• 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 invention relates to an automatic parking device for a motor vehicle (20), comprising a first light beam emitter (13) disposed outside a parking space for materializing a parking trajectory (14) between a parking space (14) and a parking space (14). starting position and a final or intermediate parking position, a camera (21) equipping the vehicle to acquire the image of the trace of the light beam, and a processing unit fitted to the vehicle to detect the parking trajectory from the acquired image and to calculate a sequence of vehicle maneuvers appropriate to a tracking of the parking trajectory, a control of the automatic movement of the vehicle being carried out according to the sequence of maneuvers thus calculated so as to automatically bring the vehicle (20) in the final or intermediate parking position.
    公开号:FR3032410A1
    申请号:FR1551027
    申请日:2015-02-10
    公开日:2016-08-12
    发明作者:Mihai Chirca；Guillaume Martin；Nicoleta Minoiu-Enache；Helene Vorobieva；Stephane Guegan
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    [0001] The invention relates to a device and a method for automatic parking of a motor vehicle, designed to assist the action of parking the vehicle in a parking space, in particular in a vehicle. Narrow parking space. Parking the vehicle, for example in a cramped parking space, such as a garage space, is commonly a source of apprehension for most drivers, especially young drivers and the elderly. Solutions to equip the vehicle with sensors and actuators to allow the vehicle to locate and / or visualize its environment are already well known, especially solutions are already available under various commercial names to make the vehicle fully autonomous during the parking maneuver, in particular for the fully autonomous car park in crenel, forward or reverse, in open spaces. Parking assistance devices are already known, in particular by the example given in patent document FR2875935, in which the position of the vehicle in its garage space is determined in order to assist the driver for the final phase of the car. parking maneuver. This document teaches to use ultrasonic sensors to detect the positioning of the vehicle in the garage location, and to define a trajectory of the vehicle to complete the parking maneuver according to the detected positioning. However, the use of such sensors is not at all suitable for particularly narrow locations, as is conventionally the case for urban operating spaces. In addition, the solution disclosed in this document relates only to assistance in the final phase of the parking maneuver and thus neither the external trajectory of the vehicle corresponding to the approach phase of the parking space, nor the location of garage as such are only considered.
    [0002] DE002012016867, a parking assistance solution involving the implementation of a means of communication between the vehicle and a wireless communication device equipping the garage, is also known, in order to help the vehicle to get off the road. locate in his 5 environment. However, this solution is expensive to implement since it assumes a communication between the vehicle and the garage. Also known from patent document EP2580097, a method of assisting a parking maneuver on a parking space for a driver of a motor vehicle, which assumes a learning step 10 of the environment and the maneuver of car park. This learning step makes complex the implementation of assistance to the parking maneuver. Also, there is a need for an automatic parking device of a vehicle free from at least one of the aforementioned drawbacks and, in particular, which is simple to implement and easily adaptable to narrow parking spaces and also , without the need for communicating equipment dedicated to the level of the vehicle. For this purpose, the invention relates to an automatic parking device for a motor vehicle designed to assist the action of parking the vehicle in at least one parking space, said vehicle comprising propulsion, braking and steering members. and automatic control members of the propulsion, braking and steering members, the device being characterized in that it comprises at least one first emitter disposed outside the parking space and capable of materializing at least a first parking trajectory by one or more light beams between a starting position and a final or intermediate parking position, at least one camera equipping the vehicle and able to acquire an image of the trace of the light beam in order to visualize the first trajectory parking, a processing unit equipping the vehicle 30 able to analyze the image acquired by the camera to detect the p first trajectory of parking and to calculate from the analysis a first maneuver or a first sequence of vehicle maneuvers appropriate to a 3032410 3 followed by the first parking trajectory, said automatic control members being controlled according to the first following of maneuvers thus calculated so as to automatically bring the vehicle in the final position or intermediate parking.
    [0003] According to a preferred embodiment, the parking space being a closed parking space, the device comprises at least a second transmitter arranged inside the parking space and capable of materializing at least one guide mark by one or more light beams, the guide mark being adapted to define a final parking position of the vehicle within the closed parking space with respect to the intermediate parking position corresponding to an entry position in the parking space. parking space, the processing unit being able to analyze the image of the guide mark acquired by the camera to generate a second parking trajectory with respect to the intermediate parking position and to calculate from the analysis a second maneuver or a second sequence of vehicle maneuvers appropriate to a follow-up of the second parking trajectory, said automatic control being controlled according to the second sequence of maneuvers thus calculated so as to automatically bring the vehicle to the final parking position from the intermediate parking position. Preferably, the parking space is equipped with means for detecting the arrival of the vehicle in the intermediate parking position, the detection means being designed to activate the emission of the light beam from the second transmitter to materialize the reference mark. 25 of guiding inside the parking space. Advantageously, the guide mark comprises a line projected on the ground inside the parking space in a direction substantially transverse to a longitudinal direction of the parking space. According to a variant, the guide mark comprises an area projected on the ground defining a parking space of the vehicle inside the parking space.
