• 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:
    Method of managing a parking lot (303) according to which the coordination of the circulation of several vehicles (101) in the parking lot (303) is carried out in order to respect (103) a predefined minimum distance between two vehicles and to prevent vehicles do not meet (105).
    公开号:FR3028999A1
    申请号:FR1561333
    申请日:2015-11-25
    公开日:2016-05-27
    发明作者:Hans-Joerg Mathony；Holger Mielenz；Rolf Nicodemus；Albrecht Irion；Stefan Nordbruch；Stefan Hoffmann
    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 and a device for managing a parking lot. State of the art DE 10 2012 222 562 A 1 describes a parking surface management system for driving a vehicle from a starting position to a destination position. In the case of fully automatic carriers (autonomous coach) the vehicle is placed by the driver at a pick-up point, for example at the entrance to a parking lot and from there, the vehicle is itself the parking position or the parking space and conversely it will automatically return to the exit station. By applying such a valet system in a parking lot, there can be a mixed traffic between autonomous vehicles and manually guided vehicles. In particular, it may happen that at the same time several vehicles, for example autonomous vehicles and manual guided vehicles are being joined to the same parking space which increases in this case, the risk of collision. OBJECT OF THE INVENTION The object of the invention is therefore to develop a method of managing a parking space reducing or avoiding the risk of collision between the vehicles moving in the park. The invention also aims to develop a management device of a parking lot, or develop a vehicle parking system and provide a computer program for the application of such a method.
    [0002] DESCRIPTION AND ADVANTAGES OF THE INVENTION For this purpose, the subject of the invention is a method of managing a parking lot according to which the circulation of several vehicles in the parking lot is coordinated to respect a minimum predetermined distance between two vehicles. and to prevent vehicles from meeting each other.
    [0003] According to another development, the subject of the invention is a parking lot management device applying the above method. According to another development, the subject of the invention is a vehicle parking system system, which system comprises a parking lot and the above device according to the invention. The object of the invention is also to develop a computer program comprising a program code for executing the method of the invention when the program is applied by a computer. The invention particularly aims to ensure the coordination of the movement of several vehicles in a parking lot or to respect a minimum predetermined distance between two vehicles, which advantageously prevents vehicles from meeting and not which reduces or even eliminates the risk of collision between vehicles. A parking lot within the meaning of the invention is a parking space for receiving vehicles. The parking lot constitutes in particular an area with several parking spaces on private land or on public land. According to one embodiment, the parking lot is a building of garages in particular the parking space is surrounded by a garage.
    [0004] Independently within the meaning of the invention, this means in particular that the vehicle navigates or is driven or is guided automatically, without the intervention of the driver to the parking space. The vehicle also automatically exits the parking space without the driver guiding the vehicle or necessarily having to be inside the vehicle. The guidance is in particular the transverse and / or longitudinal guidance of the vehicle. Such an autonomous vehicle, which can park automatically and automatically disengage from the parking space is called for example vehicle AVP. The letters AVP mean an automatic valet and can also be translated by automatic storing operation. Vehicles that do not have this AVP function are called normal vehicles. A normally driven vehicle is for example a normal vehicle. The entry position within the meaning of the present invention is the position in place, where the driver places his vehicle for an autonomous garage maneuver and where later he can recover his vehicle. A parking space within the meaning of the invention is a place where a vehicle can park, especially tonally or manually or in a remote controlled storage. According to a development, an autonomous vehicle navigates from the entry position to the parking position or manually it circulates or is driven remotely. According to another development, a vehicle autonomously stores itself in the parking space or is stored remotely or manually. According to another development, the vehicle leaves autonomously from its parking space or remotely controlled or it came out manually.
