• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for controlling an automatic movement maneuver of a motor vehicle (30) between an initial position and a final position, comprising the steps of: - (100) establishing a trajectory between the initial position and the final position of the vehicle, and record the trajectory in a memory, - (110) trigger the automatic movement of the vehicle from the initial position, - (120) automatically move the vehicle along the trajectory, and - (130) stop automatically the vehicle in final position. It is essentially characterized in that it comprises the steps of: - (140) transmitting a repetitive control signal from a mobile terminal (10), and - (150) slaving the automatic movement of the vehicle along the trajectory to receiving said repetitive control signal from the vehicle.
    公开号:FR3017096A1
    申请号:FR1400274
    申请日:2014-01-31
    公开日:2015-08-07
    发明作者:Van Nhan Christophe Dang
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    [0001] METHOD FOR CONTROLLING AN AUTOMATIC DISPLACEMENT MANEUVER OF A MOTOR VEHICLE The present invention relates to the field of automatic movement of a motor vehicle, hereinafter concisely vehicle. Such a domain is known to those skilled in the art. In this field, a vehicle is equipped with an automatic displacement system which comprises a set of sensors, software and control means implemented on the vehicle to ensure its automatic movement, known per se and which will not be described. right here. Typically, the automatic vehicle movement is implemented today in the context of automatic parking maneuver of a motor vehicle, regardless of the type of available space (slot, spur, battle ...). However, the driver is in the vehicle, which can cause problems when the parking space has accessibility constraints to the vehicle through the doors. The present invention aims to solve this problem by proposing a solution to control this maneuver from outside the vehicle. More specifically, the invention relates to a method of controlling an automatic movement maneuver of a motor vehicle between an initial position and a final position, comprising steps of: establishing a trajectory between the initial position and the final position of the vehicle, and record the trajectory in a memory, - trigger the automatic movement of the vehicle from the initial position, - automatically move the vehicle along the trajectory, and - automatically stop the vehicle in the final position. It is essentially characterized in that it comprises the steps of: - transmitting a repetitive command signal from a mobile terminal, and - slaving the automatic movement of the vehicle along the trajectory upon receipt of said repetitive command signal by the vehicle.
    [0002] In addition, it is possible to provide the steps of: comparing the control signal received by the vehicle with a registered reference signal; and controlling the automatic movement of the vehicle along the trajectory in addition to the result of the comparison. There may be steps of: - executing a repetitive action on a device of the mobile terminal, and encoding the control signal so that it is representative of the action performed; and optionally a step of: - selecting the reference signal for comparison according to the encoding of the control signal. In one embodiment, the repetitive action consists of: performing a repetitive motion on a touch screen of the mobile terminal, on at least one key or on a wheel of the mobile terminal.
    [0003] In one embodiment, the repetitive action comprises: performing a repetitive motion of the mobile terminal; the method further comprising: recording at least one of the parameters among the acceleration, speed and position of the terminal mobile during repetitive movement. In one embodiment, the repetitive action is: - executing a repetitive voice command recorded in the mobile terminal microphone. There may be steps of: - slaving the vehicle traveling speed to a function of the repetitive action execution speed on a mobile terminal device, or - moving the vehicle independently of the execution speed repetitive action on a mobile device device. A step of: - Pairing the mobile terminal and the vehicle. In addition, a step of: inhibiting the automatic movement of the vehicle can be provided. It may further provide a step of: - enslave the movement to the recognition by the vehicle of a hands-free access card.
