Method for Carrying Out a Remote-Controlled Parking Maneuver with a Vehicle Using a Mobile Terminal, and System

Abstract

A method carries out a remote-controlled parking maneuver with a vehicle. A user with a mobile terminal is located outside the vehicle. The method plans a trajectory for the parking maneuver by way of a driver assistance system of the vehicle, maneuvers the vehicle along the planned trajectory by the driver assistance system, detects image data which describes the vehicle and the surroundings of the vehicle by a camera of the mobile terminal, and provides a display on a display device of the mobile terminal using the image data. The maneuvering process along the planned trajectory is carried out as long as an operating input which is carried out by the user on the mobile terminal and which describes a movement of the vehicle during the maneuvering process along the planned trajectory is detected by way of the mobile terminal, otherwise the maneuvering process is interrupted.

Claims

1-10. (canceled)

11. A method for performing a remote-controlled parking maneuver with a vehicle, wherein a user having a mobile device is situated outside the vehicle, the method comprising: planning, via a driver assistance system of the vehicle, a trajectory for the parking maneuver; maneuvering, via the driver assistance system, the vehicle along the planned trajectory; capturing, via a camera of the mobile device, image data describing the vehicle and a surrounding area of the vehicle; and providing a display on a display device of the mobile device on the basis of the image data, wherein the maneuvering along the planned trajectory is performed for as long as an operating input, which is performable by the user on the mobile device and describes a movement of the vehicle during the maneuvering along the planned trajectory, is detected by the mobile device, and otherwise interrupting the maneuvering of the vehicle along the planned trajectory.

12. The method according to claim 11, wherein a trajectory symbol describing the planned trajectory is superposed on the display of the mobile device.

13. The method according to claim 11, wherein the maneuvering is performed for as long as a swiping movement by at least one finger of the user is detectable as the operating input by way of a capture device of the mobile device, wherein the swiping movement describes the movement of the vehicle along the planned trajectory.

14. The method according to claim 11, wherein the maneuvering is performed for as long as a movement of the mobile device is detected as the operating input, wherein the movement of the mobile device describes the movement of the vehicle along the planned trajectory.

15. The method according to claim 14, wherein a vehicle symbol describing an outer contour of the vehicle is superposed on the display of the mobile device, and the maneuver is performed for as long as the vehicle symbol is overlaid on the display with an image of the vehicle.

16. The method according to claim 11, further comprising: outputting a feedback message assessing the performance of the operating input to the user via the mobile device.

17. The method according to claim 11, wherein the maneuvering is performed for as long as the operating input is performed with a predetermined operating speed, and otherwise interrupting the maneuvering.

18. The method according to claim 11, further comprising: recognizing at least one parking region as a target for the parking maneuver before the trajectory is planned on the basis of the image data captured by the mobile device, and offering the at least one parking region to the user for selection.

19. The method according to claim 18, further comprising: displaying a position of at least one parking region that is recognized as a target for the parking maneuver on the basis of measurements with at least one vicinity sensor of the driver assistance system on the display device of the mobile device.

20. A system for performing a remote-controlled parking maneuver with a vehicle, in which a user having a mobile device is situated outside the vehicle, the system comprising: a driver assistance system of the vehicle for planning a trajectory for the parking maneuver and for maneuvering the vehicle along the planned trajectory; and the mobile device comprising a camera for capturing image data describing the vehicle and a surrounding area of the vehicle, and comprising a display device for providing a display on the basis of the image data, wherein the mobile device is configured to detect an operating input, which is performable by the user on the mobile device and describes a movement of the vehicle during the maneuvering along the planned trajectory, and the driver assistance system is configured to perform the maneuvering along the planned trajectory for as long as the mobile device detects the operating input, and otherwise to interrupt the maneuvering.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG. 1 is a schematic illustration of a vehicle having a driver assistance system and of a user holding a mobile device in the surrounding area of the vehicle;

[0036] FIG. 2 is a schematic illustration of a mobile device and of the individual components of the mobile device;

[0037] FIG. 3 shows a parking region in the surrounding area of the vehicle, which is recorded with a camera of the mobile device;

[0038] FIG. 4 shows a mobile device on which a trajectory symbol is displayed during the performance of an automated parking maneuver with the vehicle;

[0039] FIG. 5 shows a display of the mobile device on which a vehicle symbol is displayed during the performance of the autonomous parking maneuver with the vehicle; and

[0040] FIG. 6 shows the display on the mobile device according to FIG. 5 in accordance with a further embodiment.

