Remote control method for a driver assistance system, driver assistance system, and motor vehicle provided therewith

Abstract

A remote control method for remote control of a driver assistance system of a motor vehicle by a remote control unit assigned to the motor vehicle, wherein the driver assistance system is designed to actuate the motor vehicle for carrying out an autonomous or piloted parking operation, and which includes an optical sensor apparatus having at least one sensor, an analysis unit and a control unit.

Claims

1. A remote control method for remote control of a driver assistance system of a motor vehicle by a remote control unit assigned to the motor vehicle, wherein the driver assistance system is configured to actuate the motor vehicle for carrying out an autonomous or piloted parking operation and which comprises an optical sensor apparatus having at least one sensor, an analysis unit, and a control unit, comprising: a) emission of a coded optical signal by the remote control unit; b) detection of a surrounding region (E) of the motor vehicle by the at least one sensor in order to detect the coded optical signal and in order to acquire optical sensor data; c) analysis of the sensor data by the analysis unit, wherein a distance (d) between the remote control unit and the motor vehicle is determined by image processing algorithms and by one of an intercept theorem and a stereoscopic principle; and d) actuation of the motor vehicle by the control unit as a function of the determined distance (d); wherein actuation of the motor vehicle comprises performing the parking operation when the distance (d) is less than a predetermined maximum distance (d.sub.max), and interrupting the parking operation when the distance (d) is greater than the predetermined maximum distance (d.sub.max); and wherein the coded optical signal is displayed as a coded optical marker.

2. The method according to claim 1, wherein, in step a), the coded optical signal is emitted by a coded optical marker and/or a display and/or a lamp apparatus, which emit or emits coded optical pulses.

3. The method according to claim 1, wherein the remote control unit is a mobile telecommunication device.

4. The method according to claim 1, wherein, in step b), the at least one sensor is a camera unit, which outputs image data as sensor data.

5. The method according to claim 1, wherein, in step c), the distance (d) is determined on the basis of the sensor data of only one sensor and a distance reference or in that, in step c), the distance (d) is determined on the basis of the sensor data of at least two sensors, the sensor regions of which (FOV; FOV1; FOV2, . . . , FOVn) overlap.

6. The method according to claim 1, wherein, in step d), the control unit actuates the motor vehicle to discontinue the parking operation when the control unit determines that the distance (d) is greater than a predetermined maximum distance (d.sub.max) and in that, in step d), the control unit actuates the motor vehicle to discontinue the parking operation when the analysis unit determines that no coded optical signal is detected or that the coded optical signal is detected outside of a predetermined detection region.

7. The method according to claim 1, wherein, in step d), the control unit actuates the motor vehicle to proceed with the parking operation when the control unit determines that the distance (d) is less than or equal to a predetermined maximum distance (d.sub.max), and/or in that, in step d), the control unit actuates the motor vehicle to proceed with the parking operation when the analysis unit determines that a coded optical signal is detected.

8. The method according to claim 1, wherein the driver assistance system comprises another remote control unit, configured to emit additional coded optical signals, wherein, at the discretion of an operator, either the coded optical signals of the remote control unit or the additional coded optical signals of the other remote control unit are taken into consideration or emitted.

9. A driver assistance system configured to actuate a motor vehicle for carrying out an autonomous or a piloted parking operation, wherein the driver assistance system comprises: a remote control unit, which is assigned to the motor vehicle and is configured to emit a coded optical signal; an optical sensor apparatus configured to detect a surrounding region (E) of the motor vehicle to acquire sensor data; an analysis unit configured to determine, by image processing algorithms on the basis of the sensor data and by one of an intercept theorem and a stereoscopic principle, a distance (d) between the remote control unit and the motor vehicle; and a control unit configured to actuate the motor vehicle as a function of the determined distance (d); wherein actuation of the motor vehicle comprises performing the parking operation when the distance (d) is less than a predetermined maximum distance (d.sub.max), and interrupting the parking operation when the distance (d) is greater than the predetermined maximum distance (.sub.dmax); and wherein the coded optical signal is displayed as a coded optical marker.

Description

BRIEF DESCRIPTION OF EXEMPLARY EMBODIMENTS OF THE DRAWINGS

(1) Exemplary embodiments of the invention are described below on the basis of schematic drawings. Shown for this purpose are:

(2) FIG. 1 shows an exemplary embodiment of a motor vehicle;

(3) FIG. 2 shows a detailed view of the motor vehicle from FIG. 1;

(4) FIG. 3 shows an exemplary embodiment of a parking operation;

(5) FIG. 4 shows a variant of the parking operation from FIG. 3; and

(6) FIG. 5 shows an exemplary embodiment of a remote control method.

