• 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 device being able to equip a vehicle (1, 2), it comprises at least: - a first sensor (30) placed on the side of said vehicle facing the entrance of said area, said sensor which may be a lidar performs measurements of distance and orientation of said vehicle relative to said area from the reconstruction of a cloud of points belonging to the surface of said walls; - a series of sensors (31) placed on the lateral sides of said vehicle for measuring the distance of said sides to the side walls of the parking area, these sensors can be ultrasonic or optical; - Processing means (39) calculating the position and the relative orientation of said vehicle relative to said walls as a function of the measurements of the different sensors and functions of the different phases of parking.
    公开号:FR3021938A1
    申请号:FR1455049
    申请日:2014-06-04
    公开日:2015-12-11
    发明作者:Yoann Dhome；Brice Burger；Patrick Sayd
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a parking aid device for a vehicle.
    [0002] It applies in particular for parking assistance for long vehicles or exceptional size. It also relates to a vehicle equipped with such a device. The parking aid can be seen as a comfort in some cases, especially for passenger cars or other light vehicles. But for a growing number of applications, parking assistance has become an indispensable function. This is particularly the case for parking long vehicles with great precision.
    [0003] Such a need exists especially in intra-port traffic. This traffic consists of moving containers between cargo loading / unloading points and temporary storage areas (linked to road and rail transport infrastructures). The loading / unloading phases are operated using mobile lifting devices (cranes) that will load / unload mobile platforms that will carry the transport between the various points of the port. The positioning accuracy of the mobile platform when parking is crucial to secure and accelerate the task of loading / unloading, Indeed, the parking operations of a platform or trailer, conveyed by means of a motorized cabin, is delicate and takes a lot of time, even when done by experienced drivers. Accidents can also occur, damaging the materials contained in containers but also to those involved in the surrounding maneuvers. To increase the productivity and safety of the port traffic, it is therefore necessary to speed up parking operations and significantly reduce the number of accidents. To reduce these accidents, it is necessary to load and unload the containers precisely, which requires precisely positioning the platforms in the parking spaces.
    [0004] To improve the accuracy and secure the loading and unloading of containers on platforms there are parking stations equipped with side walls. The problem is then to quickly park a platform, trailer or long vehicle in a parking area to a few centimeters. Assistance for parking or automatic parking is necessary for this purpose. An example of application is to be able to automatically insert a vehicle 13 meters long and 3 meters wide, carrying a payload of the order of 60 tons, in a parking space with a positioning accuracy of l centimeter from a starting position at least fifteen meters or more from the parking space, parking place. Existing solutions use magnetic terminals or so-called wire-guided technology. These solutions have several disadvantages: - First of all, they require the installation on the vehicle of antennas very close to the ground. However, installing elements close to the ground on a vehicle limits its ground clearance and puts the antennas at risk through shocks with objects lying on the ground; - In all cases, the antennas must be positioned very precisely, horizontally and vertically, as well as in terms of flatness. This is both technically difficult and difficult to guarantee over time due to vibrations and shocks, inevitable in operational phases; - In addition, it is necessary to install sometimes active devices, transponders or metal wires fed into the ground, which requires significant work. These solutions are therefore unreliable and expensive. An object of the invention is in particular to overcome the aforementioned drawbacks, and to allow a fast and accurate parking, safely, especially for long vehicles or having an exceptional size. For this purpose, the subject of the invention is a device for assisting parking of a vehicle inside a parking area provided with at least one side wall having geometric characteristics distributed longitudinally, said device being suitable for equipping a vehicle, and comprising at least: a first sensor placed on the side of said vehicle facing the entrance of said area, the measuring beam of said sensor scanning said area, said sensor performing measurements of distance and orientation said vehicle relative to said area from the reconstruction of a cloud of points belonging to the surface of said walls or echo points reemitted by said walls; a series of sensors placed on the lateral sides of said vehicle intended to measure the distance from said sides to said lateral walls, the measuring beams of said sensors sweeping said walls from the inside; processing means calculating the position and the relative orientation of said vehicle relative to said walls in at least three successive phases: an approach phase of said area in which said walls being scanned by the measuring beam of said first sensor; the relative position and orientation are calculated with respect to the position and orientation of a global shape of said walls deduced from said cloud; an input phase in said area in which the position and the relative orientation are at least calculated with respect to the position and the orientation of simple geometrical shapes deduced from said cloud, functions of said geometrical characteristics; an advancement phase in said area in which the processing means calculate a relative position and orientation by comparison of said cloud with a stored model of said walls and calculate another position and another relative orientation from the distance measurements made by the sensors of said series; said processing means comprising a data fusion module performing a spatio-temporal filtering of the relative position and orientation calculations produced from the different sensors, the filtered calculations thus giving information of position and orientation of said vehicle for the control of his movement.