    [0004] Advantageously, the second emitter may comprise means for remotely controlling the second emitter so as to be able to modify the position of the guide mark by the one or more light beams according to the position of obstacles present inside the emitter. the parking space. Advantageously, the first transmitter is adapted to materialize a plurality of parking trajectories, each associated respectively with a separate parking space, the device comprising means for selecting said first parking trajectory materialized from said plurality of parking trajectories. Preferably, the first transmitter is adapted to materialize the first parking trajectory in the form of a continuous guide line projected on the ground. As a variant, the first transmitter is able to materialize the first parking trajectory in the form of a succession of fixed luminous points projected on the ground or of a moving luminous point projected on the ground. Advantageously, the processing unit is able to receive dynamic information associated with the vehicle, so as to correct the sequence of maneuvers calculated for the trajectory tracking during the movement of the vehicle on the basis of the dynamic information associated with the vehicle received. The processing unit can be implemented by digital processing means, for example a microprocessor, a microcontroller or other.
    [0005] Preferably, the transmitters comprise one or more sources each emitting a laser beam. The invention also relates to a method of automatically parking a motor vehicle to assist the action of parking the vehicle in at least one parking space, said method being characterized in that it comprises steps of a) - materialize at least a first parking trajectory to be followed by the vehicle with at least one light beam between a starting position and a final position or parking intermediary 3032410; b) - acquire an image of the trace of the at least one light beam using at least one camera equipping the vehicle, to display the first parking trajectory to follow; c) analyzing the image obtained in step (b) to detect the first trajectory to follow; and d) - calculate from the analysis performed in (c) a first maneuver or a first sequence of vehicle maneuvers appropriate to a follow-up of the first parking trajectory to be followed and control the automatic movement of the vehicle according to the followed by maneuvers thus calculated so as to automatically bring the vehicle to the final position or intermediate parking. According to a preferred embodiment, the parking space being a closed parking space, the method may comprise steps of materializing at least one guide mark by at least one light beam, the guide mark being adapted to define a position final parking of the vehicle inside the closed parking space with respect to the intermediate parking position corresponding to an entry position in the parking space, analyzing the image of the guide mark acquired by the camera for generating a second parking trajectory relative to the intermediate parking position and for calculating from the analysis a second maneuver or a second sequence of vehicle maneuvers suitable for tracking the second parking trajectory, and controlling the automatic movement of the vehicle according to the second sequence of maneuvers thus calculated so as to bring automatically the vehicle in final parking position from the intermediate parking position. Other features and advantages of the invention will appear on reading the following description of a particular embodiment of the invention, given by way of indication but not limitation, with reference to the appended figures in which: Figure 1 illustrates the arrangement of the external environment to the parking space, as well as the motor vehicle, necessary for the implementation of the present invention, according to a first embodiment, - Figure 2 illustrates another embodiment of the arrangement of the environment outside the parking space; - Figure 3 illustrates yet another embodiment of the development of the environment outside the parking space; Figure 4 illustrates an arrangement of the exterior environment to the parking space according to a particular embodiment where the parking space is an open parking space; - Figure 5 illustrates an arrangement of the interior of the operating space according to a first embodiment in the case of a closed parking space; Figure 6 illustrates another embodiment of the interior layout of the closed operating space; Figure 1 illustrates the environment outside a parking space 10 in which a vehicle 20 is intended to be parked. The parking space 10 typically corresponds to the usual parking space for the vehicle 20. The parking space 10 is constituted according to the example of a parking space arranged inside a garage 11 or more generally, a building intended to house vehicles. The garage 11 may for example be provided with a door 12 giving access from outside the building to the indoor parking space.
