KR101592772B1 - Apparatus and Method for Controlling of Vehicle Using Remote Control Terminal - Google Patents

Apparatus and Method for Controlling of Vehicle Using Remote Control Terminal Download PDF

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KR101592772B1
KR101592772B1 KR1020140140768A KR20140140768A KR101592772B1 KR 101592772 B1 KR101592772 B1 KR 101592772B1 KR 1020140140768 A KR1020140140768 A KR 1020140140768A KR 20140140768 A KR20140140768 A KR 20140140768A KR 101592772 B1 KR101592772 B1 KR 101592772B1
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South Korea
Prior art keywords
remote control
control terminal
vehicle
signal
remote
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KR1020140140768A
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Korean (ko)
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김영석
정소담
임정민
전경원
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/10—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The present invention relates to an apparatus and method for controlling a vehicle using a remote control terminal, which comprises a communication module for performing communication with a remote control terminal, a control unit for checking the position of the remote control terminal, And a control module for controlling the operation of the vehicle on the basis of the control signal received from the remote control terminal by setting the signal transmission distance of the remote control terminal by checking the obstacle distribution diagram and may be applied to other embodiments.

Description

TECHNICAL FIELD [0001] The present invention relates to a vehicle control apparatus and method using a remote control terminal,

More particularly, the present invention relates to an apparatus and method for controlling a vehicle using a remote control terminal, and more particularly to a system and method for estimating a position of a user who wants to operate a vehicle through a remote control, And more particularly, to a vehicle control apparatus and method using a remote control terminal capable of controlling a vehicle.

In order to make life more convenient now, the penetration rate of the vehicle is gradually increasing, and various functions for improving the convenience of users are developed and installed in the vehicle. A typical function among the above functions is a function related to the remote control terminal, and the remote control terminal can perform on / off control of the start of the engine at a position where the user is separated from the vehicle by a certain distance. The remote control terminal can perform opening / closing control of a window, a sunroof, etc. of the vehicle by a user operation at a position separated from the vehicle by a certain distance.

At this time, the maximum separation distance of the vehicle and the remote control terminal that can control the vehicle from the remote control terminal is a distance determined by the regulations of a specific country (e.g., Korea, USA, Australia and Europe, etc.) 11 m when there is no obstacle between the user and the vehicle and 6 m when there is an obstacle between the user and the vehicle). However, the currently developed remote control terminal can not satisfy the regulations because the maximum control distance for controlling the vehicle is about 30m.

In order to solve the above problems, various embodiments of the present invention provide a method and apparatus for maintaining a maximum separation distance of a vehicle and a remote control terminal at a distance that can converge on a regulation of a specific country, And more particularly, to a vehicle control apparatus and method using a remote control terminal capable of controlling a vehicle.

A vehicle control apparatus using a remote control terminal according to an embodiment of the present invention A communication module for communicating with the remote control terminal, a control unit for checking the position of the remote control terminal, checking the obstacle distribution diagram between the remote control terminal and the vehicle on the basis of the confirmed position, And a control module for controlling the operation of the vehicle based on the control signal received from the remote control terminal.

In addition, the control module can confirm the position including the distance from the vehicle to the remote control terminal, the azimuth angle, and the altitude based on the synchronization signal received from the remote control terminal through the communication module.

Also, the control module can confirm the position of the remote control terminal by setting the position of the communication module as the origin of the spherical coordinate system.

In addition, the control module may estimate the field of view of the user of the remote control terminal based on the location of the remote control terminal.

The remote control terminal may further include a sensor module for transmitting an ultrasonic signal to a position of the remote control terminal.

The control module may divide the estimated field of view into a plurality of cells of m * n, and determine the distribution of the obstacles within the field of view based on the reflected signals of the transmitted ultrasound signals.

According to another aspect of the present invention, there is provided a vehicle control method using a remote control terminal, including: receiving synchronization and a signal from a remote control device; checking a position of the remote control device based on the synchronization signal; Determining a disturbance distribution diagram between the remote control terminal and the vehicle on the basis of the location of the obstacle, setting a signal transmission distance of the remote control terminal based on the obstacle distribution map, And controlling the operation of the vehicle on the basis of the operation of the vehicle.

The step of confirming the position of the remote control device may further include the steps of setting the position of the communication module receiving the synchronization signal as the origin of the spherical coordinate system, The azimuth angle, and the altitude of the vehicle.

