Method and device for moving a vehicle into a target position

Patent metadata

Field	Value
Publication number	US-10179585-B2
Application number	US-201515502292-A
Country	US
Kind code	B2
Filing date	Jun 26, 2015
Priority date	Aug 8, 2014
Publication date	Jan 15, 2019
Grant date	Jan 15, 2019

Abstract

A method of moving a vehicle from a start position to end position when the end position cannot be detected by the vehicle's built-in sensors involves determining the start position by a mobile terminal or by the vehicle and determining the end position by the mobile terminal. A driving trajectory of the vehicle is planned within the vehicle, a driving maneuver of the vehicle is initiated by the vehicle or the mobile terminal, and the planned driving maneuver is carried out to reach the end position.

First claim

The invention claimed is:

1. A method for moving a vehicle from a start position into an end position along a target path which is determined in the vehicle, the method comprising:
determining, by the mobile terminal or the vehicle, the start position;
determining, by the mobile terminal, the end position, wherein the end position is a position of the mobile terminal;
determining alignment of the vehicle in the end position using an alignment of the mobile terminal in a global coordinate system;
determining the target path based on the determined start position, the determined alignment, and the determined end position that is a location of the mobile terminal;
initiating, by the vehicle or by a mobile terminal, driving the vehicle along the target path; and
autonomously driving the vehicle along the target path into the end position.

2. The method of claim 1 , wherein the determination of the start or end position of the vehicle is activated by an event and the start or end position is determined by the alignment of the mobile terminal in a global coordinate system.

3. The method of claim 1 , wherein the alignment of the mobile terminal in the global coordinate system is determined using sensor data recorded by the mobile terminal and transmitted to the motor vehicle.

4. The method of claim 3 , wherein the mobile terminal is moved from the start position into the end position, wherein the mobile terminal constantly receives data and analyses the received data to plan a driving maneuver.

5. The method of claim 4 , further comprising:
correcting, by the mobile terminal, a course of the vehicle when the driving maneuver of the vehicle is carried out, wherein the correction is an offset around the target path.

6. A device for moving a vehicle from a start position into an end position, the device comprising:
a controller arranged in the vehicle and coupled to a steering unit and an engine control system or a braking device of the vehicle,
wherein a mobile terminal is wirelessly connected to the controller,
wherein the mobile terminal determines the end position of the vehicle, wherein the end position of the vehicle is a position of the mobile terminal,
wherein the controller determines a target path on the basis of a driving maneuver plan produced by the mobile terminal, which is determined at least based on the determined end position that is a position of the mobile terminal, and sets off on the target path by activating the steering unit and the engine control system or the braking device, and
wherein alignment of the vehicle in the end position is determined by an alignment of the mobile terminal in a global coordinate system.

7. The device of claim 6 , wherein the controller comprises a path control unit connected to a position determination device of the controller, wherein the path control unit determines the start position of the vehicle.

8. A device for planning driving maneuvers of a vehicle, the device comprising:
a computer;
at least one position detection sensor connected to the computer, wherein the at least one position detection sensor determines an end position, wherein the end position is a position of the device; and
a transmitter/receiver unit connected to the computer, wherein the transmitter/receiver unit sends a start position, the end position or a planned driving maneuver to the vehicle,
wherein the computer comprises a position calculation unit, to which the at least one position detection sensor is connected and which determines the position and alignment of the device in a global coordinate system, and
wherein the computer comprises a driving maneuver planning unit connected to the position calculation unit and the position determination unit and which plans the driving maneuver based at least on the end position that is a position of the device.

9. The device of claim 8 , wherein the position calculation unit calculates a yaw angle and is connected to a gyroscope, a magnetic field sensor, or an acceleration sensor, wherein the position calculation unit emits sensor data comprising all three spatial directions.

10. The device of claim 8 , wherein the position determination unit is connected to a wireless positioning system.

11. The method of claim 1 , wherein sensors of the vehicle cannot detect the end position prior to initiating driving of the vehicle along the target path.

12. The method of claim 1 , wherein the determination of the end position comprises:
determining a current position of the mobile terminal responsive to an input on the mobile terminal.

13. The method of claim 12 , wherein the determination of the start position comprises:
determining a current position of the mobile terminal responsive to an input on the mobile terminal.

14. The method of claim 1 , wherein the autonomous driving of the vehicle along the target path into the end position is performed so long as an input is detected on a touch screen of the mobile terminal.

15. The device of claim 6 , wherein sensors of the vehicle cannot detect the end position prior to initiating driving of the vehicle along the target path.

16. The device of claim 8 , wherein sensors of the vehicle cannot detect the end position prior to initiating driving of the vehicle along the target path.

17. The device of claim 8 , wherein the at least one position detection sensor determines the end position by determining a current position of the device responsive to an input on the device.

18. The device of claim 17 , wherein the at least one position detection sensor determines the start position by determining a current position of the device responsive to an input on the device.

Assignees

• Daimler Ag

Inventors

• Bonnet Christophe
• Hiller Andreas
• Kuenzel Gerhard
• Moser Martin
• Schiemenz Heiko

Classifications

• B62D15/0285 Primary

  Parking performed automatically · CPC title

• B60W30/06 Primary

  Automatic manoeuvring for parking · CPC title

• B60T2201/10

  Automatic or semi-automatic parking aid systems · CPC title

• B62D6/00

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title