    [0006] According to the invention, outside the garage 11 is provided a first transmitter 13 able to emit one or more light beams so as to project on the ground and thus materialize it, a first parking trajectory 14 intended to be followed by the vehicle 20. The transmitter 13 preferably comprises one or more sources each capable of emitting a Laser beam. The beam thus projected on the ground via the transmitter 13 forms a light trace on the ground, preferably in the form of a continuous line, defining the first parking trajectory 14 to be followed 3032410 7 by the vehicle at the outside of the parking space 10, between a determined starting position, corresponding to an arrival position of the vehicle in an environment relatively close to the parking space 10 but still relatively far from its entrance, and 5 a intermediate parking position, corresponding to an arrival position of the vehicle immediately in front of the entrance of the parking space 10, typically immediately opposite the door 12 of the garage. Alternatively, the light trace generated by the transmitter 13 10 may consist of a succession of fixed light spots defining this first parking trajectory 14 to follow, or by one or more light points movable along this first trajectory 14. The laser beam transmitter 13 is arranged outside the parking space 10, for example it can be fixed on an external facade of the garage 11 in which the parking space 10 is arranged, for example near the entrance to the parking space 10, at a suitable location such that it allows the ground to project the first parking trajectory 14 to follow for the vehicle 20 from its position 20 departure to the intermediate parking position. If the ground projection of the first parking trajectory 14 to follow between the starting position and the intermediate parking position is at least partially blocked by an obstacle, it may be advantageous, in this case, to install several beam transmitters. laser, such as the transmitter 13, outside the parking space 10. Thus, as illustrated in Figure 2, an obstacle 01 extending in the area between the starting positions and parking intermediate, prevents the correct embodiment of the parking trajectory 14 to be followed by the single transmitter 13. Also, to overcome this problem, a second laser beam transmitter 13 'is provided outside the parking space 10, for example fixed on an exterior facade of a building 11 'located near the parking space 10. The location of the first and second laser beam emitters 13, 13' is chosen so that the combined laser traces of the two emitters 13 and 13 'can make it possible to materialize on the ground the entire first parking trajectory 14 to be followed by the vehicle 20 between its starting positions and intermediate parking, taking into account the position of the obstacle 01 .
    [0007] FIG. 3 further illustrates a variant of the arrangement of the external environment of the parking space corresponding to a case where the garage 11 has, for example, two separate parking spaces, 10 and 10 'respectively, example closed by a door 12 and 12 'respectively. Also, the transmitter 13 arranged outside is designed to be able to project on the ground on the one hand, a first laser trace according to a first parking trajectory 14 materialized by the laser beam emitted from the transmitter 13, between the starting position of the vehicle and a first intermediate parking position, corresponding to an arrival position of the vehicle immediately in front of the entrance of the first parking space 10 (on the right in FIG. 3), and on the other hand a second laser trace according to another first parking trajectory 14 'materialized by the laser beam emitted from the transmitter 13, between the same starting position of the vehicle and a second intermediate parking position, corresponding to a position of arrival of the vehicle 20 immediately before the entrance of the second parking space 10 '(left in Figure 3). Thus, the transmitter 13 can be remotely controllable to select one or the other of the first or second laser trace and, more generally, to select one of several laser traces to be projected on the ground so as to be able to direct the vehicle towards the one of the parking spaces available. In addition, as illustrated in FIG. 4, the parking space can be an open parking space 10 ", for example an outdoor parking space, in which case the first parking trajectory 14" materialized by the laser beam emitted at From the transmitter 13 it is possible to automatically drive the vehicle from its starting position to a final parking position in which the vehicle 20 is parked in the parking space 10. The rest of the description relates to the mode of 3032410 9 embodiment of the invention with a parking space 10 consisting of a parking space arranged inside a garage closed by a door The vehicle 20 will preferably be equipped with a front camera 21 and optionally a rear camera (not shown) for the detection of the ground 5 light projections, in particular for the detection of the first parking trajectory 14, 14 ', 14 "materialized by the one or more laser beams emitted from the transmitter (s) 13, 13 '. With regard to the equipment of the vehicle 20 necessary for the implementation of the autonomous parking, the vehicle 20 is equipped with computers and electrical / electronic interfaces to be able to control the steering, the acceleration, the braking and the handbrake. automatically. The transition to the automatic vehicle control mode for the implementation of the autonomous parking can be activated, either by an appropriate command via a man-machine interface of the vehicle or by a dedicated position of the shift lever. In this case, a shift lever position is called "Automatic Parking". Thus, on arrival for example at home, once the vehicle brought to the starting position, close to its usual parking space, corresponding to the position of the vehicle as illustrated in Figures 1 to 4, the driver can for example, leaving the vehicle by putting the vehicle speed lever in the dedicated position, activating the automatic vehicle control mode. By