The method may further include estimating a view range of the user of the remote-controlled terminal based on the position of the remote-controlled terminal after checking the position of the remote-controlled device

The step of confirming the distribution of obstacles between the vehicles may include transmitting an ultrasonic signal to a position of the remote control terminal, dividing the estimated field of view into a plurality of cells of m * n, And checking the obstacle distribution map existing in the field of view based on the signal.

As described above, the present invention relates to a vehicle control apparatus and method using a remote control terminal, in which a maximum separation distance between a vehicle and a remote control terminal is maintained at a distance that can be converged on a regulation of a specific country, By checking the presence or absence of an obstacle between the terminals, the vehicle can be effectively controlled through the remote control terminal.

1 is a configuration diagram showing a vehicle control apparatus using a remote control terminal according to an embodiment of the present invention.
2 is a view for explaining a method of confirming a location of a remote control terminal according to an embodiment of the present invention.
3 is a view for explaining a distribution diagram of obstacles existing between a vehicle and a user's view according to an embodiment of the present invention.
4 is a flowchart for explaining a vehicle control method using a remote control terminal according to an embodiment of the present invention.

Best Mode for Carrying Out the Invention Various embodiments of the present invention will be described below with reference to the accompanying drawings. The various embodiments of the present invention are capable of various changes and may have various embodiments, and specific embodiments are illustrated in the drawings and the detailed description is described with reference to the drawings. It should be understood, however, that it is not intended to limit the various embodiments of the invention to the specific embodiments, but includes all changes and / or equivalents and alternatives falling within the spirit and scope of the various embodiments of the invention. In connection with the description of the drawings, like reference numerals have been used for like elements.

1 is a configuration diagram showing a vehicle control apparatus using a remote control terminal according to an embodiment of the present invention. 2 is a view for explaining a method of confirming a location of a remote control terminal according to an embodiment of the present invention. 3 is a view for explaining a distribution diagram of obstacles existing between a vehicle and a user's view according to an embodiment of the present invention.

1 to 3, a vehicle control system 10 according to the present invention may include a remote control terminal 100 and a control device 200. [ The vehicle control system 10 can control the operation of the vehicle based on the control signal of the vehicle from the remote control terminal 100 through the communication of the remote control terminal 100 and the control device 200. [

The remote control terminal 100 may transmit the synchronization signal to the control device 200 provided in the vehicle. The synchronization signal may be a signal based on which the control device 200 confirms the position of the remote control terminal 100. The remote control terminal 100 may transmit a control signal for controlling the operation of the vehicle to the control device 200 provided in the vehicle. At this time, the control signal for controlling the operation of the vehicle may include a control signal for operating the window provided in the vehicle, a control signal for operating the sunroof, a control signal for controlling the door opening and closing of the vehicle, and the like. At this time, the remote control terminal 100 controls the output size of the control signal based on the signal transmission distance received from the controller 200 based on the position of the remote control terminal 100 confirmed by the controller 200 .

The control device 200 can confirm the position of the remote control terminal 100 through communication with the remote control terminal 100 and determine the position of the remote control terminal 100 based on the position of the confirmed remote control terminal 100 The distribution of the obstacle between the vehicles can be confirmed. The control device 200 sets the signal transmission distance of the remote control terminal 100 based on the identified obstacle distribution and controls the operation of the vehicle based on the control signal transmitted from the remote control terminal 100 . The controller 200 may include a communication module 210, a sensor module 220, a memory 230, and a control module 240. The control module 240 may include a position determination unit 241, A field of view confirmation unit 242, an obstacle confirmation unit 243, and a signal output management unit 244. [

The communication module 210 includes a CAN (Controller Area Network), a CAN-Flexible Data Rate (CAN-FD), a FlexRay, a MOST Oriented Systems Transport), and TT Ethernet (Time Triggered Ethernet). The communication module 210 may perform RF (Radio Frequency) communication with the controller 200 and the remote control terminal 100.

The sensor module 220 includes an ultrasonic sensor that is provided in the vehicle and emits an ultrasonic signal in a user visual range under the control of the control module 240 and can receive an echo signal reflected by the obstacle can do. At this time, the user view range is generated by the control module 240 and may be generated based on the position of the remote control terminal 100 confirmed by the control module 240. This will be described in detail below.