    [0004] Thanks to the invention, it is not necessary to have a remote control with a high level of security to ensure that the user can stop the moving maneuver in an emergency, for example because of obstacle not recognized by the automatic movement system. Advantageously, the user's smartphone 10 can act as a remote control. It is then not necessary to design and equip the user with additional hardware. Advantageously, the repetitive command does not require the user to look at his smartphone. In its principle of operation, the present invention has a similarity with the so-called deadman devices commonly used in driving trains or in the control of industrial machines, but allows remote operation and by any user. Other features and advantages of the present invention will emerge more clearly on reading the following description given by way of illustrative and nonlimiting example and with reference to the appended figures. DESCRIPTION OF THE DRAWINGS FIG. 1 illustrates an embodiment of the method according to the invention, and FIG. 2 illustrates an embodiment of a system allowing the implementation of the device according to the invention. DETAILED DESCRIPTION In order to control an automatic movement maneuver of a motor vehicle between an initial position and a final position, a vehicle 30 equipped with an automatic displacement system is provided. The automatic displacement system is activated by a portable remote control, that is to say a radiofrequency communication device preferably at short range. The portable remote control further comprises at least one of a calculator, a button, an optionally touch screen, an accelerometer and a microphone. Preferably, the portable remote control is a smart mobile phone 10, more commonly known as a "smart phone" or "smartphone" by anglicism, which advantageously comprises all the elements mentioned above. This is why the portable remote is hereinafter called "mobile terminal". When a user wishes to carry out a parking maneuver, in particular to park his vehicle, provision is made to establish a trajectory between the initial position and the final position of the vehicle. The trajectory is determined in a known manner by means of on-board sensors, for example ultrasonic, infrared or radar sensors, possibly coupled with GPS positioning data and a digital geographical map. The trajectory is stored in or accessible to a vehicle memory. Once the trajectory is determined and the vehicle in the initial position, the automatic movement is triggered 110.
    [0005] Advantageously, the automatic movement is triggered by the mobile terminal, which allows the triggering can be done remotely, from outside the vehicle. Once the automatic movement has been triggered, it is anticipated that the vehicle will be automatically moved along the path automatically by the automatic movement system in a known manner. When the vehicle is in the final position, the automatic movement is automatically stopped 130. In order for the automatic vehicle movement along the trajectory to be effected in a secure manner, it is expected to transmit a repetitive command signal from a mobile terminal. and 150 to enslave the automatic movement of the vehicle along the path upon receipt of said repetitive control signal by the vehicle. Thus, in a manner similar to the so-called "deadman" devices, the absence of reception or the interruption of the repetitive control signal can inhibit the automatic movement of the vehicle. The level of safety of the automatic movement can be further increased by providing for comparing the control signal received by the vehicle with a registered reference signal, and for controlling the automatic movement of the vehicle along the trajectory furthermore. result of the comparison. 4, Thus, if a repetitive signal is transmitted from a mobile terminal and received by the vehicle but this signal does not conform to a registered reference signal, the automatic movement of the vehicle can be inhibited.
    [0006] The repetitive control signal is transmitted by the mobile terminal by a repetitive action on one of its peripherals 180.
    [0007] For example, the repetitive action may be to perform repetitive motion on a touch screen of the mobile terminal, for example a continuous back and forth motion, a circular or ellipsoidal movement, or any other predetermined motion. The position of the finger or fingers on the touch screen is located and encoded. The repetitive action may consist of performing a repetitive motion on at least one key (or button), for example a given keyboard key or a predetermined sequence of keys, or on a wheel of the mobile terminal. One can also provide a set of at least one key, the repetitive motion being determined by the time elapsed between the activation of two successive keys, regardless of the keys.
    [0008] The repetitive action may consist of performing a repetitive motion of the mobile terminal, for example a displacement of the mobile terminal in two or three dimensions.
    [0009] The mobile terminal is generally equipped with at least one of an accelerometer, a speed sensor and a position sensor.
    [0010] It can then be provided 210 to record at least one of the parameters among the acceleration, the speed and the position of the mobile terminal during the repetitive movement.
    [0011] The mobile terminal is generally also equipped with a microphone, the repetitive action may consist in performing a repetitive voice command recorded by the microphone, for example "go_ go ... go ...".
    [0012] Whatever the repetitive action, voice or manual, performed on a device of the mobile terminal, it is expected to encode 190, in real time, the control signal so that it is representative of the action performed. Preferably, the mobile terminal simply transmits raw data from its integrated sensors, to allow the interpretation of the order to the vehicle. In particular, it can be provided 200 to select the reference signal according to the encoding of the control signal. For example, the vehicle is equipped with a memory comprising a plurality of reference control signals. In this case, at least one of the reference signals is provided among: at least one reference signal corresponding to a voice command; at least one reference signal corresponding to a repetitive action. The encoding of the control signal allows the vehicle to determine whether the control signal is a voice signal or a gesture signal, ie including acceleration, speed or position data, and to select the signal. corresponding reference.
