METHOD FOR REMOTELY DEACTIVATING AN AUTOMATIC PARKING MODE OF A VEHICLE IN A MULTI-STORY PARKING GARAGE AND ASSOCIATED DEACTIVATION DEVICE

Abstract

The invention proposes a method for remotely deactivating an automatic parking mode of a vehicle (V) in a multi-story car park, said vehicle being equipped with a tire monitoring system (S), comprising wheel units (20) mounted in each of the wheels (R) of said vehicle and each being equipped with an accelerometer measuring a radial component of an acceleration of said wheel, dependent on a terrestrial gravitational field (g), the vehicle being equipped with an automatic parking mode remotely controlled by a portable device (SD) worn by a user (U), the method being characterized in that it comprises, if the activation conditions of the wheel unit measurements are met: Measurement by each of the wheel units of acceleration values ​​(F1(t)) as a function of time, Comparison for each wheel unit of said values ​​with a threshold value (S1),If the acceleration values ​​of at least two wheel units exceed the aforementioned threshold value, then movement of the said vehicle is detected in a multi-story parking garage, and the remote automatic parking mode is deactivated. Figure for the abbreviation: Fig. 1,

Description

Title of the invention: METHOD FOR REMOTELY DEACTIVATING AN AUTOMATIC PARKING MODE OF A VEHICLE IN A MULTI-STORY CAR PARK AND ASSOCIATED DEACTIVATION DEVICE technical field

[0001] The invention relates to a method for remotely deactivating an automatic parking mode of a vehicle located in a multi-story parking garage and an associated deactivation device. The invention therefore applies to vehicles equipped with a remote automatic parking mode in which parking is automated by the vehicle using sensors and actuators, and controlled remotely by a portable device worn by a user. Thanks to this remote automatic parking mode, the user wearing the portable device can exit their vehicle and let it park itself. However, they can remotely control, using their portable device, the activation and deactivation of this automatic parking mode. Previous technique

[0002] Nowadays, more and more vehicles are equipped with an automatic remote parking mode in which the user no longer needs to be inside the vehicle and maneuver it to park. In this automatic remote parking mode, the user is located outside the vehicle, within a safety perimeter (approximately within a maximum radius of 6 meters around the vehicle) and is equipped with a remote control to control the vehicle's parking. More specifically, the remote control could be a mobile phone, for example, or a hands-free vehicle access device, such as a key fob.Through this remote control, the user activates the vehicle's automatic parking, in which the vehicle parks itself autonomously thanks to the information it receives from onboard sensors, such as the reversing camera, radars and others, and by activating the necessary actuators appropriately, the steering wheel, the accelerator pedal, and / or the brake pedal, etc.

[0003] A problem arises, however, when the user wishes to park their vehicle in a fully automated multi-story parking garage. In this type of parking garage, which is frequently found in Japan, for example, the vehicle is entirely handled by automated systems that park it within the garage. An automated system lifts the vehicle to bring it to a level of the garage, and then parks it in a space. The automatic remote parking mode is therefore no longer necessary, and it would even be dangerous to activate it, as the vehicle could escape the control of the system and cause significant damage.

[0004] It therefore becomes necessary for this specific parking mode to deactivate the remote automatic parking mode.

[0005] Currently, the method for remotely deactivating the automatic parking mode relies on pressing a button on the badge or a command issued by the user on their mobile phone. The reliability of the prior art method therefore depends solely on the user's willingness and common sense. It is readily apparent that this prior art method is not very robust. The present invention therefore proposes a reliable and robust method for remotely deactivating the automatic parking mode. Description of the invention

[0006] The invention proposes a method for remotely deactivating an automatic parking mode of a vehicle in a multi-story car park, said vehicle being equipped with a tire monitoring system, comprising wheel units mounted in each of the wheels of said vehicle, the wheel units each being equipped with an accelerometer measuring a radial component of an acceleration of said wheel, and dependent on a terrestrial gravitational field, the vehicle also being provided with an automatic parking mode in which parking is automated by the vehicle by means of sensors and actuators, and controlled remotely by portable equipment worn by a user, the method being remarkable in that it comprises the following steps: a. Detection of the stationary vehicle, b. Verification of activation conditions for wheel unit measurements, c. If the conditions are met, then, i. Measurement by each of the wheel units of acceleration values ​​as a function of time, ii. Comparison, for each wheel unit, of said values ​​with a threshold value, iii. If the acceleration values ​​minus two wheel units exceed said threshold value, then 1. Detection of movement of said vehicle in a multi-story parking garage, and 2. Disabling the remote automatic parking mode.