DETAILED DESCRIPTION

(7) The exemplary embodiments explained below involve preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention, which are to regarded as being independent of one another and which the invention also further develops independently of one another in each instance, and hence are to be regarded also individually or in a combination different from that shown as belonging to the invention. Furthermore, the described embodiments can also be elaborated further by the already described features of the invention.

(8) In the figures, functionally identical elements are each furnished with the same reference numbers.

(9) Reference is made, first of all, to FIG. 1, which shows a motor vehicle 10 having a driver assistance system 12. Surrounding the motor vehicle 10, a key region 14, a remote control region 16, and a radio frequency region 18 are specified. In the key region 14, which extends from the outer contour of the motor vehicle 10 out to about 1 m, the motor vehicle 10 can be opened with a keyless ID transponder in the usual way. On account of the arrangement of the associated antennas of the key region 14 and the incorporated materials of the motor vehicle 10, the key region 14 is designed to be asymmetric and non-uniform.

(10) In the remote control region 16, an operation of the motor vehicle 10 or of the driver assistance system 12 by an operator 20 is intended to be possible. The remote control region 16 extends from the outer contour of the motor vehicle 10 out to a predetermined maximum distance d.sub.max of about 6 m.

(11) Adjoining the remote control region 16 is the radio frequency region 18, in which a radio frequency communication with the motor vehicle 10 is fundamentally possible. The radio frequency region 18 extends out to a distance of about 10 m from the outer contour of the motor vehicle 10. This corresponds to the typical class 2 Bluetooth range. In the radio frequency region 18, the remote control is intended to be no longer possible for the operator 20.

(12) As can be seen from FIG. 2, the operator 20 holds a remote control unit 22. The remote control unit 22 is designed, for example, as a mobile telecommunication device 24, in particular as a smartphone 26. The remote control unit 22 has a coded optical marker 28 in the form of a QR code, for example. Alternatively or additionally, the remote control unit 22 has a lamp apparatus 30, which can emit coded optical pulses 32.

(13) The driver assistance system 12 comprises an optical sensor apparatus 34, which is arranged at the motor vehicle 10. The optical sensor apparatus 34 is designed to detect a surrounding region E of the motor vehicle 10, and, on the basis thereof, to output sensor data. The optical sensor apparatus 34 is further designed to detect the coded optical signal, in particular the coded optical pulses 32.

(14) The optical sensor apparatus 34 comprises a plurality of sensors 36, which, as regarded in plan view, are distributed over the periphery of the motor vehicle 10. The sensors 36 each have a sensor region in which a detection is possible. One or a plurality of sensors 36 can be designed as a camera unit 38. The camera units 38 each have a field of view FOV, FOV1, FOV2, . . . , FOVn, within which image data of the surrounding region E are detected and can be output as sensor data. Accordingly, the fields of view FOV, FOV1, FOV2, . . . , FOVn constitute an example of sensor regions.

(15) The driver assistance system 12 further comprises an analysis unit 40, which is designed to analyze sensor data or image data. The analysis unit 40 is capable of carrying out known image processing methods and, on the basis of the sensor data, of detecting the coded optical signal or the coded optical pulses 32. The analysis unit 40 is further designed to determine a distance d between the motor vehicle 10 and the remote control unit 22.

(16) In addition, the driver assistance system 12 has a control unit 42, which is designed to actuate, based on the determined distance d, the motor vehicle 10 or, more precisely, a steering and drive apparatus 44 of the motor vehicle 10. In addition, the control unit 42 actuates the motor vehicle 10 in such a way that, optionally, an autonomous or piloted parking operation is carried out.

(17) Next, reference is made to FIGS. 2, 3 and 5, on the basis of which an exemplary embodiment of a remote control method is explained in detail.

(18) In a preparatory step S0, the motor vehicle 10 is situated in an initial position 46. By means of the remote control unit 22, the operator 20 issues the command for autonomous parking, which is transmitted by means of radio frequency, for example, to the motor vehicle 10. The control unit 42 then begins to control the autonomous parking operation.

(19) In an emission step S1, the remote control unit 22 emits a coded optical signal, in particular the coded optical pulses 32, by means of the optical marker 28 and/or the lamp apparatus 30. The coded optical signal is emitted in an angular range 48. The angular range 48 is bounded by an edge region 50, which forms a continuous transition and presents no sharp boundary.

(20) In a detection step S2, the optical sensor apparatus 34 detects the coded optical signal, provided that the operator 20 has pointed the remote control unit 22 at the motor vehicle 10. The coded optical signal is then detected by one of the sensors 36 with field of view FOV. The sensor data produced by the optical sensor apparatus 34 therefore contains information as to whether the coded optical signal was or was not detected.