    [0013] If several reference signals are recorded, for example a reference signal corresponding to a scanning of the touch screen along a line and a reference signal corresponding to a scanning of the touch screen in a circle or an ellipse, provision is made for select the reference signal that is closest to the motion executed on or by the mobile terminal. It is also possible to measure or calculate the execution speed of the repetitive action on a device of the mobile terminal, for example the speed of movement on the touch screen or the number of actions on a key per unit of time. . It can then be provided 220 to slave the speed of movement of the vehicle to a function of the speed of execution of the repetitive action on a device of the mobile terminal. Alternatively, it is possible to move the vehicle independently of the speed of execution of the repetitive action on a device of the mobile terminal. Preferably, the mobile terminal and the vehicle communicate according to short-range radiofrequency waves, for example according to a Bluetooth standard, which makes it possible to secure the operation by ensuring that the user of the mobile terminal is at a short distance from the vehicle. There is then provisioned 240 to pair the mobile terminal and the vehicle. To further secure the maneuver, it can be provided 250 to inhibit the automatic movement of the vehicle before stopping in the final position. For example, by a transmission cutoff of the control signal; by the recognition of a non-repetitive dry gesture meaning "stop"; by the voice recognition of a specific term for example "stop"; by recognizing a non-repetitive, frozen or erratic control signal; or by the recognition of too repetitive data.
    [0014] In particular, it can be provided that the repetitive control signal is periodic, in this case pseudo periodic. An action by a user on a device is rarely strictly periodic, there is usually a slight hazard that causes the value of the period to fluctuate. It is then possible to calculate the standard deviation of the periodic signal and to compare the calculated standard deviation with a reference value. If the calculated standard deviation is less than the reference value, it may mean that the control signal is generated by a machine rather than a user. In this case, it can be provided to inhibit the automatic movement of the vehicle.
    [0015] The vehicle may be equipped with a control system by hand-free access card, known per se, and which typically allows the vehicle to be automatically unlocked by short-range wireless communication between a radio-frequency hand-free access card. and the vehicle.
    [0016] Typically, when a user, holder of a hand-free access card, acts on a door handle of the vehicle, a device detects the action, wakes the vehicle, and the vehicle interrogates the access card.
    [0017] Upon receipt of this interrogation, the access card sends an authentication code to the vehicle which, after authentication of the code, unlocks the doors.
    [0018] In this case, it may further be provided 260 to slave the movement to recognition by the vehicle of a hand-free access card 20.
    [0019] Preferably, the detection perimeter of the "hands-free" card is similar to the detection perimeter of the mobile terminal. In operation, it can be provided that the repetitive control signal by the mobile terminal or that the execution of software on the mobile terminal for recording and transmitting said repetitive command signal triggers a wake-up signal (for example). example via BlueTooth) to the vehicle. 15 The vehicle wakes up and questions any access card that may be nearby. Upon receipt of this interrogation, the access card of the user returns an authentication code to the vehicle. If the vehicle authenticates that it is indeed the access card own to said vehicle, then the automatic movement maneuver is allowed. The vehicle can also start the engine. With this configuration, the level of safety is even higher by ensuring that the owner of the vehicle is the first to initiate the automatic movement maneuver, relying on a "hands-free" device whose security has been proven for a long time.
    [0020] As the communication between the vehicle and the access card on the one hand, and the mobile terminal on the other hand are at close range, this makes it possible to ensure that the user is well near the vehicle when activates the automatic movement maneuver. It is also possible that the maximum distance of communication between the vehicle and the access card is less than the maximum distance of communication between the vehicle and the mobile terminal. This makes it possible, for example, for the authentication of the access card to be carried out at a short distance, which authorizes the initialization of the automatic movement maneuver, but which the user can then move away to more comfortably control the maneuver. .15
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method of controlling an automatic movement maneuver of a motor vehicle (30) between an initial position and a final position, comprising steps of: - (100) establishing a trajectory between the initial position and the end position of the vehicle (30), and recording the trajectory in a memory, (110) triggering the automatic movement of the vehicle (30) from the initial position, - (120) automatically moving the vehicle (30) along the trajectory, and - (130) automatically stopping the vehicle (30) in the end position, characterized in that it comprises the steps of: - (140) transmitting a repetitive command signal from a mobile terminal (10), and 20 - (150 ) slaving the automatic movement of the vehicle (30) along the path upon receipt of said repetitive control signal by the vehicle (30).