[0007] Preferably the threshold value is equal to l*g in absolute value.

[0008] The invention also relates to a device for remotely deactivating an automatic parking mode of a vehicle in a multi-story car park, said device being adapted to be installed in said motor vehicle, and comprising a tire monitoring system including wheel units mounted in each of the wheels of said vehicle, each wheel unit being equipped with an accelerometer measuring a radial component of an acceleration of said wheel, and dependent on a terrestrial gravitational field, said device according to the invention further comprising: a. Means of detecting a stationary vehicle, b. Means of verifying the activation conditions of the wheel unit measurements, c. Means of measuring, by each of the wheel units, acceleration values ​​as a function of said verification, d. Means of comparing said values ​​per wheel unit with a threshold value, e. Means for detecting the movement of said vehicle in the multi-story car park based on the result of said comparison for at least two wheel units, f. Means of remotely deactivating the automatic parking mode based on a detection of movement of said vehicle in the multi-storey car park.

[0009] Preferably, the threshold value is equal to l*g in absolute value.

[0010] The invention also relates to a computer program product comprising program code instructions for executing the steps of the process according to any of the characteristics listed above when said program is executed on a computer.

[0011] Finally, the invention applies to any motor vehicle equipped with an automatic remote parking mode in which parking is automated by the vehicle through sensors and actuators, and controlled remotely by portable equipment worn by a user, the vehicle being notable in that it includes a deactivation device according to any of the characteristics listed above. Brief description of the drawings

[0012] Other features and advantages of the invention will become apparent from the following description. This description is purely illustrative and should be read in conjunction with the accompanying drawings, in which:

[0013] [Fig.1]: [Fig.1] is a schematic representation of a vehicle equipped with four wheel units for measuring pressure, temperature, and acceleration in each of the tires.

[0014] [Fig.2]: [Fig.2] is a schematic representation of a vehicle rim equipped with a wheel unit;

[0015] [Fig.3]: [Fig.3] is a schematic representation of a rim equipped with a wheel unit illustrating the different forces exerted on the wheel unit as a function of gravity,

[0016] [Fig.4]: [Fig.4] is a flowchart illustrating the different steps of the process of deactivating the automatic parking mode remotely. Description of the implementation methods

[0017] As explained previously, the remote automatic parking mode works thanks to the sensors and actuators on board the motor vehicle which allow it to park in almost total autonomy and via a remote control, in the form of a hands-free access badge or a smart mobile phone SD allowing the user U to activate or deactivate this remote automatic parking mode.

[0018] The SD mobile phone or SD badge then transmits an activation or deactivation command for said mode by wireless communication, of the type BLE, "Bluetooth" or ULB, ultra wide band, or even not simple radio frequency to a central electronic control unit 10 on board the vehicle.

[0019] The central electronic control unit 10 being electronically connected to all the sensors and actuators on board the vehicle, and containing the automatic parking software controlling said actuators and sensors, it then activates or deactivates the automatic parking mode upon receiving the activation or deactivation command sent by the mobile phone. This is known from the prior art.

[0020] Nowadays, in a motor vehicle V, it is known to mount in each wheel R an electronic measuring module 20 comprising one or more sensors, in particular to detect an anomaly in the wheel fitted with the tire. These sensors 20 can, for example, be a tire inflation pressure sensor associated with the wheel and / or a wheel acceleration sensor.

[0021] These sensors, and in particular the inflation pressure sensors, are mounted in electronic modules / boxes, called "wheel units" 20, of a tire pressure control system of the type known as "TPMS" (English acronym for "Tire Pressure Monitoring System").

[0022] Fig. 1 shows a tire monitoring system S in a motor vehicle V equipped with wheel units 20 and an electronic control unit 10 for the wheel units 20 located at a distance from the wheel units 20 and incidentally a mobile phone (not shown in Fig. 1) in the possession of an authorized user serving as a control and / or command device for the wheel units 20.

[0023] In a known manner, wheel units 20 generally include a microprocessor, a memory, a transceiver, a power supply battery, a pressure sensor and, where applicable, at least one other sensor such as a radial acceleration sensor capable of measuring the radial accelerations of the wheel or a temperature sensor, mounted on a support forming a printed circuit board or "PCB" from the English Printed Circuit Board.