    [0005] The first sensor is for example at least one lidar sensor, or at least one radar sensor or at least one video sensor. The sensors of said series are for example ultrasonic sensors or optical telemetry sensors.
    [0006] Spatio-temporal filtering is performed for example by a Kalman filter or by a Monte Carlo method. The processing means calculate for example a position and a relative orientation from the distance measurements made by the sensors of said series during the input phase.
    [0007] The processing means calculates, for example, a relative position and orientation by comparison of said cloud with a stored model is performed by applying a transformation algorithm between point clouds. The measurements obtained by said first sensor are for example sampled according to a first period Ti and the measurements obtained from the sensors of said series are sampled according to a second period T2, the calculations of positions and orientation being carried out within a second period. 'a period. In a possible embodiment, the sensors of said series are, for example, positioned with increasing gaps between two consecutive sensors, from the side supporting said first sensor. The processing means perform, for example, time and space coherence checks between the successive relative position and orientation calculations obtained from the measurements of said first sensor, and between the position and orientation calculations. successive relative obtained from the measurements of the sensors of said series, the coherent calculations being provided to said data fusion module. In case of detection of an inconsistency between two positions and successive orientations, an alert signal is for example issued. In a possible embodiment, the device further comprises at least one odometer, placed on a wheel of the vehicle, the processing means making the estimation of the speed vector of movement of said vehicle from the wheel speed measurements produced by the odometer, said estimate producing an estimate of position and orientation of said vehicle taken into account by the data fusion module to define the position and the relative orientation of said vehicle for the control of its displacement. The invention also relates to a vehicle comprising a control and control system for piloting assistance, equipped with a device as described above, said system providing the position and orientation information of said vehicle to said control system and control. The vehicle is for example automatically controlled. It is for example composed of a cabin and a trailer, said sensors being placed on said trailer. Said vehicle may be intended to be loaded and unloaded containers in said parking area, for example in a port area. Other characteristics and advantages of the invention will become apparent with the aid of the description which follows, made with reference to appended drawings which represent: FIGS. 1a and 1b, an example of a parking aid application; - Figures 2a and 2b, an example of vehicle and parking area used in the previous example; - Figure 3, in simplified form, a device according to the invention; FIGS. 4a to 4e, an illustration of different parking phases carried out using a device according to the invention; FIGS. 5a, 5b and 5c, an illustration of the approach, entry and retreat phases; - Figure 6, the possible modules constituting the processing means of a device according to the invention; FIGS. 7a and 7b, an illustration of the operation of a point cloud transformation algorithm that can be used by a device according to the invention; FIGS. 1a and 1b show an example of a parking aid to which the invention advantageously applies. Figure 1a presents a mobile platform 1 towed or pushed by a motorized cabin 2. In the example of Figure 1a, the trailer 1 is for example 13 meters long and 3 meters wide. It is used in port traffic to be loaded with a container whose weight reaches several tens of tons. Figure 1b shows a parking station 3 for receiving the trailer 1. The parking station will be described in more detail later. In the example of Figure 1, it supports a container 4 ready to be loaded on the trailer 3 when it is parked in the station 3. The invention is presented with an example of a particular parking area 3. It applies of course for other types of parking areas. More generally, it also applies to precise parking assistance, especially long vehicles, apart from port traffic. Figures 2a and 2b specify the particular example of application of the invention mentioned in Figures la and 1b. FIG. 2b presents a view from above of the trailer 1 parked in the parking station 3, a station that can be called thereafter a loading station, meaning that the trailer is loaded or unloaded from its container in this station . FIG. 2b presents, in a partial perspective view, the trailer 1 entering the station 3. This station comprises two side walls 21, 25 22 in the form of crenellations. The slots correspond to posts 23 surmounted by support 24, projecting towards the inside of the walls. These supports 24 are intended to carry together a container, the set of supports forming a reception surface. In the example of Figure 2a, three posts 23 are arranged on each side. Trailer 1 has a series of outwardly projecting brackets 25 arranged laterally on each side. In parking, as illustrated in Figure 2a, the supports 25 of the trailer are