• 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:
    A method of transmitting an environment model in which a first station (2) requests the environment model at a second station (3). The environment model is formed of tiles (4) and describes the environment of the first station (2) and / or the second station (3). Method according to which the resolution of the tiles (4) of the first station (2) is chosen.
    公开号:FR3017482A1
    申请号:FR1550893
    申请日:2015-02-05
    公开日:2015-08-14
    发明作者:Philipp Lehner；Holger Mielenz；Christian Heigele
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    [0001] Field of the Invention The present invention relates to a method of transmitting an environment model. The invention also relates to a device for implementing such a method.
    [0002] State of the art Vehicle driving assistance systems use information relating to the environment; these are obtained by environmental sensors that collect them. To form an environment model from the environment information, according to the state of the art, an "occupancy grid" is created representing the environment of the vehicle in the form of a two-dimensional grid whose cells each contain information indicating whether the region of the environment represented by the cell can be traveled or occupied by an obstacle, i.e. it can not be traveled. In general, this information is transformed into probability levels for cell occupancy. The occupation grids are, however, very rigid because a model, once established, can not be extended. If the model needs to be expanded, a new model must be established and the original model incorporated into the new model. The management of the occupation grids requires a lot of calculations. According to the state of the art, it is also known to establish environmental models. These include "tile grids". The tile grids are generally square shaped tiles that memorize the neighborhood information of the tiles concerned. With the help of neighborhood information you can easily expand tile grid patterns as you just need to add new tiles to neighboring tiles. "Tiles" or tiles do not necessarily have a square or quadratic shape, but may have other shapes.
    [0003] If several vehicles pass in the same area, each vehicle must establish its own environmental model for that area. This is a disadvantage in particular for areas frequented by many vehicles such as parking or garage parking spaces. SUMMARY OF THE INVENTION AND ADVANTAGES OF THE INVENTION The subject of the present invention is a method for transmitting a vehicle model. environment in which a first station requests the environment model at a second station, the environment model is formed with tiles and the environment of the first station and / or the second station is described, and the resolution of the tiles of the first station. The method according to the invention makes it possible to transmit environment models between a first station and a second station. This provides information collected by other traffic participants. To effectively use such a communication channel according to the invention limits the size of the data to be transmitted by selecting a resolution different from the tiles from which the environment model is formed. To transmit the environment model, the first station requests the environment model at the second station. The response to the environment model request issued by the first station is a resolution of the different tiles of the environment model. Thus, the first station determines the quality of the environment model to be transmitted and the first station fixes the quality concerning its own request, in particular from the requests of its own assistance systems which require environment information corresponding to different qualities. The tiles thus represent locally delimited areas of the environment. The shape of the tiles is chosen in any way; the tiles are preferably square. The environment is in particular the environment of the first station and / or the environment of the second station. The resolution of the tiles is preferably chosen according to the distance of the tiles representing the areas of the environment from the first station. Thus, the resolution of very distant areas will be weak while that of the near areas will be high. This provides information on the first station to establish a precise navigation and a general planning of the path of movement of the first station.
    [0004] In a variant or in addition, the resolution of the tiles is advantageously chosen as a function of the memory capacity available in the first station. In particular, it is envisaged that for maneuvers requiring a large area, all the necessary tiles are requested by adapting the resolution of the tiles to the available memory resources. According to another feature, the first station performs path planning and the environment model includes all tiles along the planned path. For planning the path, just tiles with low resolution. If more precise information is needed for regions for which there are already tiles with a lower resolution, the tiles are preferably asked again. For this purpose, a first set of low resolution tiles is preferably first requested. Later, when more precise information is needed, the tiles of the first game are finally asked but with a higher resolution. This allows in particular to have more precise information if for example during the planning of the trip it is found that it is necessary to go through a throttling point. But the throttling point is involved in the planning of the journey without however avoiding risk, that is to say that the risk of collision can not be excluded. In this case, the tiles affected by the throttling point are re-requested with a higher resolution. Advantageously, it is furthermore planned to predefine a large number of resolution levels which differ from one another by an integer multiple. This simplifies in particular the transfer of information with a first level of information resolution with a second level of resolution. Thus, tiles that represent the same area of the environment but have different resolutions can be grouped simply and efficiently. Preferably, the cells comprise a set of cells. Each cell has a probability of occupation indicating in particular whether the area of the environment represented by the respective cell is free or occupied. Preferably, each tile has an integer number of cells. The resolution of a tile is defined in particular by the number of cells of the tile. Advantageously, the tiles are tiles of a "GridTiles" tile. This makes it possible to form environmental models in a simple and flexible way. The invention also relates to a vehicle equipped with a control device for performing the method described above. The vehicle is then the first station or the second station. Preferably, the vehicle according to the invention is equipped with environmental sensors that capture the current environment of the vehicle. Thus, using the data it is possible to establish at least one zone of the environment model. The data provided by the environmental sensors can advantageously be used by various vehicle driving assistance systems. Such assistance systems include the assistance system for parking maneuvers or maneuvering assistance system. By transmitting the environment model of another station, the method according to the invention allows the vehicle to expand the data of the environmental sensors. The vehicle thus has detailed information relating to the environment. Drawings The present invention will be described hereinafter in more detail with the aid of exemplary model and environment transmission methods and means for their implementation shown in the accompanying drawings in which: FIG. a diagram of an exemplary environment, FIG. 2 is a diagram of a first model of the environment of FIG. 1, FIG. 3 is a schematic representation of a second environment model transmitted by a 4 is a diagram of a third environment model formed after the transmission of the second environment model by the method of the invention and corresponding to the embodiment of FIG. first environment model and the second environment model, Figure 5 is a diagram of a vehicle corresponding to an embodiment of the invention.