[0024] According to the prior art, each wheel unit 20, associated with a wheel R of the motor vehicle V, sends its measurements to a central electronic unit 10 for the control of the wheel units 20 integrated into the motor vehicle V and / or a mobile phone or equivalent technical device equipped with an application for communication with the wheel units 20, the central electronic unit 10 and the mobile phone being hereinafter grouped together under the name of control and / or remote control device of the wheel units 20.

[0025] To this end, each wheel unit 20 transmits signals to one or more control and / or remote control devices 10 of the wheel units 20, in which are coded messages containing the measurements or other information processed and / or provided by the wheel units 20.

[0026] Other information may include information relating to wheel geometry, including rim and / or tire information, or wheel history, including mileage, specific application data, including wheel unit identification 20, wheel location on vehicle V, and other system configurations.

[0027] Finally, the information processed and / or provided may relate to configuration parameters of the software application, or even the executable code in the case of remote reprogramming of the wheel units 20.

[0028] Communication between the control device 10 and the wheel unit 20, whether it is a mobile phone or equivalent technology in the possession of an authorized user or the central electronic control unit 10 of the wheel units 20 integrated into the vehicle V, is carried out according to a communication protocol allowing bidirectional data exchange over short distances using ultra-high frequency or UHF radio waves according to a communication protocol of the Bluetooth® type or an equivalent protocol between the antennas A1 of the wheel units and the antenna A2 of the central electronic control unit 10. This is known to those skilled in the art.

[0029] From the values ​​received from the wheel units 20, the central electronic control unit 10 can develop, after filtering and sampling, pressure, temperature, wear and / or overload signals for transmission to the vehicle's on-board computer or to the mobile phone to alert the user of any anomaly.

[0030] In [Fig.2], the wheel unit 20 located on the rim J of the wheel R includes an accelerometer (not shown) which measures the radial acceleration Fl that it undergoes at various positions on a wheel revolution, when the wheel rotates in the direction of rotation W. These measurements are preferably carried out at a fixed frequency.

[0031] As illustrated in Figure 3, the acceleration force p measured by the radial accelerometer of the wheel unit 20 is the resultant of two radial components, a force p^ which is the projection of the gravity g along the measurement direction Z of the radial accelerometer and a force j? which is the projection of the centrifugal force pv along this same measurement direction Z of the radial accelerometer A, thus:

[0032] [Math.l]

[0033] It should be noted that the projection of the centrifugal force along the measurement direction Z of the radial accelerometer is equal to the centrifugal force itself, since this measurement direction Z is directed radially with respect to the wheel, and the centrifugal force acts radially on the wheel. Therefore:

[0034] [Math.2] F, = p 1 U' 1 v

[0035] The value of the gravity projection along the measurement direction of the radial accelerometer at time t is expressed as follows:

[0036] [Math.3] Fi / t) = g-sin(w(t) -t)

[0037] where:

[0038] g represents the gravitational constant; it is a vertical vector, directed downwards, with a value of -9.81 m / s²,

[0039] w(t) is the angular velocity of rotation of the radial accelerometer at time t,

[0040] t is the unit of time in seconds.

[0041] The value of the centrifugal force is expressed as follows:

[0042] [Math.4] F^t) = R • tH / T

[0043] with R: the distance between the accelerometer and the axis of rotation of the wheel, i.e. the radius of the rim.

[0044] Therefore:

[0045] [Math.5] 2 - g ■ sin^t) -t)+R-

[0046] And

[0047] [Math.6]

[0048] with v(t), the linear speed of the vehicle, RP being the radius of the wheel, including the tire.

[0049] The radial acceleration curve Fi(t) as a function of time is therefore a sinusoid, whose maximum MAX and minimum MIN correspond respectively to the position of the accelerometer at the bottom of the rim in position P3 and respectively at the top of the rim in position PL. Of course, the values ​​of the minimum and maximum of the radial acceleration in positions PI and P3 are not fixed and depend on the rotational speed of the wheel; this minimum and maximum can therefore only be determined locally at each wheel rotation and not absolutely with respect to fixed value thresholds.

[0050] A digital processing of these radial acceleration measurements by the wheel unit, not detailed here, and known to the person skilled in the art, makes it possible to determine the minimum value MIN of the radial acceleration and therefore the passage of the accelerometer to the position PI and / or the maximum value MAX of the radial acceleration and therefore the passage of the accelerometer to the position P3.