    [0005] According to another development, the vehicle navigates autonomously from the parking position to the exit position or it does so with manual or remote control. According to one development, the coordination consists in controlling a traffic infrastructure to release or block parts of the car park, which has the particular technical advantage of being able to release or block parts of the car park for vehicles and / or people. This makes it possible to control or coordinate the flow of traffic in a parking lot. In particular, by blocking a part, it is avoided that vehicles meet and / or that vehicles with people are in the locked area. According to one embodiment, a traffic infrastructure consists of one or more signaling installations (for example red lights) and / or one or more barriers. The control of the traffic infrastructure thus consists in particular in controlling one or more signaling installations to release or block a zone. This is done in particular by the signaling installation which is for example a red light installation, emitting for example a release signal or a blocking signal. Control of the traffic infrastructure includes closing or opening one or more barriers. According to another development, coordination consists in ordering an information infrastructure to provide information concerning the coordination of traffic.
    [0006] Thus, one particular technical advantage is that the traffic participant, for example the vehicle and / or people who are in the parking lot, will know the coordination of the traffic. For example, information consists of an acoustic message indicating, for example, that autonomous vehicles are traveling in a predefined zone or part of the parking areas. The information structure consists for example of a panel, including a traffic sign for displaying different information. This results in particular from the fact that this structure has a controlled display installation, such as for example a display screen for various lighting or illuminating elements. The panel according to one embodiment only has static information. Instead, several panels are provided which are preferably identical or different. According to another development, traffic is monitored by a surveillance system and coordination is based on surveillance. This in particular gives the technical advantage of allowing particularly safe and effective coordination. According to a development, the surveillance system consists of one or more video cameras and / or one or more radar sensors and / or one or more ultrasonic sensors and / or one or more Lidar and / or or one or more laser sensors and / or one or more light barriers and / or one or more door opening sensors. According to another development, the coordination consists in determining (or calculating or selecting) target positions in the parking lot for vehicles so that on their way to the target positions, the vehicles respect a predefined interval to avoid vehicles do not touch each other. The target positions are preferably obtained in a non-optimized manner in time and / or in the distance. The priority is to avoid meeting vehicles. This means, for example, selecting target positions for the vehicles to which they must go and selecting to maintain a predefined minimum distance if the vehicles move to such target positions. A target position is for example a parking space or an entry position. This also advantageously avoids any risk of collision. According to one development, the coordination consists in determining the setpoint paths associated with the vehicles so that the vehicles traveling on the set-point paths respect a minimum interval between them to prevent the vehicles from touching each other. This results in particular the technical advantage of further reducing the risk of collision. The target paths are preferably determined in a non-optimized manner in time and / or distance because the priority is to avoid the meeting between vehicles. According to a development, the set path is provided to the vehicle by a communication network. This means, for example, that the device determines the target paths and provides them to the vehicle via the communication network. According to another development, the setpoint trajectories are calculated directly by the vehicles or are thus determined internally to the vehicle. In this case, according to one embodiment, the target paths determined by the vehicles are sent by the communication network to the participants of the communication network. For example, the setpoint paths are transmitted to the parking device or system by the communication network. Thus, the parking system device or system knows the trajectories that the vehicles must use.
    [0007] Thus, the parking device or system is advantageously implemented to effect coordination even more efficiently. In particular, the parking system device or system do not have to perform the function of determining the setpoint trajectories which allows a saving of computing capacity.
    [0008] According to another development, the two possibilities envisaged above are mixed: to determine the target trajectory both for the vehicles and also for the device or the system, that is to say generally, in particular externally to the vehicle. The exchange of the determination of the target paths is preferably done by the communication network. This means that some vehicles can determine their own trajectory. Other vehicles take the setpoint paths transmitted from the outside and these paths are provided to them via the communication network.
    [0009] This means that the word "determine" also preferably includes the case where the vehicle itself calculates its trajectory and sends it to the management system or device via the communication network. According to one development, generally speaking, there is a communication network for one or more participants in the traffic, for example one or more vehicles and / or one or more persons. According to a development, the communication network is a network of a mobile phone and / or a WLAN network.
    [0010] Communication via a communication network is or will be coded according to one embodiment. According to a development, the vehicle is remotely controlled to traverse the set trajectory and / or to traverse this trajectory autonomously. This means that the vehicles are remote controlled, in particular by means of a remote control installation external to the vehicle and which is part of the parking management system, for example. In particular, it is expected that the vehicles travel autonomously, that is to say independent, the set trajectory that is assigned to them.