[0041] Identical or functionally identical elements are provided with the same reference signs in the figures.

DETAILED DESCRIPTION OF THE DRAWINGS

[0042] FIG. 1 shows a schematic illustration of a vehicle 1, which in the present case is a passenger car, in a plan view. The vehicle 1 comprises a driver assistance system 2, which in turn comprises an electronic control device 3. The driver assistance system 2 furthermore comprises at least one vicinity sensor 4, by means of which a surrounding area 5 of the vehicle 1 can be captured. In the present exemplary embodiment, the driver assistance system 2 comprises two vicinity sensors 4, which can be present in the form of radar sensors, for example. The driver assistance system 2 moreover comprises a communication device 6, with which data can be wirelessly transmitted and received.

[0043] Sensor data describing the surrounding area 5 of the vehicle 1 can be provided with the vicinity sensors 4. These sensor data can be transmitted from the vicinity sensors 4 to the control device 3. Furthermore, a trajectory for a parking maneuver can be planned by means of the driver assistance system 2. In the case of this parking maneuver, the vehicle 1 can be parked for example in a parking space or can exit a parking space. The driver assistance system 2 can additionally have further vicinity sensors 4, for example a plurality of ultrasonic sensors, with which objects or obstacles in the surrounding area 5 of the vehicle 1 can be captured during the performance of the parking maneuver. Corresponding control signals can be transmitted by means of the control device 3 to a steering system, a drive motor, and/or a brake system of the vehicle 1 in order to maneuver the vehicle 1 automatically or at least partially autonomously during the parking maneuver.

[0044] A user 7 holding a mobile device 8 is situated in the surrounding area 5 of the vehicle 1. This mobile device 8, which can in particular be a smartphone or a tablet computer, is illustrated schematically in FIG. 2. The mobile device 8 and the driver assistance system 2 together form a system 21. The mobile device 8 comprises a camera 9, with which images or image data of the surrounding area 5 and of the vehicle 1 can be provided. The mobile device 8 furthermore comprises a display device 10, by means of which a display can be provided. This display can be provided on the basis of the image data that are recorded with the camera 9. In addition, the mobile device 8 comprises a capture device 11, with which an operating input on the display device 10 can be captured. In the present example, the display device 10 and the capture device 11 are formed by a touch-sensitive screen.

[0045] In addition, the mobile device 8 comprises a motion sensor 12, with which a movement of the mobile device 8 can be captured. A rotation, an inclination, an acceleration or the like of the mobile device 8 can be captured with the motion sensor 12. An operating input in the form of a movement of the entire mobile device 8 can be captured by means of the motion sensor 12. The mobile device 8 furthermore comprises a communication device 13, which serves to wirelessly exchange data with the communication device 6 of the driver assistance system 2. Finally, the mobile device 8 comprises a computing device 14, which is connected to the camera 9, the display device 10, the capture device 11, the motion sensor 12, and the communication device 13 for exchanging data.

[0046] In order to be able to determine the relative location between the mobile device 8 and the vehicle 1, corresponding data can be exchanged at different times between the communication device 13 of the mobile device 8 and the communication device 6 of the driver assistance system 2. Provision can also be made for corresponding GPS receivers of the vehicle 1 and of the mobile device 8 to be used for determining the respective position or the relative location with respect to one another. Furthermore, the position of the vehicle 1 in relation to the mobile device 8 can be determined on the basis of the image data and corresponding image processing.

[0047] FIG. 3 shows the surrounding area 5 of the vehicle 1 and the mobile device 8, on whose display device 10 parts of the surrounding area 5 are displayed. In the present case, the mobile device 8 or the smartphone is used to search for a suitable parking area 15 for the vehicle 1. In the present case, the user 7 is situated in the surrounding area 5 of the vehicle 1 and positions the mobile device in a manner such that the possible parking area 15 lies in the capture region or field of view of the camera 9. Using corresponding methods of image processing, the parking space or the parking area 15 can be measured and it is possible to check by means of the computing device 14 of the mobile device whether the dimensions of the parking area 15 are sufficient to park the vehicle 1 in the parking area 15.