The memory 230 may store a program or the like for operating the control device 200. [ In particular, the memory 230 may store a program for confirming the location of the remote controlling terminal 100 based on the synchronization signal received from the remote controlling terminal 100 through the communication module 210. [ The memory 230 may store a program for estimating a user view range based on the location of the identified remote control terminal 100 and for checking the distribution of obstacles existing in the view range.

The control module 240 can check the location of the remote control terminal 100 and check the distribution of obstacles between the remote control terminal 100 and the vehicle based on the confirmed location. The control module 240 can set a communication distance to the remote control terminal 100, for example, a signal transmission distance for controlling the signal size output from the remote control terminal 100, based on the identified obstacle distribution. The control module 240 can control the operation of the vehicle based on the control signal received from the remote control terminal 100 at a signal size based on the signal transmission distance.

The location confirmation unit 241 can confirm the location of the remote control terminal 100 based on the synchronization signal when the synchronization signal is received from the remote control terminal 100 through the communication module 210. According to one embodiment, the position determination unit 241 may determine the position of the remote control terminal 100 (including the distance, azimuth, and altitude from the position of the communication module 210 to the remote control terminal 100) ) Can be confirmed. 2, the position determination unit 241 sets the origin of the spherical coordinate system to the position (0), (0, 0, 0) of the communication module 210 and determines the position of the remote control terminal 100 ) Can be set. The position confirmation unit 241 determines the distance r from the position O of the communication module 210 to the position P of the remote control terminal 100,

Figure 112014099126208-pat00001
), Altitude(
Figure 112014099126208-pat00002
). The position determination unit 241 detects a pattern in which the power of the RF signal transmitted from the remote control terminal 100 is the maximum,
Figure 112014099126208-pat00003
), Altitude(
Figure 112014099126208-pat00004
). The position confirmation unit 241 can confirm the distance r between the communication module 210 and the remote control terminal 100 by using the power value of the RF signal transmitted from the lock-up table previously stored in the memory 230 have.

The visual range determining unit 242 can estimate the visual range of the user operating the remote controlling terminal 100 based on the position P of the remote controlling terminal 100 confirmed by the position checking unit 241. [ According to an exemplary embodiment, the view range determination unit 242 can estimate the user's eye position based on the position P of the remote control terminal 100 using the body index database previously stored in the memory 230 . The view range determination unit 242 can estimate the view range between the user and the vehicle by setting the estimated eye position of the user as the origin of the new spherical coordinate system. The field of view confirmation unit 242 can convert the field of view between the user and the vehicle estimated based on the spherical coordinate system into a two-dimensional form. The field-of-view range checking unit 242 can estimate a two-dimensional field-of-view range by adding or subtracting a threshold value to x, y-axis values around the eye position of the user.

The obstacle verifying unit 243 may divide the two-dimensional visual range determined by the field-of-view determining unit 242 into a plurality of (m * n) cells as shown in FIG. The obstacle verifying unit 243 may control the ultrasonic sensor included in the sensor module 220 to transmit the ultrasonic signal in the eye position direction of the user. The obstacle verifying unit 243 can confirm the position of the obstacle by analyzing the reflected signal of the ultrasonic signal reflected and received by the obstacle. The obstacle verifying unit 243 can identify a cell where a reflection signal is generated in a plurality of cells by mapping a reflection signal and a plurality of cells divided into m * n. In FIG. 3, the cell in which the reflection signal is generated, that is, the cell in which the obstacle exists, may be denoted by 1, and the cell in which the obstacle does not exist may be denoted by 0. The obstacle verifying unit 243 can check the obstacle distribution degree by the presence or absence of the obstacle identified as 0,

The obstacle verifying unit 243 can confirm that there is a large obstacle between the user and the vehicle and the visibility of the user is not easy if the obstacle distribution in the visual range is a threshold value, for example, 80% or more. The obstacle verifying unit 243 may set the first signal transmission distance to a critical distance, e.g., 6 m.

The obstacle verifying unit 243 can confirm that there is no obstacle between the user and the vehicle so that it is difficult to secure the visibility of the user when the distribution of obstacles existing in the visual range is less than the threshold value, for example, 80%. The obstacle verifying unit 243 may set the second signal transmission distance to a critical distance, for example, 11 m. At this time, the obstacle distribution map and the threshold distance can be changed by the user or the manufacturer, and in particular, the threshold distance can be changed according to the regulations of the country using the remote control terminal 100.