arranged between the posts. The trailer is then ready to be loaded. The loading of a container 4 on the trailer 1 is as follows: - The trailer is properly parked as shown in Figure 2a; - The container 4 is placed on the supports 24 of the station as shown in Figure lb; - The supports 25 of the trailer being fixed on a structure which lifts, the supports are lifted with the structure to reach the underside of the container, then again raised to exceed the level of the supports 24 of the station, the container then being worn by the supports 25 alone of the trailer; - When the supports 25 of the trailer have reached a given level, the trailer 1 can be removed from the station, loaded by the container, the carriers 25 carrying the container then passing above the supports 24 of the station. For the unloading of the container, the steps are carried out in reverse order. The preceding steps show that the trailer 1 must be placed precisely in the loading station 3, in particular facing the side walls 21, 22. The expected accuracy can be of the order of a centimeter or less. To this precision requirement, a time constraint is added, the trailer having to be parked quickly in station 3. FIG. 3 is a simplified illustration of a parking assistance device according to the invention, the device being shown installed on a vehicle. The device comprises sensors 30, 31 and processing means 39. More particularly, FIG. 3 shows the trailer 1 equipped with sensors 30, 31, the processing means 39 being for example arranged in the cabin 2. A device according to FIG. one of the functions of the invention is to provide relative positioning information of the trailer with respect to a targeted parking space. A lid 30 is placed at the rear of the trailer, more particularly on the side facing the entrance of the parking area 3. The lidar sweeps a wide angle, for example greater than 180 °. Ultrasonic sensors 31 are arranged on the lateral sides of the trailer. 302 193 8 8 Having a cylinder shape and a small size, they can be inserted in the structure of the vehicle, the frame of the trailer 1 in this example. Advantageously, it is not necessary to position these sensors near the ground, because they have sufficiently large detection cones. They can be positioned regularly along the lateral sides of the trailer 1, the difference between sensors being a function of the geometrical characteristics to be detected. Preferably, and advantageously, the ultrasonic sensors 31 are arranged at increasing distances between sensors as illustrated in FIG. 3, the first two sensors 311, 312 from the rear of the trailer being the tightest. In the example of Figure 3, six ultrasonic sensors are placed on each side of the trailer. The number of ultrasonic sensors depends in particular obstacles to meet. In the present example where the station 3 comprises slots, sufficient sensors 31 are required to measure at the same time the distances to the nearest walls, corresponding to the slots, and the distances to the farthest walls. The data from the lidar sensor 30 and the ultrasonic sensors 31 are fused and processed by the processing means 39 in a manner to be described later. The lidar has a range of several tens of meters allowing first to carry out approach searches to detect the entrance to the parking area, that is to say the entrance to the station. load 3 in the sample application. Ultrasonic sensors, with a range of several tens of centimeters, less than one meter, make it possible to obtain precise measurements. FIGS. 4a to 4e illustrate the parking phases carried out using a device according to the invention, these phases are illustrated for parking in a loading station 3. The parking function performed by this device comprises three phases. successive: - A first phase illustrated by Figures 4a and 4b, said approach phase, in which the device brings the vehicle 1, 2 up to a few meters from the entrance to the parking area 3, since a starting point which can be several tens of meters, the only constraint being that the entrance to the parking area is covered by the scan 41 of the lidar, that is to say, detectable by the latter, in practice the l rear of the vehicle can approach up to one or two meters from the entrance in this approach phase as shown in Figure 4b, the positioning being performed with an accuracy of the order of a few centimeters, three centimeters per example ; A second phase illustrated in FIG. 4c, referred to as the entry phase, in which the device causes the rear of the vehicle 1, 2 to be inserted inside the parking area 3, inside the discharge station in the example of Figures 1a, 1b, 2a and 2b. The entrance, insertion, is carried out on a short distance, a few tens of centimeters, fifty centimeters for example. In this input phase, the positioning accuracy is of the order of one centimeter; A third phase illustrated by FIGS. 4d and 4e, said advanced phase, in which the device advances the vehicle 1, 2 to its final parking position (FIG. 4e), that is to say its loading / unloading position in the present example. In this phase, the positioning accuracy can be of the order of a millimeter. This phase of advance will be called later phase of recoil, referring to the example of application where the vehicle enters from the rear in the parking area. It is of course possible to foresee cases of applications where the vehicle enters from the front.