[0048] If the dimensions of the parking area 15 are sufficient for parking the vehicle 1, this can be correspondingly displayed to the user. In the present example, a symbol 16 that indicates that the selected parking area 15 is suitable for the vehicle 1 is superposed for the user. Provision can furthermore be made here for this symbol 16 to be displayed in a corresponding color, for example in a green color. If the selected parking area 15 is not sufficient in terms of the dimensions for parking the vehicle 1 on the parking area 15, a corresponding symbol 16 can be displayed in a red color. Moreover, a further symbol 17 is superposed on the display device 10 of the mobile device 8 for the user, giving them the option of selecting this parking space or the parking area 15. If the user 7 has selected the parking area 15, corresponding data can be transmitted from the mobile device 8 to the driver assistance system 2. These data can describe the position and the dimensions of the parking area 15. Subsequently, a trajectory for the driving maneuver or parking maneuver to the parking area 15 can be ascertained by means of the driver assistance system 2.

[0049] FIG. 4 shows the surrounding area 5 of the vehicle 1 and the mobile device 8, on which furthermore parts of the surrounding area 5 and of the vehicle 1 are displayed. In the present case, the parking maneuver is currently being performed by means of the driver assistance system 2. Here, the vehicle 1 is maneuvered in reverse into a parallel parking space at least partially autonomously. The parking maneuver can here be performed for as long as at least a predetermined part of the vehicle 1 is situated in the capture region of the camera 9 or is displayed on the display device 10. If not, the parking maneuver can be interrupted. Provision is additionally made for the parking maneuver to be performed for as long as a predetermined operating input is performed by the user 7 on the mobile device 8. The operating input is here configured such that it describes or reproduces the movement of the vehicle 1 during the parking maneuver.

[0050] In the present example, a trajectory symbol 18 is additionally superposed on the display device 10 during the parking maneuver. This trajectory symbol 18 describes the progression or the movement of the vehicle 1 during the parking maneuver. Provision is made here for the user 7 to perform with at least one finger a swiping movement as the operating input on the capture device 11 or on the touch-sensitive screen during the parking maneuver, wherein the swiping movement is performed along the trajectory symbol 18. In other words, the user 7 traces the trajectory symbol 18 on the display device 10 with a finger during the operating input. In the present example, additionally a position symbol 19 is superposed, which can describe the current position of the vehicle 1 on the trajectory.

[0051] FIG. 5 shows the surrounding area 5 of the vehicle 1 and the mobile device, which displays parts of the surrounding area 5 and of the vehicle 1, during a parking maneuver according to a further embodiment. Here, too, the vehicle 1 is maneuvered in reverse into a parallel parking space at least partially autonomously. In this example, the trajectory symbol 18 and the position symbol 19 are also superposed. In this case, a vehicle symbol 20 describing an outer contour of the vehicle 1 or the image of the vehicle 1 on the display device 10 is additionally superposed. Here, the parking maneuver can be started by means of the driver assistance system 2 as soon as the vehicle symbol 20 coincides with the image of the vehicle 1 on the display device 10. As the vehicle 1 maneuvers, the entire mobile device 8 is moved in the present case as the operating input. The movement during this operating input follows the planned trajectory. The movement of the mobile device 8 is here illustrated by way of the arrow symbol 21. A corresponding arrow symbol 21 can also be displayed for the user on the display device 10. The movement of the mobile device 8 can be determined continuously with the aid of the position sensor 12.

[0052] In the present example it is necessary for the user to move the mobile device 8 such that the vehicle symbol 20 coincides with the image of the vehicle 1. If there is a predetermined deviation between the vehicle symbol 20 and the image of the vehicle 1, the parking maneuver is interrupted and the vehicle 1 is braked. This is illustrated in the present case in FIG. 6. Here, the vehicle symbol 20 has a significant deviation from the image of the vehicle 1 on the display device 10. In this case, the parking maneuver can be continued when the vehicle symbol 20 is made to coincide with the image of the vehicle 1.