or received, - at least one environmental condition is determined, - the maximum permissible range (R1, R2) is determined or adjusted based on the planned vehicle action and at least one determined environmental condition. [2] Method according to claim 1, wherein the relative position of the remote control (20) with respect to the vehicle (100) is compared with the maximum permissible range (R1, R2), wherein the remote control (20) of the vehicle (100) is enabled, for example to initiate the planned vehicle action, when the remote control (20) is registered within the maximum permissible range (R1, R2). [3] Method according to claim 1 or 2, wherein the relative position of the remote control (20) with respect to the vehicle (100) is determined by triangulation, in particular by ultra-wideband triangulation. [4] Method according to one of claims 1 to 3, wherein the planned vehicle action is determined in the form of an impending vehicle movement, in particular in the form of a trajectory (30). [5] Method according to claim 3, wherein the planned vehicle action is determined by taking into account a travel in the direction of the remote control (20) or a travel against the direction of the remote control (20) and / or a steering angle of the vehicle (100). [6] Method according to one of claims 1 to 5, wherein a wireless communication connection (21) is established between the remote control (20) and at least one vehicle-side control unit (120), wherein a signal strength of the communication connection (21) is measured, wherein the at least one environmental condition in the form of at least one obstacle (130) between the vehicle (100) and the remote control (20) is determined based on the signal strength of the communication connection (21). [7] Method according to claim 6, wherein if at least one obstacle (130) is detected between the vehicle (100) and the remote control (20), the maximum permissible range (R1) is reduced. [8] Method according to one of claims 1 to 7, wherein the at least one environmental condition, in particular in the form of at least one obstacle (130) between the vehicle (100) and the remote control (20), is determined by receiving and evaluating measurement data from at least one vehicle-side sensor (110) in the form of an ultrasonic sensor and / or at least one camera sensor and / or at least one LIDAR sensor and / or at least one radar sensor and / or by receiving and evaluating measurement data from at least one sensor of the remote control (20). [9] Method according to one of claims 1 to 8, wherein the maximum permissible range (R1, R2) is determined as a relative distance between the remote control (20) and the vehicle (100). [10] Method according to one of claims 1 to 8, wherein the maximum permissible range (R1, R2) is determined as an absolute distance distribution along a road plane (F). [11] Method according to one of claims 1 to 10, wherein the maximum permissible range (R1, R2) is determined in the form of at least two superimposed ellipses with different axis lengths. [12] Method according to one of claims 1 to 11, wherein the remote control (20) is designed as a remote control or as a portable device. [13] The method of claim 12, wherein the portable device is configured as a tablet, a smartphone or a smartwatch. [14] Method according to one of claims 1 to 13, wherein the remote control (20) is configured to start and / or operate the vehicle (100). [15] Vehicle arrangement (10) which is adapted to carry out a method according to one of claims 1 to 14, wherein the vehicle arrangement (10) comprises a vehicle (100) and a remote control (20).

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