    [0008] The lidar sensor 30 thus first ensures the approach and input phases. This sensor is capable of giving distance measurements: - On a horizontal plane, the position of the ground and the orientation of the vehicle in roll being essential; - With respect to the side walls 21, 22 of the loading station 3, to know the yaw of the vehicle and its lateral and longitudinal positioning; Lidar 30 is also capable of providing information to detect edges of the station structure forming geometric features, including edges of the entrance edges of sidewalls 21, 22 or edges of slots 23. The lidar sends a an important list of detected points, more than 1000 points in the example of FIGS. 4a to 4e, in polar coordinates on a horizontal plane swept by the beam 41. The lidar is for example located in the center of the rear side of the trailer or the vehicle , above the bumper. Advantageously, it is not necessary to position the lidar close to the ground. FIGS. 5a, 5b and 5c illustrate the three phases, approach, entry and recoil, showing the detection cones 51 produced by the ultrasonic sensors 31. FIG. 5a illustrates the end of the approach phase where only the beam 41 lidar sweeps through parking area 3 with the rear of the trailer facing the entrance to the parking area at a distance of approximately one meter. Figure 5b illustrates the end of the entry phase and the beginning of the retreat phase. In the recoil phase, the sensors 31 begin to produce measurements that are exploited as illustrated by the positioning of the first two detection cones 51 meeting the side walls 21, 22. Advantageously, the short distance between these two first sensors, 20 in accordance with FIG. 3, makes it possible to obtain heading and lateral distance information very quickly. FIG. 5c illustrates the continuation of the recoil phase where the other sensors 31 identified by their detection cones 51 meet the side walls leading to obtaining a series of lateral distance measurements. In terms of structure, the invention provides the following advantages in particular: the invention does not require any active device in station 3 or around the station, it is sufficient for the walls to be reflective of the waves emitted by the lidar sensor and ultrasonic sensors, most of the walls meeting this need, in particular simple metal sheets can be used to line the walls; - The sensors can be located in protected areas of the vehicle, which is not the case of antennas used in previous solutions; 302 193 8 11 - Reliability and robustness is ensured, in particular by the fact that, by their position on the vehicle, the sensors are less subject to shocks, dirt, degradations or vibrations in particular, since they do not are not placed near the ground. In addition, by construction the ultrasonic sensors are redundant. In combination with this structure, a device according to the invention comprises processing means 39 for exploiting all the measurement data from the sensors, these data arriving asynchronously and totally disordered. FIG. 6 shows the various possible treatment modules comprising the processing means 39 of a device according to the invention. The processing means presented by this FIG. 6 comprise four locating modules 61, 62, 63, 64, three modules 61, 62, 63 exploiting the measurements of the lidar sensor and a module 64 using the measurements of the ultrasonic sensors 31. Another module 65 makes it possible to obtain, if necessary, velocity vector measurements. A first processing module 61 performs the search of the parking area 3, corresponding to the approach phase of Figure 4a. Subsequently, with reference to the example of application of the figures, the parking area may be called station. This module 61 uses both the measurement data from the lidar sensor and certain geometric characteristics 60 of the station 3. In this phase, the system seeks to position the vehicle with respect to a globalizing form of the station, the overall shape walls including including crenels or poles. The space of the received data is discretized. This is a two-dimensional space in which a datum, representing a laser echo, is marked by an angle and a distance. We obtain clouds of points, where each point corresponds to an echo. The density of points of each cloud, or zone, is studied using thresholds, each dense zone being indexed. These dense areas are supposed to represent the posts 23 of the station 3, they must therefore respect specific distances between them. These specific distances are given by the geometrical characteristics of the station used elsewhere. In a known manner, a filtering based on the dimensions of the station is applied, making it possible to eliminate any detection errors. From this filtering, several hypotheses of relative position of the station with respect to the vehicle can appear. In the case of a parking area different from the loading station 3 presented as an example, the module would take into consideration other geometrical characteristics. The parking area must at least return echoes of geometric characteristics corresponding to hardware elements, to position the lidar, and therefore the rear of the trailer 1, with respect to