[0051] From these radial acceleration measurement data Fl, it is therefore possible, through appropriate digital processing, to determine the wheel unit's position at positions PI and / or P3 on the wheel. Following this digital processing, the wheel unit 20 can then transmit a signal to the central unit at these predetermined fixed positions (or slightly offset, taking into account the duration of the digital processing, as explained below). The operation of the wheel units and the method for detecting tire underinflation is known from the prior art.

[0052] The method for remotely disabling the automatic parking mode ingeniously proposes to use the radial acceleration measurement values ​​from the wheel units 20 to detect the presence of the vehicle in a multi-story parking lot.

[0053] To this end, the deactivation device comprises, in addition to the tire monitoring system S described above: a. Means of detecting the vehicle when it is stationary, b. Means of verifying M2 of activation conditions for wheel unit measurements, c. Means of measuring M3 by each of the wheel units of acceleration values ​​as a function of said verification, d. Means of comparing M4 per wheel unit of said values ​​with a threshold value, e. Means for detecting the movement M5 of said vehicle in the multi-story car park based on the result of said comparison with the threshold value for at least two wheel units, f. Means of remotely deactivating the M6 ​​automatic parking mode based on a detection of movement of said vehicle in the multi-storey car park.

[0054] The means for detecting the vehicle at rest, the means for verifying M2, the means for measuring M3, the means for comparing M4, the means for detecting movement M5 and the means for deactivating M6 are preferably in the form of software included in an integrated circuit located in the central electronic control unit 10.

[0055] The vehicle's Ml detection means at rest are, for example, capable of detecting that the vehicle's speed is zero.

[0056] The means for verifying the activation conditions of the wheel unit measurements verify that the following conditions are met:

[0057] a. The vehicle's engine is stopped, i.e., the ignition is off.

[0058] b. The vehicle's speed is zero in the direction of movement parallel to the axes road transport, among other words, the vehicle does not actively drive the wheels.

[0059] The means for measuring M3 by each of the wheel units the values ​​of accelerations as a function of time, consist of an accelerometer located in each of the wheels, accompanied by data processing software.

[0060] The measuring means M3 via the accelerometer integrated into each of the wheel units, provide a value representative of the projected gravitational force along the measurement axis of the radial accelerometer as a function of time (t), according to the formula expressed previously, cf. [Math 3].

[0061] [Math.3] ^2 Fi(f)- g• -i) +R-

[0062] According to the invention, when the vehicle is stationary with the engine off, the radial acceleration of the wheels is zero, therefore:

[0063] [Math.7] R • = 0

[0064] And:

[0065] [Math. 8] F fa) = g • sinfaifa) • t)

[0066] If the vehicle is lifted by a parking automation system, the vehicle experiences an additional lifting force F3(t) directed either in the opposite direction to the force of gravity, or in the direction of gravity, which is expressed according to the following formula:

[0067] [Math.9] F3(O = K(t)-g

[0068] With K(t): a constant strictly greater than 0.

[0069] We therefore have:

[0070] [Math. 10] F iW = g ■ • t)+K(t) • g

[0071] In other words, when the vehicle is engine off, is not moving along a road axis but is lifted vertically by an automaton, the force Fi experienced by the accelerometer is a function of gravity, i.e.:

[0072] [Math. 11]

[0073] The comparison means M4 then compare said value Fi(t) in absolute value to a threshold value SI. For example the threshold value SI is equal to l*g.

[0074] The M5 detection means are capable of detecting a movement of the vehicle in the multi-storey car park according to the result of said comparison.

[0075] In other words, if the value of the force Fi(t) experienced by the accelerometer is greater than the SI threshold, then the vehicle is moving in a multi-story parking lot.

[0076] The M6 ​​deactivation means are capable of remotely disabling the automatic parking mode based on the detection of vehicle movement within the multi-story parking garage. If the vehicle is detected as moving within the multi-story parking garage, then the deactivation means disable the remote automatic parking mode.

[0077] The deactivation process, illustrated in [Fig.4], will now be described.

[0078] During a preliminary step E0, it is detected that the vehicle is stationary. The The vehicle is therefore static.

[0079] During a first step El, it is verified that the conditions for activation of the measurements by the accelerometers are verified, namely the engine of the vehicle is off, and the vehicle is not moving in a direction parallel to a road axis, i.e. that its speed v is zero.

[0080] If the conditions are not met, the process returns to the preliminary step E0.