    [0005] DESCRIPTION OF EMBODIMENTS FIG. 1 shows the environment 5 comprising a set of obstacles 14 which are in particular vehicles stationed in locations; the environment 5 is here a parking lot. A first station 2 and a second station 3 travel the environment 5 along a first path 12 and a second path 13. The first station 2 and the second station 3 are vehicles. The first station 2 and the second station 3 are each a vehicle 8 according to an exemplary embodiment of the invention, as shown in FIG.
    [0006] The vehicle 8 which is an exemplary embodiment of the invention comprises environment sensors 9 for detecting the environment 5. The vehicle 8 thus has information relating to the environment. The vehicle 8 transmits the environmental information by the method of the invention according to an exemplary embodiment. Vehicle 8 provides its own environmental information to other traffic participants; the vehicle 8 also receives environmental information from the other participants. The first station 2 thus captures the environment 5 and establishes a first environment model 10 as shown in FIG. 2. The first environment model 10 is delimited by the sensor input area of the first station 2. In the example of Figure 2, the first environment model 10 consists of a single tile 4. This tile is preferably a tile (GridTile). The resolution of the tile 4 is low because the first station 2 has only a small capacity of free memory. The first environment model 10 thus very roughly represents the obstacles 14 and the free surfaces 15. Moreover, because of its limited extension, the first environment model 10 does not have path planning because it only has information about the area near the environment 5 as well as information along the first path 12. In particular, one can not plan a path that connects the first station 2 to the second station 3. The second station 3s is moved along the second path 13 into the environment 5, has already grasped a large part of the environment 5 and has memorized its information as shown in FIG. 3. FIG. 3 shows a second model of environment 1 transmitted by the example method of the invention. The second environment model 1 has been established by the second station 3 while it has moved along the second path 13. Thus the second environment model 1 shows in a similar way to the first environment model 10 , obstacles 14 and free surfaces 15 in the environment 5. Given the large extension of the second environment model 1, modeling uses two tiles 4, including GridTile tiles. FIGS. 2 and 3 show that the first environment model 10 of the first station 2 and the second environment model 1 of the second station 3 intersect because the tile 4 of the first environment model 10 covers the same zone of the environment 5 than the lower tile 4 of the second environment model 1. The tile 4 of the first environment model 10 differs from the tiles 4 of the second environment model 1 only by the resolution.
    [0007] The resolution of the cells 4 is defined by the cells 7. The cells 7 subdivide each cell 4 and are assigned probability levels indicating whether the area of the environment 5 represented by the cell 7 is free. The figures show different levels of probability by different hatching.
    [0008] In the first environment model 10, the tile 4 has few cells 7 so that the cells 7 are large; the tile 4 has a low resolution. In contrast to this, the tiles 4 of the second environment model 1 have a large number of cells 7 so that the cells 4 of the second environment model 1 have a high resolution.