these hardware elements. The module 61 is active at the start of the parking phase. At the end of the approach phase, a second processing module 62 performs a more precise search for positioning. It always uses lidar sensor data as well as some geometric characteristics of the station. But instead of looking for globalizing forms specific to the station, he looks for simpler and more precise geometric shapes. In point clouds, the module thus searches, for example, for elements characteristic of the structure of the station, for example the corners formed by the columns. The spatial location of these breaking points of the structure allows lateral and longitudinal relative positioning. For other types of parking areas other characteristic shapes can of course be used. The module 62 thus seeks for example to detect a series of corners along the length of the station 3 by detecting the two visible orthogonal walls of the posts. The alignment of these corners allows to define the limit of passage of the vehicle. The estimation of this alignment in the sensor mark allows the positioning of the vehicle with respect to this limit. A third module 63 still uses the data from the lidar sensor, but instead of using characteristic geometric shapes, such as the corners as described above, it uses the complete geometric model of the station 3, in particular to optimize the position calculations. This module 35 mainly comprises a transformation estimation algorithm between two clouds of points. This type of algorithm, based on two point clouds, calculates the motion to be applied to one cloud to superimpose itself on the other ("best fit" algorithm). Data from the lidar already composes a list of points defined by polar coordinates (angle, distance). Also, to be able to use the estimation algorithm above, a discretization of the model of the station 3 is carried out. From this discretization, we recover a cloud of points in polar coordinates representing the theoretical station. The estimation algorithm, based on the two lists of points, provides a transformation estimate describing the relative movement of the vehicle between the present moment and the last known instant. Figures 7a and 7b illustrate the operation of the transformation algorithm between point clouds. In FIG. 7a, two lines 81 represent the theoretical model of the station 3 opposite points clouds 82 corresponding to the measurements made. From these two curves, one can calculate the movement to be applied to the lidar 30, that is to say at the rear of the vehicle, to superimpose the two lines as shown in Figure 7b. A processing module 64 uses the measurement data of the ultrasonic sensors 31, these measurements being used for precise guidance of the vehicle in the station 3. The module 64 is activated in particular in the phases illustrated by FIGS. 4c, 4d, 4e, 5b and 5c. The ultrasonic sensors 31 are very precise over short distances and have a conical-shaped detection beam 51. They can not be used to know the longitudinal position of the vehicle, the nature of their measurements only providing information on the angle between the vehicle and the longitudinal limits of the station, that is to say the longitudinal walls in the case of the loading station 3. The ultrasonic sensor measurements also make it possible to provide information on the lateral position of the vehicle in the station, that is, in fact on its centering in the station. The measurements of the ultrasonic sensors may be represented as arcs of circles in the local coordinate system of the vehicle whose centers are those of the sensors, the radii being the measured distances and the open angular sector corresponding to the opening of the measuring cones 51. In the case of the loading station 3, however, it is noted that the walls 21, 22 are not planes but form slots. Measurements can fall on the wall as far as the nearest wall of the vehicle.
    [0009] One solution is to keep in memory the maximum and minimum widths measured during docking, that is to say when entering the station at the beginning of the entry phase, and to associate each measurement with either a distant plan measurement or near plan measurement. This distinction being made, the module 64 calculates the four planes at best, drawn from the measurements. One then obtains by average a very precise estimate of the angle between the local reference mark of the vehicle and the central axis of the station 3 Since the wall planes are now known, the module 64 can calculate the position of the central axis y of the vehicle 1 in the reference frame of the station 3.
    [0010] The processing means use for example a processing module 65 operating speed information provided for example by an odometer. In this case, the device according to comprises at least one odometer, placed on a wheel of the vehicle 1. The odometric sensors are speed sensors of rotation of the wheels. Using this rotational speed information, it is possible to have an estimate of the speed of movement of the vehicle knowing the diameter of the wheels. If two wheels of the same axle are fitted with this type of device, it is also possible to determine the direction of travel.