[0081] In a second step, each of the wheel units 20 present on the vehicle carries out acceleration measurements Fl(t) for each of the four wheel units 20 on board the vehicle V, according to time t thanks to its integrated accelerometer.

[0082] As explained previously, this acceleration measure Fl(t) is a function of gravity g.

[0083] In the third step, the acceleration measurements Fl(t) thus provided by the wheel units 20 are compared (cf. step E3a) each to an SI threshold value, equal to l*g, with g being the gravitational constant, equal to 9.81 m / s2.

[0084] As demonstrated previously, when the engine is off, vehicle V is stationary but is being moved vertically by a lifting force exerted by a parking lot automation system, the force Fl(t) that the accelerometer experiences is a function of the gravitational force; it is exerted in the direction of gravity if the automation lowers the vehicle or is exerted in the opposite direction of gravity if the automation raises the vehicle V.

[0085] It should be noted that the threshold value SI is to be used as an absolute value since the automaton can either lower or raise the vehicle V.

[0086] If values ​​from at least two wheel units 20 are greater than the threshold value SI, then it is considered, according to the invention, that the vehicle is in vertical movement in a multi-story car park (see step E4).

[0087] If it is detected that the vehicle is moving in a multi-storey car park, then the remote automatic parking mode is deactivated (step E5).

[0088] The invention is therefore ingenious insofar as it uses the tire monitoring system on board the vehicle to perform the additional function of detecting movement in a multi-story car park.

[0089] The invention is inexpensive, as it only includes additional software means to the existing monitoring system on the vehicle.

Claims

Demands

1. A method for remotely deactivating an automatic parking mode of a vehicle (V) in a multi-story parking garage, said vehicle (V) being equipped with a tire monitoring system (S), comprising wheel units (20) mounted in each of the wheels (R) of said vehicle (V), the wheel units (20) each being equipped with an accelerometer measuring a radial component of an acceleration of said wheel (R), and dependent on a terrestrial gravitational field (g), the vehicle (V) also being equipped with an automatic parking mode in which parking is automated by the vehicle (V) by means of sensors and actuators, and controlled remotely by a portable device (SD) worn by a user (U), the method being characterized in that it comprises the following steps: a. Detection of the stationary vehicle (step E0), b. Verification of activation conditions of the wheel unit measurements (step E1), c.If the conditions are met, then: i. Measurement by each of the wheel units (20) of acceleration values ​​(Fi(t), F2(t), F3(t), F4(t)) as a function of time, ii. Comparison for each wheel unit (20) of said values ​​with a threshold value (SI), iii. If the acceleration values ​​(Fl(t)) of at least two wheel units (20) exceed said threshold value (SI), then:

1. detection of movement of said vehicle (V) in a multi-story car park, and 2. deactivation of the automatic remote parking mode.

2. Deactivation method, according to claim 1, characterized in that the threshold value (SI) is equal to the gravity constant (g).

3. A device (D) for deactivating an automatic remote parking mode of a vehicle (V) in a multi-story car park, said device (D) being adapted for installation in said motor vehicle (V), and comprising a tire monitoring system (S) comprising wheel units (20) mounted in each of the wheels (R) of said vehicle (V), the wheel units (20) each being equipped with an accelerometer measuring a radial component of an acceleration of said wheel, and dependent on a terrestrial gravitational field (g), said device (D) being characterized in that it further comprises:

4.

5.

6. a. Means for detecting the vehicle when stationary (M1), b. Means for verifying (M2) the activation conditions of the wheel unit measurements (20), c. Means of measurement (M3) by each of the wheel units (20) of acceleration values ​​(Fl(t)) as a function of time, according to said verification, d. Means of comparison (M4) per wheel unit (20) of said values ​​with a threshold value (SI), e. Means of detecting (M5) the movement of said vehicle (V) in the multi-storey car park according to a result of said comparison for at least two wheel units (20), f. Means of deactivating (M6) the automatic remote parking mode based on a detection of movement of said vehicle (V) in the multi-storey car park. Deactivation device (D) according to the preceding claim, characterized in that the threshold value is equal to the gravity constant (g)- Product computer program comprising program code instructions for executing the steps of the process according to any one of claims 1 to 2 when said program is executed on a computer. Motor vehicle (V) equipped with an automatic remote parking mode in which parking is automated by the vehicle (V) by means of sensors and actuators, and controlled remotely by a portable device (SD) worn by a user (U), the vehicle (V) being characterized in that it includes a deactivation device (D) according to any one of claims 3 or 4.

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