    [0011] According to another development, the coordination consists in giving priority to a hand-operated vehicle compared to a non-hand-operated vehicle, which gives the technical advantage of efficient coordination and in particular reduces the risk of failure. of collision. A non-manual driving vehicle according to the invention is in particular a remotely controlled vehicle or a vehicle which circulates autonomously. A manually guided vehicle is a driver-guided vehicle, i.e. a vehicle that is not remote controlled or that automatically rejoins the parking space. According to another development, the coordination consists in giving priority to a vehicle traveling autonomously in relation to a remotely controlled vehicle, which notably produces the technical advantage of a more efficient coordination and further reduces the risk of collision. Priority is given in particular to a sign for the parking space that displays such priority rules. The parking lot according to a development has a sign that predefines priority rules. In particular, one can have several panels, all preferably identical or different in particular. According to one development, when detecting a moving object from a parking location, which is not a vehicle, the risk of collision between the detected object and a vehicle is determined and depending on the risk of collision obtained measures are taken to avoid the collision, including the stopping of unguided vehicles manually, which notably gives the technical advantage of avoiding collisions or accidents with moving objects.
    [0012] A moving object is for example a person, an animal or any other mobile object such as for example a market trolley. Stopping a guided vehicle in a non-manual manner, for example, involves sending a stop signal to such a vehicle. The same applies to the stop signal to stop the non-manually guided vehicle. According to another development, the parking lot has a zone reserved for vehicles guided manually and a zone 5 reserved for non-manually guided vehicles. It also means that the parking space has at least two areas separated from each other. One zone is reserved for manual guided vehicles and another zone is reserved for vehicles that are not guided manually. This makes it possible to advantageously have a mixed traffic consisting of manual guided vehicles and non-manually guided vehicles in the parking lot. This avoids situations in which manually guided vehicles and non-manually guided vehicles could meet. Such situations may, in particular, increase the risk of collision because the question of priority between a manually guided vehicle and a non-manually guided vehicle can not usually be settled because usually the non-manually guided vehicle drivers adjust between them with a hand sign or other sign the question of priority. This is not possible in the case of driverless vehicles.
    [0013] According to a development, the detection is done using the monitoring system. According to another development, the device has, for example, a coordination facility for coordinating traffic between several vehicles in the parking lot in order to respect a minimum predefined distance between two vehicles and to prevent vehicles from touching each other. The coordination facility has, for example, a processor for determining target positions and / or setpoint paths to be traversed as described above.
    [0014] According to a development, the coordination facility has a remote control facility for remote control of one or more vehicles. According to one embodiment, the device has a communication interface for communicating via a communication network with one or more participants (vehicle and / or person). The communication is for example to send or transmit remote control commands to vehicles for remote control. The remote control commands are for example a stop command to stop a vehicle. The communication consists, for example, in sending a digital card to autonomous circulation vehicles so that, depending on the digital card, they can navigate on the parking lot or drive independently. The communication consists for example of transmitting or transmitting from a parking position, in general, a target position to vehicles so that they can go to the target position, for example to the parking space by manual or autonomous driving. The communication consists for example in transmitting the set trajectory that the vehicle must travel, so that it can travel this path. According to a development, the communication is coded.
    [0015] Drawings The present invention will be described hereinafter in more detail with the aid of a parking lot management method and device with the aid of the accompanying drawings in which: FIG. A very schematic flow diagram of the parking lot management method, Figure 2 shows a parking lot management device, and Figure 3 shows a vehicle parking lot system.
    [0016] DESCRIPTION OF EMBODIMENTS FIG. 1 shows a very simplified flow chart of a method of managing a parking lot. According to step 101, several vehicles in the parking lot are coordinated to maintain a predetermined minimum distance between two vehicles according to step 103 and to prevent the vehicles from meeting in step 105. Coordination consists of example to close or open one or more barriers. Coordination includes controlling one or more signaling facilities to emit a red or a green signal depending on the command.