    [0002]
    The method of claim 1, further comprising the steps of: - (160) comparing the control signal received by the vehicle (30) with a registered reference signal, and - (170) slaving the automatic movement of the vehicle (30) along the path further to the result of the comparison.
    [0003]
    A method as claimed in any one of the preceding claims, comprising the steps of: - (180) performing a repetitive action on a device of the mobile terminal (10), and - (190) encoding the control signal so that it is representative of the action performed; the method optionally comprising a step of: - (200) selecting the reference signal for comparison according to the encoding of the control signal.
    [0004]
    4. Method according to claim 3, wherein the repetitive action consists in: - (181) executing a repetitive motion on a touch screen of the mobile terminal (10), on at least one key or on a wheel of the mobile terminal (10) ).
    [0005]
    The method of claim 3, wherein the repetitive action comprises: - (182) performing a repetitive motion of the mobile terminal (10), the method further comprising: - (210) registering at least one of the parameters among the acceleration, speed and position of the mobile terminal (10) during the repetitive movement.
    [0006]
    The method of claim 3, wherein the repetitive action comprises: - (183) executing a repetitive voice command recorded in the microphone of the mobile terminal (10).
    [0007]
    The method of any one of claims 4 or 5, comprising: - (220) slaving the vehicle traveling speed (30) to a function of the repetitive action execution speed on a mobile terminal device ( 10), or - (230) move the vehicle (30) regardless of the speed of execution of the repetitive action on a device of the mobile terminal (10).
    [0008]
    The method of any of the preceding claims, further comprising a step of: - (240) Pairing the mobile terminal (10) and the vehicle (30).
    [0009]
    The method of any of the preceding claims, further comprising a step of: - (250) inhibiting the automatic movement of the vehicle (30).
    [0010]
    The method of any of the preceding claims, further comprising a step of: - (260) slaving the motion to recognition by the vehicle (30) of a hands-free access card (20) .
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    法律状态:
    2015-01-22| PLFP| Fee payment|Year of fee payment: 2 |
    2016-01-21| PLFP| Fee payment|Year of fee payment: 3 |
    2017-01-20| PLFP| Fee payment|Year of fee payment: 4 |
    2018-01-19| PLFP| Fee payment|Year of fee payment: 5 |
    2020-01-21| PLFP| Fee payment|Year of fee payment: 7 |
    2021-10-08| ST| Notification of lapse|Effective date: 20210905 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1400274A|FR3017096B1|2014-01-31|2014-01-31|METHOD FOR CONTROLLING AN AUTOMATIC DISPLACEMENT MANEUVER OF A MOTOR VEHICLE|FR1400274A| FR3017096B1|2014-01-31|2014-01-31|METHOD FOR CONTROLLING AN AUTOMATIC DISPLACEMENT MANEUVER OF A MOTOR VEHICLE|
    US15/115,531| US10019001B2|2014-01-31|2015-01-30|Method for automatic control of a movement maneuver of a motor vehicle|
    JP2016548657A| JP6810607B2|2014-01-31|2015-01-30|Methods for controlling the automatic movement maneuvering of automatic vehicles|
    PCT/FR2015/050217| WO2015114269A1|2014-01-31|2015-01-30|Method for automatic control of a movement manoeuvre of a motor vehicle|
    KR1020167023447A| KR102030578B1|2014-01-31|2015-01-30|Method for automatic control of a movement manoeuvre of a motor vehicle|
    EP15705349.7A| EP3099558B1|2014-01-31|2015-01-30|Method for automatic control of a movement manoeuvre of a motor vehicle|
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