Systems and methods for adaptive user input boundary support for remote vehicle motion commands

Patent metadata

Field	Value
Publication number	US-11370415-B2
Application number	US-201916694401-A
Country	US
Kind code	B2
Filing date	Nov 25, 2019
Priority date	Nov 25, 2019
Publication date	Jun 28, 2022
Grant date	Jun 28, 2022

Abstract

Systems and methods are provided herein for adaptive user input boundary support for remote vehicle motion commands. The systems and methods described herein may be used to allow more flexibility in continuous inputs provided to trigger commands to a vehicle to perform an autonomous function, such as Remote Park Assist (RePA). The systems and methods may allow RePA to continue even if the continuous input is not provided in the form of a perfect circle or if the continuous input drifts gradually over time.

First claim

That which is claimed is:

1. A system comprising:
a processor; and
a memory storing computer-executable instructions, that when executed by the processor, cause the processor to:
receive, by a mobile device, a first input comprising a continuous motion associated with a first centroid;
determine, based on the first input, an allowed orbital boundary;
receive a second input comprising a continuous motion associated with a second centroid;
determine that the second centroid is in a different location than the first centroid;
determine that the second input is within the allowed orbital boundary or within an allowed deviation of the allowed orbital boundary; and
adjust, based on a location of the second centroid, the location of the allowed orbital boundary.

2. The system of claim 1 , wherein the continuous motion associated with the first centroid or the continuous motion associated with the second centroid causes a vehicle action to be performed, wherein the vehicle action includes at least self-parking a vehicle.

3. The system of claim 2 , wherein the computer-executable instructions further cause the processor to:
determine that the first input fails to satisfy a criteria, wherein the criteria comprises at least one of the continuous motion of the first input not proceeding in a same clockwise or counterclockwise direction or a rate of rotation or the continuous motion associated with the first centroid or the continuous motion associated with the second centroid failing to exceed a first threshold rate; and
send an indication to cease performance of the vehicle action.

4. The system of claim 2 , wherein the computer-executable instructions further cause the processor to:
determine that a third input fails to follow a path within the allowed orbital boundary; and
send an indication to cease performance of the vehicle action.

5. The system of claim 4 , wherein the computer-executable instructions further cause the processor to:
determine that a fourth input fails to follow a path within the allowed orbital boundary; and
send an indication that a re-learning process is required, wherein the re-learning process comprises receiving a third single touch input and a fourth single touch input.

6. The system of claim 2 , wherein the vehicle action continues to be performed as long as the continuous motion of the first input is not ceased.

7. The system of claim 1 , wherein the computer-executable instructions further cause the processor to:
receive a first single touch input, wherein the first single touch input represents a furthest comfortable touch location for a user;
receive a second single touch input, wherein the second single touch input represents a closest comfortable touch location for the user; and
provide, based on the first single touch input and the second single touch input, a recommended area in which to perform the continuous motion associated with the first centroid or the continuous motion associated with the second centroid.

8. The system of claim 7 , wherein the computer-executable instructions further cause the processor to:
determine that the first input is within the recommended area; and
determine that the allowed orbital boundary of the first input satisfies a threshold diameter.

9. The system of claim 1 , wherein the computer-executable instructions further cause the processor to:
determine a null spot associated with the allowed orbital boundary, wherein the null spot comprises an area within the allowed orbital boundary in which the first input is not detected.

10. A method comprising:
receiving, by a mobile device, a first input comprising a continuous motion associated with a first centroid;
determining, based on the first input, an allowed orbital boundary;
receiving a second input comprising a continuous motion associated with a second centroid;
determining that the second centroid is in a different location than the first centroid;
determining that the second input is within the allowed orbital boundary or within an allowed deviation of the allowed orbital boundary; and
adjusting, based on a location of the second centroid, the location of the allowed orbital boundary.

11. The method of claim 10 , wherein the second input causes a vehicle action to be performed.

12. The method of claim 11 , further comprising:
determining that the first input fails to satisfy a criteria, wherein the criteria comprises at least one of: the continuous motion of the first input not proceeding in a same clockwise or counterclockwise direction or a rate of rotation of the continuous motion failing to exceed a first threshold rate; and
send an indication to cease performance of the vehicle action.

13. The method of claim 11 , further comprising:
determining that a third input fails to follow a path within the allowed orbital boundary; and
sending an indication to cease performance of the vehicle action.

14. The method of claim 13 , further comprising:
determining that a fourth input fails to follow a path within the allowed orbital boundary; and
sending an indication that a re-learning process is required, wherein the re-learning process comprises receiving a third single touch input and a fourth single touch input.

15. The method of claim 11 , wherein the vehicle action continues to be performed as long as the continuous motion of the first input is not ceased.

16. The method of claim 10 , further comprising:
receiving a first single touch input, wherein the first single touch input represents a furthest comfortable touch location for a user;
receiving a second single touch input, wherein the second single touch input represents a closest comfortable touch location for the user; and
providing, based on the first single touch input and the second single touch input, a recommended area in which to perform the continuous motion associated with the first centroid or the continuous motion associated with the second centroid.

17. The method of claim 16 , further comprising:
determining that the first input is within the recommended area; and
determining that the allowed orbital boundary of the first input satisfies a threshold diameter.

18. The method of claim 10 , further comprising:
determining a null spot associated with the allowed orbital boundary, wherein the null spot comprises an area within the allowed orbital boundary in which the first input is not detected.

19. A system comprising:
a processor; and
a memory storing computer-executable instructions, that when executed by the processor, cause the processor to:
receive, by a mobile device, a first single touch input comprising a closest comfortable touch location on a screen of the mobile device for a user;
receive, by the mobile device, a second single touch input comprising a furthest comfortable touch location on a screen of the mobile device for a user;
display, on the mobile device, an acceptable input region comprising boundaries including a location on the screen of the first single touch input and a location on the screen of the second single touch input;
receive, by the mobile device, a first continuous input comprising a continuous motion in either a clockwise or counterclockwise direction, wherein the first continuous input is within the acceptable input region on the screen;
determine, based on the first continuous input, an allowable orbital boundary comprising a first centroid;
receive, by the mobile device, a second continuous input in either a clockwise or counterclockwise direction, wher

Assignees

• Ford Global Tech Llc

Inventors

• Jost Gabrielle
• Hassani Ali
• Lavoie Erick Michael

Classifications

• B60W2050/0002

  Automatic control, details of type of controller or control system architecture · CPC title

• B60W30/06 Primary

  Automatic manoeuvring for parking · CPC title

• G06N20/00

  Machine learning · CPC title

• G06F3/04847

  Interaction techniques to control parameter settings, e.g. interaction with sliders or dials · CPC title

• G06F3/04883

  for inputting data by handwriting, e.g. gesture or text · CPC title