(21) In an analysis step S3, the analysis unit 40 analyzes the acquired sensor data. The analysis unit 40 initially detects, on the basis of the coded optical signal, whether the remote control unit 22 is assigned to the motor vehicle 10 and therefore is authorized to issue control commands. If the analysis unit 40 establishes that the remote control unit 22 is not authorized, the corresponding coded optical signal is ignored. The analysis unit 40 further determines whether the coded optical signal was detected in an allowed detection region 51, which is a subregion of the field of view FOV. If it is determined that the coded optical signal was not detected within the detection region 51, then the coded optical signal is ignored. Otherwise, the analysis unit 40 determines, by means of an image analysis method that is known in and of itself, the distance d between the remote control unit 22 and the motor vehicle 10. The determined distance d is output to the control unit 42. If no distance d was determined, because the coded optical signal was ignored or was not detected, then this information is also transmitted to the control unit 42, for example, as a negative distance value of the distance d.

(22) In a control step S4, the control unit 42 actuates the motor vehicle 10, in particular the steering and drive apparatus 44, in accordance with the outcome of the analysis step S3. If the determined distance d is greater than the predetermined maximum distance d.sub.max, then the motor vehicle 10 is actuated in such a way that the parking operation is interrupted. The control unit 42 proceeds likewise when no distance d was determined, that is, for example, when a negative distance value of the distance d is reported. The control unit 42 further transmits this information by means of radio frequency to the remote control unit 22 in order that the operator 20 can be alerted to the interruption. If the distance d is determined to be less than or equal to the maximum distance d.sub.max, thenif appropriate, after a confirmation by the operator 20the parking operation is continued.

(23) In the final step S5, the method ends once the motor vehicle 10 has reached a parked position 52.

(24) It should be noted that the steps S1 to S3 represent a distance determination method, which can also be carried out separately.

(25) As can be seen from FIG. 4, in a variant, the driver assistance system 12 is operated by another operator 54, who holds another remote control unit 56 of the driver assistance system 12. The additional remote control unit 56 is designed to emit additional coded optical signals in another angular range 58. The additional angular range 58 is bounded by another edge region 60, which is similar to the edge region 50. The remote control unit 54 can have any embodiment described herein.

(26) Similarly to the above, the operator 20 can actuate or monitor the parking operation. However, the operator 20 can hand over the control authorization by means of the remote control unit 22 to the other operator 54 and the additional remote control unit 56 thereof. Accordingly, the other operator 54 can control/monitor the parking operation. As needed, it is now also possible for the other operator 54 to hand back the control authorization to the operator 20. It should be noted that, at all times, only one of the operators 20, 54 is authorized to control the motor vehicle 10. It should further be noted that preferably only the currently authorized operator 20, 54 can release the control authorization.

(27) For remotely controlled driver assistance systems (e.g., piloted garage parking), it is required that, for the operation, a maximum distance from the remote control to the outer contour of the vehicle is not exceeded. Moreover, it is required that the remote control may not take place from inside the vehicle. Both serve to prevent any misuse of the function.

(28) Nowadays, the position of the keyless entry ID transponder near the vehicle is determined via a plurality of antennas (e.g., in the door handles and on the trunk lid). The person who remotely controls the vehicle must carry this ID transponder.

(29) In the positional determination using the keyless entry ID transponder, only a very small distance between the vehicle and the remote control is possible. Moreover, a physical separation between the keyless entry ID transponder and the remote control unit is not allowed.

(30) With the usual means for radio frequency-based distance measurement between the remote control unit and the vehicle (e.g., measurement of the radio frequency signal strength between the vehicle antenna and the remote control unit or measurement of the signal transit time of the remote control signal), it is possible to determine the distance of the remote control only very imprecisely, and/or the expense in terms of measurement engineering hardware is very high.

(31) The area-view cameras installed in the vehicle (e.g., top view, area view) detect, by image processing around the vehicle, the current position of the remote control unit outside the vehicle and compute the distance by means of image processing algorithms.

(32) In this case, for detection of the remote control unit, the remote control unit emits optical pulses (visible and non-visible light flashes) coded for this purpose. These pulses are coded in the signal sequence in such a way that the active remote control unit of the vehicle can be identified.

(33) With the measures described above, a precise determination of the distance between the remote control unit and the vehicle is possible. The position of the remote control unit with respect to the vehicle can also be determined in this way. A further restriction of the position of the remote control unit is possible in this case (e.g., function is only possible when the remote control is in back of the vehicle). By way of this method, it is possible to detect whether the remote control is pointed in the direction of the vehicle, that is, whether the focus of the operator is directed at the vehicle. It is advantageous that, for example, smartphones can be used as remote control units, in which, for example, the LED of the camera function can be used as an emitter of the optical pulses. Therefore, no special hardware is necessary for the remote control.