    [0011] Two modules 66, 67 perform the verification of the consistency of the positions calculated by the location modules described above. More particularly, a first module 66 checks whether the calculations made from the measurements of the lidar sensor 30 are coherent, in particular in time and in space, and a second module 67 checks whether the calculations made from the measurements of the ultrasonic sensors 31 are also consistent in time and space. Consistency is evaluated individually and collectively over time and in absolute relation to sensor measurements. In practice, the modules 66, 67 verify that two positions calculated at two successive instants do not give an incoherent displacement with the capacities of the vehicle and the displacement requested to it. They also verify that each measurement made by a sensor could have been done in the case where the vehicle is in the calculated position taking into account the shape of the station 3. For this purpose, each module positions the vehicle in the model of the station from the position measurements made, the model of the station being modeled in the module, or at least accessible by it. The module analyzes if the position is consistent according to the previous position. The consistency check exploits in particular the comparison between successive positions in the model, as a function of the measurements taken from the different sensors. This verification is performed in cycles according to the sampling periods of the different types of sensors. The sampling period T1 of the data from the lidar sensor 30 is for example equal to 40 ms, compatible with the precision of the lidar measurements expected. The T1 period is then the period of the consistency check cycle compared to the lidar measurements. The verification can be performed between two successive samplings, using the data of the last sampling.
    [0012] The sampling period T2 of the data from the ultrasonic sensors is for example equal to 20 ms, compatible with the accuracy of the ultrasonic measurements expected. Similarly, period T2 is the period of the consistency check cycle with respect to ultrasonic measurements. Finally, in the case where the device according to the invention uses an odometer, the sampling period T3 of the speed measurements is for example equal to 10 ms. The module 65 using the odometric measurements can carry out the verifications itself or transmit its velocity vector data to the two consistency verification modules 66, 67 for each to carry out coherence checks by combining for one 66, the odometric measurements. and lidar measurements, and for the other 67, odometric measurements and lidar measurements. In all cases, the verification times must be less than the associated periods T1, T2, T3.
    [0013] In case of inconsistency, several decisions can be made, in particular among the following: - stopping the device and the vehicle; - transmission of an alert; - recalculation of positions. The modules 66, 67 transmit the non-coherence information to an unrepresented controller that makes the decision. In the event of a stop, the inconsistency information is sent to the control and control circuit of the vehicle.
    [0014] In the event of an alert, the information may be transmitted to audio or visual interface means intended for a user, the driver of the vehicle, especially if the piloting is not automatic. The processing means 39 furthermore comprise a data fusion module 68. This module performs, for example, spatio-temporal filtering on the relative position and orientation calculations of the vehicle with respect to the walls of the station produced by the different modules. for example of the Kalman filter type. Spatio-temporal filtering can also be performed by a particulate filter (sequential Monte-Carlo method).
    [0015] The spatio-temporal filtering makes it possible to make all the information calculated by the modules described above consistent, in order to provide a stabilized, ie complete and quiet, relative position information. Thanks to this spatio-temporal filtering, this module 68 is able to merge asynchronous data, derived from different sensors, and thus providing elements of different nature. In particular, the lidar provides x data (along the longitudinal axis of the station), y (along the transverse axis of the station) and 0 ° angle for heading measurements. Ultrasonic sensors provide data at y, along the transverse axis, and at 0 ° for heading. An odometer provides distance information and possibly direction. This module 68 is also capable of managing data that does not arrive in the right temporal order, arriving in a scattered order, without coherence with each other, a lidar measurement sampled before an ultrasonic measurement that can arrive after this one. takes into account the relative accuracy of the calculations made by each module described above. The device according to the invention delivers at the output information relative position of the vehicle with respect to the limits of the parking area. This information is transmitted to the control system and control of the vehicle, known elsewhere. From this relative position information, the control and control system activates the control of the vehicle, more or less automated, depending on the presence or absence of a driver. The position information is for example transmitted periodically, according to the consistency checking cycles described above, for example every 10 ms. The spatio-temporal filtering calculations 68 must then be performed in this period. The position of the sensors on the vehicle has been described previously. The lidar sensor is placed on the side of the vehicle facing the entrance of the parking area and the ultrasonic sensors are placed on the lateral sides of the vehicle. It is possible to place a lidar sensor at the rear and also at the front of the vehicle, particularly in the case of a car platform, automatically controlled, likely to enter a parking from the front or rear. The processing means 39 may be located on the trailer 1 or in the cabin 2. In a preferred embodiment, the sensors 30, 31 directly deliver digitized data. These are then provided to the processing means by a bus, for example by a wire link.
