US 11,932,165 B2
Mobile device tethering for a remote parking assist system of a vehicle
Hamid M. Golgiri, Livonia, MI (US); John Robert Van Wiemeersch, Novi, MI (US); Erick Michael Lavoie, Van Buren Charter Township, MI (US); and Vivekanandh Elangovan, Canton, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Aug. 25, 2021, as Appl. No. 17/412,041.
Application 17/412,041 is a continuation of application No. 15/860,420, filed on Jan. 2, 2018, granted, now 11,148,661.
Prior Publication US 2021/0380098 A1, Dec. 9, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/70 (2017.01); B60Q 1/48 (2006.01); B60Q 1/50 (2006.01); B60W 30/06 (2006.01); G01C 21/16 (2006.01); H04W 4/02 (2018.01); H04W 4/40 (2018.01); G06K 7/14 (2006.01); H04N 23/56 (2023.01)
CPC B60Q 1/48 (2013.01) [B60Q 1/503 (2013.01); B60Q 1/507 (2022.05); B60W 30/06 (2013.01); G01C 21/1656 (2020.08); G06T 7/70 (2017.01); H04W 4/023 (2013.01); H04W 4/40 (2018.02); B60Q 1/509 (2022.05); B60Q 1/544 (2022.05); B60Q 2400/50 (2013.01); B60W 2556/45 (2020.02); G06K 7/1417 (2013.01); G06K 7/1452 (2013.01); H04N 23/56 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a camera; and
a processor configured to:
send an instruction to a mobile device as a visible light communication (VLC);
receive a second visible light communication (VLC) from the mobile device;
analyze the second VLC to determine an initial relative distance of the mobile device to the vehicle;
based on the initial relative distance, perform dead reckoning on the mobile device to track a location of the mobile device relative to the vehicle;
receive a third visible light communication (VLC) from the mobile device;
analyze the third VLC to determine a second initial relative distance of the mobile device to the vehicle;
based on the second initial relative distance, perform dead reckoning on the mobile device to track the location of the mobile device relative to the vehicle;
determine, based on the dead reckoning, that the mobile device is within a threshold distance of the vehicle; and
enable, based on the determination that the mobile device is within the threshold distance of the vehicle, autonomous parking of the vehicle.