    [0017] FIG. 2 shows a device 201 for managing a parking lot. The device 201 applies the management method of a parking lot, for example according to the method of FIG. 1. The device 201 comprises, according to one embodiment, a traffic infrastructure for releasing or blocking parts of the parking lot. . According to one embodiment, the device 201 has an information structure for managing information concerning the coordination of the circulation.
    [0018] According to another development, the device 201 comprises a surveillance system for monitoring traffic in the parking lot. According to one embodiment, the device 201 comprises a coordination installation made or designed to effect the coordination of the circulation of several vehicles in the car park in order to respect a minimum predetermined distance between two vehicles and to prevent the vehicles from getting off. meet. The coordinating installation controls in particular a traffic infrastructure and / or an information infrastructure and / or a surveillance system according to the above developments. According to one embodiment, the device 201 has a communication interface for communicating via a communication network with one or more participants who are in the parking lot. A traffic participant is for example a person or a vehicle. Figure 3 shows a parking system 310 of vehicles. The parking system 301 consists of a parking lot 303 and the device 201 of FIG. 2. According to a development, the car park has a zone reserved for manually guided vehicles and a zone reserved for vehicles. not guided manually. This avoids the difficulties encountered in mixed traffic with manual guided vehicles and non-manually guided vehicles. In summary, the invention develops an efficient and technical concept for coordinating vehicles of different natures, that is, hand-operated vehicles and remotely controlled vehicles and also self-guided vehicles for these different vehicles do not meet. The coordination is for example ensured by a parking management system 5 which is for example a garages building management system. The coordination according to the invention advantageously avoids accidents with people, with animals, accidents / collisions between vehicles and / or accidents / collisions of vehicles and infrastructure and / or situations in which vehicles lock each other up. This means that beside the coordination of the driving and thus for example including the valet function, the invention also makes it possible to perform the following main functions: 1. To avoid accidents with persons, 15 2. Avoid accidents with animals, 3. Avoid accidents / collisions between vehicles, 4. Avoid accidents / collisions of vehicles with the infrastructure and 5. Avoid situations in which the vehicles block each other.
    [0019] The bases of the concept of the invention are, for example, the treatments, in particular those of the parking / garage building management system, that is to say in particular the device such as the regulation mechanism, in particular a regulatory mechanism applying priorities.
    [0020] According to the invention, one embodiment uses a traffic infrastructure (eg lights and / or barriers). According to a development, we use an information infrastructure (messages, panels). According to one development, the surveillance (surveillance system) infrastructure is, for example, in the form of cameras and light barriers to monitor traffic in the parking lot. To solve the missions mentioned above, the invention provides for the following maneuvers and the regulations given by way of example, and also the general rules of circulation, 35 respecting these elements separately or in combination: The destination position of different vehicles traveling "simultaneously" is chosen by the management of the parking lot to avoid any "meeting" (different direction, different zone). 2. The trajectories of the remotely controlled vehicles are calculated by the parking lot management system to avoid a "meeting" (i.e. non-optimized trajectory and time). 3. The trajectories provided by the parking management system tracked autonomously by the vehicles are calculated by the management of the parking lot to avoid any meeting (ie what these trajectories are not optimized in race / time). 4. A manual vehicle has priority (this rule is disclosed in the parking lot, for example by signs). 5. A fully automatic (driverless) vehicle has the priority over a remotely operated vehicle through parking management. 6. If the parking management system based on the existing monitoring structure detects persons, animals and / or moving objects (eg a supermarket cart) then AVP vehicles are stopped in as far as necessary. 7. The traffic flow of vehicles and thus the avoidance of vehicles meeting, are coordinated by the parking management system by a traffic infrastructure 25 (red lights, barriers, etc.). Preferably, the areas for the AVP vehicles and the manually operated vehicles are not presented separately for the sake of simplification. 30
    权利要求:
    Claims (6)
    [0001]
    CLAIMS 1 °) A parking lot management method (303) according to which the coordination of the circulation of several vehicles (101) in the parking lot (303) to respect (103) a minimum distance predefined between two vehicles and preventing vehicles from meeting (105).