The signal output management unit 244 may transmit a request signal including the first signal transmission distance or the second signal transmission distance to the remote control terminal 100. [ At this time, the request signal may be a signal for requesting the remote control terminal 100 to set the signal strength to such a degree that the control signal can be transmitted by the critical distance.

The operation management unit 245 can control the operation of the vehicle according to the control signal received from the remote control terminal 100 through the communication module 210. [ At this time, the control signal may include a control signal for operating a window provided in the vehicle, a control signal for operating the sunroof, a control signal for controlling the door opening and closing of the vehicle, and the like.

4 is a flowchart for explaining a vehicle control method using a remote control terminal according to an embodiment of the present invention.

Referring to FIGS. 1 to 4, in step 11, the control module 240 can confirm whether a synchronization signal is received from the remote control terminal 100 through the communication module 210. In step 11, the control module 240 performs step 13 when the synchronization signal is received from the remote control terminal 100. If the synchronization signal is not received from the remote control terminal 100, the control module 240 may perform step 29. [ In step 29, the control module 240 may perform a corresponding function such as awaiting reception of a synchronization signal from the remote control terminal 100. [

In step 13, the control module 240 can confirm the location of the remote control terminal 100. According to one embodiment, the control module 240 may control the remote control terminal 100, which includes the distance, azimuth, and altitude from the vehicle to the remote control terminal 100 based on the synchronization signal received via the communication module 210, Can be confirmed. The position of the remote control terminal 100 can be confirmed by setting the origin of the spherical coordinate system to the position of the communication module 210 as shown in FIG.

In step 15, the control module 240 may estimate the field of view of the user operating the remote control terminal 100 based on the location of the confirmed remote control terminal 100. According to one embodiment, the control module 240 may estimate the user's eye position based on the position of the remote control terminal 100 using the body index database. The control module 240 can estimate the visual range between the user and the vehicle by setting the estimated eye position of the user as the origin of the new spherical coordinate system. At this time, the control module 240 can convert the field of view between the user and the vehicle estimated based on the spherical coordinate system into a two-dimensional shape. At this time, the control module 240 can estimate a two-dimensional visual field range by adding or subtracting a threshold value to the x and y axis values around the eye position of the user.

In step 17, the control module 240 can check the distribution of the obstacles existing in the estimated field of view. The control module 240 may be divided into a plurality of cells such that the field of view is m * n as shown in FIG. The control module 240 may control the sensor module 220 to transmit an ultrasonic signal. The control module 240 can analyze the reflected signal of the ultrasonic signal reflected by the obstacle and confirm the position of the obstacle. The control module 240 can identify a cell in which a reflection signal is generated in a plurality of cells by mapping a reflection signal and a plurality of cells divided into m * n. In this case, as shown in FIG. 3, a cell in which a reflection signal is generated, that is, a cell in which an obstacle exists, may be represented by 1, and a cell in which no obstacle is present may be represented by 0. The control module 240 can check the obstacle distribution with the presence or absence of obstacles identified as 0, 1.

In step 19, the control module 240 performs step 21 if the obstacle distribution is greater than or equal to the threshold, and step 23 if the obstacle distribution is less than the threshold. At this time, the threshold value may be set to about 80%, and the setting can be changed by the user or the manufacturer.

In step 21, the control module 240 may set the first signal transmission distance and transmit the first signal transmission distance to the remote control terminal 100 if the obstacle distribution is 80% or more. For example, if the obstacle distribution is 80% or more, it can be confirmed that the control module 240 has many obstacles between the user and the vehicle. In this case, the control module 240 can set the signal transmission distance of the remote control terminal 100 to be less than or equal to the critical distance. For example, the critical distance may be 6m, which may be changed according to the laws of the country using the remote control terminal 100. [ The control module 240 may transmit information on the critical distance to the remote control terminal 100. [

In step 23, the control module 240 may set the second signal transmission distance and transmit the second signal transmission distance to the remote control terminal 100 if the obstacle distribution is less than 80%. For example, if the obstacle distribution is less than 80%, the control module 240 can easily confirm the user's visibility since there are not many obstacles between the user and the vehicle. In this case, the control module 240 can set the signal transmission distance of the remote control terminal 100 to be less than or equal to the critical distance. For example, the critical distance may be 11 m, which may be changed according to the laws of the country using the remote controlling terminal 100. The control module 240 may transmit information on the critical distance to the remote control terminal 100. [

In step 25, the control module 240 may receive a control signal for controlling the vehicle from the remote control terminal 100. [ At this time, the remote control terminal 100 can generate and output a control signal according to the output size corresponding to the signal transmission distance of either the first signal transmission distance or the second signal transmission distance. The control module 240 may receive the control signal output from the remote control terminal 100. [

In step 27, the control module 240 can control the operation of the vehicle corresponding to the received control signal. At this time, the control signal may include a control signal for operating a window provided in the vehicle, a control signal for operating the sunroof, a control signal for controlling the door opening and closing of the vehicle, and the like.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. Therefore, the scope of the present invention should be construed as being included in the scope of the present invention without departing from the scope of the present invention.