    [0016] The invention has been described for a vehicle consisting of a cabin 2 and a trailer 1, the trailer to be parked in a container loading / unloading station. The invention applies of course for other types of vehicles. It applies particularly advantageously for long vehicles, buses for example, or for vehicles having an exceptional size, all these vehicles to be parked precisely. The invention has also been presented with the use of a lidar sensor. Another sensor may be used as long as it has the same range and accuracy characteristics. It is thus possible to use one or more video sensors. You can also use a radar sensor. It is also possible to combine one or more types of sensors 30. One can for example combine at the rear of the vehicle a lidar sensor and a video sensor. It is the same for ultrasonic sensors that can be replaced by sensors with similar characteristics. In particular, it is possible to use optical telemetry sensors. The invention applies for vehicles with drivers or for vehicles driven automatically. In the case of a vehicle with driver, it controls including speed.
    [0017] The invention has been described for parking in a container loading and unloading station. It applies of course for many other types of parking area, provided they are equipped with at least one side wall having geometric characteristics distributed longitudinally. In the example of the station 3, these geometric characteristics are provided by the slots 23. The invention can also be advantageously applied to parking areas where the walls are not fixed. This is particularly the case for the application of parking assistance for a bus between two other buses. The walls of the parking area are then the side faces of the other two buses, the geometric characteristics can be deduced, for example, doors distributed along these side faces.
    权利要求:
    Claims (20)
    [0001]
    REVENDICATIONS1. Device for parking assistance of a vehicle inside a parking area (3) provided with at least one side wall (21, 22) having geometric characteristics (23) distributed longitudinally, said device being suitable to equip a vehicle (1,
    [0002]
    2), characterized in that it comprises at least: a first sensor (30) placed on the side of said vehicle facing the entrance of said area (3), the measurement beam (41) of said sensor scanning said area, said sensor performing measurements of distance and orientation of said vehicle relative to said area from the reconstruction of a cloud of points belonging to the surface of said walls (21, 22); a series of sensors (31) placed on the lateral sides of said vehicle for measuring the distance from said sides to said side walls (21, 22), the measuring beams (51) of said sensors sweeping said walls (21, 22) of the interior; processing means (39) calculating the position and the relative orientation of said vehicle relative to said walls in at least three successive phases: a phase of approaching said area (3) in which, said walls being scanned by the measurement beam of said first sensor, the relative position and orientation are calculated (61) with respect to the position and orientation of an overall shape of said walls deduced from said cloud; an input phase in said area (3) in which the position and the relative orientation are at least calculated (62) with respect to the position and the orientation of simple geometric shapes derived from said cloud, functions of said characteristics geometric (23); an advancing phase in said area (3) in which the processing means calculates (63) a relative position and orientation by comparison of said cloud with a stored model of said walls and calculates (64) another position and another orientation relative from the distance measurements made by the sensors (31) of said series; said processing means (49) comprising a data merging module (68) performing spatio-temporal filtering of relative position and orientation calculations produced from the different sensors (30, 31), the thus filtered calculations giving a position and orientation information of said vehicle for the control of its displacement. 2. Device according to claim 1, characterized in that said first sensor (30) is a lidar sensor.
    [0003]
    3. Device according to any one of the preceding claims, characterized in that said first sensor (30) is formed of at least one video sensor.
    [0004]
    4. Device according to any one of the preceding claims, characterized in that said first sensor (30) is a radar sensor.
    [0005]
    5. Device according to any one of the preceding claims, characterized in that the sensors (31) of said series are ultrasonic sensors.
    [0006]
    6. Device according to any one of claims 1 to 4, characterized in that the sensors (31) of said series are optical telemetry sensors.
    [0007]
    7. Device according to any one of the preceding claims, characterized in that the spatio-temporal filtering is performed by a Kalman filter.