    [0009] To expand the first environment model 10 of the first station 2, this second station 2 requests the second environment model 1 at the second station 3. As the first station 2 only has a first environment model 10 with a large resolution Beer, the first station 2 requests the tiles of the second environment model 1 with the same coarse resolution. The corresponding data are transmitted by the second station 3 to the first station 2. The first station 2 thus establishes a third environment model 11 gathering the information of the first environment model 10 with the new information of the second environment model 1 In particular, the first environment model 10 is thus enlarged. This third environment model 11 constitutes a more explicit model of the environment 5. The third environment model 11 allows the first station 2, in particular of the environment - nify a path in the areas in which the first station 2 has not moved; these zones could not be entered for this purpose by the first station 2. Overall, the third environment model 11 of the first station 2 thus allows a more precise route planning in the environment 5. If the first station 2 had to find that it requires more precise information because of narrow passages or choke points, it requires the second environment model 1 or different tiles 4 of the second environment model 1 with a higher resolution, at the second station 3. It is equally advantageous if the first station 2 transmits the third environment model 11 thus established to the second station 3. The third extended environment model 11 is thus available to the two stations.
    [0010] NOMENCLATURE OF KEY ELEMENTS 2 First station 3 Second station 4 Tile 5 Environment 8 Vehicle 9 Environmental sensor First environmental model 10 12 First path 13 Second path 14 Obstacle Free surface 15
    权利要求:
    Claims (10)
    [0001]
    CLAIMS 1 °) A method of transmitting an environment model (1) according to which a first station (2) requests the environment model (1) at a second station (3), the environment model (1) is formed of tiles (4) and describes the environment (5) of the first station (2) and / or the second station (3), the method according to which the resolution of the tiles (4) of the first station (2) is chosen ).
    [0002]
    Method according to claim 1, characterized in that the resolution of the tiles (4) is selected as a function of the distance of the regions of the environment (5) represented by the tiles (4), relative to at the first station (2).
    [0003]
    Method according to claim 1, characterized in that the resolution of the tiles (4) is selected according to the available memory capacity in the first station (2).
    [0004]
    4) Method according to claim 1, characterized in that the first station (2) performs a path planning, the environment model comprising all the tiles (4) located along the planned path (6).
    [0005]
    Method according to Claim 1, characterized in that a first set of tiles (4) of low resolution is firstly requested and subsequently the tiles (4) of the first set are requested with a higher resolution. .
    [0006]
    6) Method according to claim 1, characterized in that predefines a large number of resolution levels which differ each time from an integer multiple.
    [0007]
    7 °) Method according to claim 1, characterized in that the cells (4) contain numerous cells (7), - each cell (7) having a probability of occupancy and each tile (4) including in particular an integer of cells (7).
    [0008]
    8 °) Method according to claim 1, characterized in that the tiles (4) are constituted by the tiles of a grid.
    [0009]
    9 °) Vehicle (8) comprising a control apparatus, characterized in that it executes the method according to one of claims 1 to 8 for the vehicle (8) corresponding to the first station (2) or the second station (3).
    [0010]
    Vehicle (8) according to claim 9, characterized in that it comprises environment sensors (9) making it possible to establish at least one region of the environment model (1).
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    同族专利:
    公开号 | 公开日
    GB2524162A|2015-09-16|
    DE102014202313A1|2015-08-13|
    FR3017482B1|2021-02-12|
    GB2524162B|2020-07-29|
    GB201501989D0|2015-03-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN108372856A|2017-01-31|2018-08-07|通用汽车环球科技运作有限责任公司|Effective context-aware of perception stream in autonomous driving system|JP2003004468A|2001-06-26|2003-01-08|Alpine Electronics Inc|Navigation system and display method for map thereof|
    US20090228172A1|2008-03-05|2009-09-10|Gm Global Technology Operations, Inc.|Vehicle-to-vehicle position awareness system and related operating method|
    US8594923B2|2011-06-14|2013-11-26|Crown Equipment Limited|Method and apparatus for sharing map data associated with automated industrial vehicles|CN105857306B|2016-04-14|2018-07-10|中国科学院合肥物质科学研究院|A kind of vehicle autonomous parking paths planning method for a variety of scenes of parking|
    CN108407804A|2018-02-07|2018-08-17|维森软件技术（上海）有限公司|A kind of multi-path presentation method of aid parking|
    法律状态:
    2016-02-22| PLFP| Fee payment|Year of fee payment: 2 |
    2017-02-20| PLFP| Fee payment|Year of fee payment: 3 |
    2017-05-05| PLSC| Search report ready|Effective date: 20170505 |
    2018-02-23| PLFP| Fee payment|Year of fee payment: 4 |
    2020-02-20| PLFP| Fee payment|Year of fee payment: 6 |
    2021-02-17| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014202313.0A|DE102014202313A1|2014-02-07|2014-02-07|Method for transmitting an environment model|
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