    [0002]
    Method according to claim 1, characterized in that the coordination comprises controlling a traffic infrastructure to release or block partial areas of the car park (303).
    [0003]
    3) Method according to claim 1, characterized in that the coordination consists of the control of an information structure to provide information concerning the coordination of the circulation.
    [0004]
    4) Method according to claim 1, characterized in that the circulation is monitored by a monitoring system and the coordination is carried out on the basis of monitoring.
    [0005]
    Method according to Claim 1, characterized in that the coordination is carried out by determining target positions for vehicles inside the parking lot (303) so that when the vehicles approach the traffic positions, they respect a predefined minimum distance from each other to prevent vehicles from touching each other.
    [0006]
    6. The method as claimed in claim 1, characterized in that the coordination consists in determining the trajectory of the instructions to be traveled by the vehicles so that, by traversing the set trajectory, the vehicles respect each other at least a minimum distance. to prevent them from meeting. 5. The method according to claim 6, characterized in that the vehicles are remotely controlled to traverse the set path and / or to traverse the setpoint trajectory electronically. 8. The method according to claim 1, characterized in that the coordination consists of giving priority to a hand-operated vehicle with respect to a non-manual driving vehicle. Method according to claim 1, characterized in that the coordination consists of giving priority to an automatic vehicle 20 with respect to a remotely controlled vehicle. Method according to claim 1, characterized in that the detection of a moving object in a parking lot (303) and which is different from a vehicle, consists in determining a relative risk of collision of the detected objects with a vehicle and, depending on the risk of a collision, a measure is taken to avoid the collision, including the stopping of non-manual vehicles. 11. The method as claimed in claim 1, characterized in that the parking lot (303) comprises a zone reserved for manually guided vehicles and a zone reserved for non-manually guided vehicles. 3028999 15 12 °) Device (201) for managing a parking lot (303) applying the method according to one of claims 1 to 11, wherein the coordination of the circulation of several vehicles (101) in the park of parking (303) to respect (103) a predefined minimum distance between two vehicles and to prevent vehicles from meeting (105). 13 °) Vehicle parking system (301) consisting of a parking lot (303) and the device (201) according to claim 12 to manage a parking lot and apply the method as defined above . 14 °) Computer program comprising a program code for implementing the method according to one of claims 1 to 11 when the computer program is executed by a computer. 20
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    同族专利:
    公开号 | 公开日
    DE102014224101A1|2016-06-02|
    引用文献:
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    DE102009047264A1|2009-11-30|2011-06-01|Robert Bosch Gmbh|Method for support of driver of vehicle, involves determining environment of vehicle and determining prospective driving direction at branching, crossing or curve by evaluation of driven trajectory|
    DE102011084124A1|2011-10-07|2013-04-11|Robert Bosch Gmbh|Method for navigating a vehicle in a parking lot|
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    DE102012021282A1|2012-10-29|2014-04-30|Audi Ag|Method for coordinating the operation of fully automated moving vehicles|
    DE102012222562A1|2012-12-07|2014-06-12|Robert Bosch Gmbh|System for managing parking spaces in e.g. public park for transferring vehicle from start to target position, has central processing unit to generate speed control signals and pass to transfer unit for transmission to vehicle|DE102015214802A1|2015-08-04|2017-02-09|Robert Bosch Gmbh|Method and device for guiding a vehicle|
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    DE102020204018A1|2020-03-27|2021-09-30|Robert Bosch Gesellschaft mit beschränkter Haftung|Method and device for parking at least one automated vehicle|
    法律状态:
    2016-11-24| PLFP| Fee payment|Year of fee payment: 2 |
    2017-11-03| PLSC| Publication of the preliminary search report|Effective date: 20171103 |
    2017-11-24| PLFP| Fee payment|Year of fee payment: 3 |
    2019-11-21| PLFP| Fee payment|Year of fee payment: 5 |
    2020-11-19| PLFP| Fee payment|Year of fee payment: 6 |
    2021-11-19| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014224101.4A|DE102014224101A1|2014-11-26|2014-11-26|Method and device for operating a parking space|
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