    [0008]
    8. Device according to any one of the preceding claims, characterized in that the spatio-temporal filtering is performed by a Monte Carlo method.
    [0009]
    9. Device according to any one of the preceding claims, characterized in that the processing means (49) calculate a position and a relative orientation from the distance measurements made by the sensors (31) of said series during the phase d 'Entrance.
    [0010]
    10. Device according to any one of the preceding receptions, characterized in that the processing means calculate a relative position and orientation by comparison of said cloud with a stored model is performed by applying a cloud transformation transformation estimation algorithm. points (81, 82).
    [0011]
    11. Device according to any one of the preceding claims, characterized in that the measurements obtained by said first sensor are sampled according to a first period (T1) and the measurements obtained from the sensors (31) of said series are sampled according to a second period (T2), the calculations of positions and orientation being made within a period.
    [0012]
    12. Device according to any one of the preceding claims, characterized in that the sensors (31) of said series are positioned in increasing gaps between two consecutive sensors, from the side supporting said first sensor (30).
    [0013]
    13. Device according to any one of the preceding claims, characterized in that the processing means perform (66, 67) time and space coherence checks between the successive relative position and orientation calculations obtained. from the measurements of said first sensor, and between the successive relative position and orientation calculations obtained from the measurements of the sensors (31) of said series, the coherent calculations being provided to said data fusion module (68).
    [0014]
    14. Device according to claim 13, characterized in that in case of detection of an inconsistency between two positions and successive orientations, an alert signal is emitted.
    [0015]
    15. Device according to any one of the preceding claims, characterized in that it further comprises at least one odometer, placed on a wheel of the vehicle, the processing means performing (65) the estimation of the speed vector displacement of said from the wheel speed measurements produced by the odometer, said estimate producing an estimate of position and orientation of said vehicle taken into account by the data fusion module (68) to define the position and the relative orientation of said vehicle; vehicle for the control of its displacement.
    [0016]
    16. Vehicle comprising a control and control system for piloting assistance, characterized in that it is equipped with a device according to any one of the preceding claims, said system providing position and orientation information. said vehicle to said control and control system.
    [0017]
    17. Vehicle according to claim 16, characterized in that it is controlled automatically.
    [0018]
    18. Vehicle according to any one of claims 16 or 17, characterized in that it consists of a cabin (2) and a trailer (1), said sensors (30, 31) being placed on said trailer (1).
    [0019]
    19. Vehicle according to any one of claims 16 to 18, characterized in that said vehicle is intended to be loaded and unloaded containers in said parking area (3).
    [0020]
    20. Vehicle according to claim 19, characterized in that it is used in a port area.
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    同族专利:
    公开号 | 公开日
    WO2015185764A1|2015-12-10|
    US20170158239A1|2017-06-08|
    FR3021938B1|2016-05-27|
    EP3152097B1|2019-04-03|
    EP3152097A1|2017-04-12|
    US10442465B2|2019-10-15|
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    法律状态:
    2015-06-30| PLFP| Fee payment|Year of fee payment: 2 |
    2015-12-11| PLSC| Search report ready|Effective date: 20151211 |
    2016-07-08| PLFP| Fee payment|Year of fee payment: 3 |
    2017-06-30| PLFP| Fee payment|Year of fee payment: 4 |
    2018-06-27| PLFP| Fee payment|Year of fee payment: 5 |
    2019-06-28| PLFP| Fee payment|Year of fee payment: 6 |
    2021-03-12| ST| Notification of lapse|Effective date: 20210205 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1455049A|FR3021938B1|2014-06-04|2014-06-04|PARKING ASSIST DEVICE AND VEHICLE EQUIPPED WITH SUCH A DEVICE.|FR1455049A| FR3021938B1|2014-06-04|2014-06-04|PARKING ASSIST DEVICE AND VEHICLE EQUIPPED WITH SUCH A DEVICE.|
    PCT/EP2015/097002| WO2015185764A1|2014-06-04|2015-04-03|Parking assistance device and vehicle provided with such a device|
    US15/311,789| US10442465B2|2014-06-04|2015-04-03|Parking assistance device and vehicle provided with such a device|
    EP15717189.3A| EP3152097B1|2014-06-04|2015-04-03|Parking assistance device and vehicle provided with such a device|
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