10: vehicle control system 100: remote control terminal
200: control device 210: communication module
220: sensor module 230: memory
240: control module 241:
242: Field of view range confirmation unit 243: Obstacle confirmation unit
244: Signal output management unit 245: Operation management unit

Claims (10)

A communication module for performing communication with the remote control terminal;
Determining a position of the remote control terminal based on the verified position and a disturbance distribution diagram between the remote control terminal and the vehicle based on a visual range of the user having the remote control terminal, A control module for setting a transmission distance, transmitting the distance to the remote control terminal, and controlling the operation of the vehicle based on a control signal received from the remote control terminal;
And the vehicle control device. The method according to claim 1,
The control module
The azimuth angle and the altitude from the vehicle to the remote control terminal based on the synchronization signal received from the remote control terminal through the communication module. 3. The method of claim 2,
The control module
And the position of the remote control terminal is set by setting the position of the communication module as the origin of the spherical coordinate system. 3. The method of claim 2,
The control module
And estimates the field-of-view range of the user of the remote-controlled terminal based on the position of the remote-controlled terminal. 5. The method of claim 4,
A sensor module for transmitting an ultrasonic signal to a position of the remote control terminal;
Further comprising: 6. The method of claim 5,
The control module
Divides the estimated field of view into a plurality of cells of m * n, and confirms the distribution of obstacles within the field of view on the basis of the reflected signals of the transmitted ultrasound signals. Receiving synchronization and a signal from a remote control device;
Confirming the position of the remote control device based on the synchronization signal;
Determining an obstacle distribution diagram between the remote control terminal and the vehicle based on the identified position based on a visual range of the user having the remote control terminal;
Setting a signal transmission distance of the remote control terminal based on the obstacle distribution map and transmitting the signal transmission distance to the remote control terminal;
Controlling operation of the vehicle based on a control signal received from the remote control terminal;
The vehicle control method comprising: 8. The method of claim 7,
The step of confirming the position of the remote control device
Setting a position of a communication module that receives the synchronization signal as an origin of a spherical coordinate system;
And determining a position including the distance to the remote control terminal, the azimuth and the altitude based on the spherical coordinate system using the synchronization signal. 8. The method of claim 7,
After confirming the position of the remote control device
Estimating a field-of-view range of the user of the remote-controlled terminal based on the location of the remote-controlled terminal;
Further comprising the steps of: 10. The method of claim 9,
The step of verifying the obstacle distribution diagram between the vehicles
Transmitting an ultrasonic signal to a position of the remote control terminal;
Dividing the estimated field of view into a plurality of cells of m * n, and confirming the obstacle distribution map existing within the field of view based on the reflected signals of the transmitted ultrasonic signals.
KR1020140140768A 2014-10-17 2014-10-17 Apparatus and Method for Controlling of Vehicle Using Remote Control Terminal KR101592772B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109147305A (en) * 2018-07-13 2019-01-04 合肥京东方视讯科技有限公司 A kind of detection device and method of the practical maximum of control distance of remote controler

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010160017A (en) * 2009-01-07 2010-07-22 Alps Electric Co Ltd Vehicle search system
JP2012158948A (en) * 2011-02-02 2012-08-23 Denso Corp Antenna consumption current reduction device of smart entry system for vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010160017A (en) * 2009-01-07 2010-07-22 Alps Electric Co Ltd Vehicle search system
JP2012158948A (en) * 2011-02-02 2012-08-23 Denso Corp Antenna consumption current reduction device of smart entry system for vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109147305A (en) * 2018-07-13 2019-01-04 合肥京东方视讯科技有限公司 A kind of detection device and method of the practical maximum of control distance of remote controler
CN109147305B (en) * 2018-07-13 2020-03-31 合肥京东方视讯科技有限公司 Device and method for detecting actual maximum control distance of remote controller

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