pressing a button on a remote control unit of the laser transmitter, for example, the projection of the first parking trajectory materialized by the laser beam or beams emitted from the transmitter, which makes it possible to indicate on the ground the path to be followed by the vehicle to arrive in the intermediate parking position, just in front of the entrance to the parking space, ie in front of the garage door. The front camera 21 fitted to the vehicle 20 is then able to acquire an image of the trace of the light beam in order to display the first parking trajectory. Then, the image is digitized so as to be usable by an image processing software implemented in a processing unit that equips the vehicle, for example a computer, dedicated to the control 3032410 considered, in this case the control of the automatic parking of the vehicle. vehicle. As soon as the trace of the light beam is detected, the automatic parking phase of the vehicle is triggered. The movement of the vehicle is then automatically controlled to follow the trace of the light beam materializing the first parking trajectory to follow, acting as a set path for the vehicle, and thus automatically bring the vehicle in front of the entrance of the vehicle. parking space, either in front of the garage door. To do this, the dedicated computer manages the operation of the vehicle during this phase of tracking trajectory 10 set in automatic control mode and performs in particular the acquisition of useful sensor data and calculations necessary to follow the set path. For this purpose, the dedicated computer notably has the following information, among which information from the four odometric sensors of the ABS / ESP functions, the flying angle sensor or the wheel angle sensors. In addition, for the detection of possible obstacles, the dedicated computer has the information provided by the front camera, as well as by the rear camera, and the ultrasonic sensors if the vehicle is equipped.
    [0008] Following the processing of the successive images acquired by the camera equipping the vehicle, it is possible to identify the laser trace and thus the first parking trajectory to follow and deduce the relative position of the car. Note that it is not necessary to know the absolute position of the vehicle. Indeed, since the vehicle is controlled to follow the projected trajectory on the ground, it is sufficient to know where the vehicle is in relation to this trajectory. To be able to build the trajectory in the real world reference, it must first be identified in the image frame acquired by the camera. This operation may consist, for example, in identifying the points in the acquired image which have a certain characteristic color of the emitted laser beam and which forms the projection on the ground of the laser beam embodying the parking trajectory to be followed.
    [0009] For example, the identification and extraction of the trajectory in the image may comprise the following steps. First of all, an appropriate color filter is applied to the initial image acquired, then, on the same initial image, a contour search is carried out. The two resulting images of the two preceding steps are then merged and only the objects in the image having the desired color are retained. Then, the trajectory of the rest of the objects is isolated by its particular shape and it is verified that the isolated trajectory object, when projected in the real world reference, represents a curved line whose curvature at each point is physically possible by vehicle, otherwise we return to the step of isolating the trajectory among the rest of the objects. During the movement of the vehicle, it is sought to know if the previously calculated trajectory is consistent with that observed and improves as the position of the vehicle relative to the trajectory.
    [0010] For the implementation of the trajectory tracking, it will be possible for example to use the method called "Pure Pursuit" described in the S. F. Campbelll publication, Steering Control of an Autonomous Ground Vehicle with Application to the DARPA Urban Challenge. Master's Thesis, U.S.A., Massachusetts Institute of Technology, 2007]. This method can in particular be used to provide the lateral controls of the vehicle, while the regulation of the longitudinal speed can be treated separately. The arrival of the vehicle in the intermediate parking position, at the entry of the parking space, advantageously allows the opening of the garage door to be triggered, in the case where the garage has a door. Thus, the door is equipped with a door opening module, typically comprising the motorization and control of the latter for the automatic opening / closing of the door, as well as a detection module, for example a Magnetic shield to detect the approach of the vehicle and thus trigger the opening of the door. The vehicle can then control that the door is open (for example via a detection 3032410 12 by means of the camera or by means of ultrasonic sensors). As illustrated in FIG. 5, the detection of the presence of the vehicle 20 in the intermediate parking position, in addition to the opening of the garage door, triggers the projection on the ground by a transmitter 15 disposed inside the space. parking station 10 closed and similar to the laser transmitter 13 disposed outside, a second laser mark materializing on the ground a guide mark 16, which defines a final parking position for the vehicle inside of the closed parking space 10 with respect to the intermediate parking position. According to the example of FIG. 5, the guide mark 16 comprises a line projected on the ground inside the parking space 10 in a direction substantially transverse to a longitudinal direction of the parking space 10. For example, the laser transmitter 15 may be installed above the door on the inside of the garage as shown in FIG. 5. Alternatively, the laser transmitter 15 disposed inside the garage may be designed to project other shapes. appropriate, such as a triangle. In addition, the laser transmitter 15 disposed inside the garage can be remotely controllable so as to be able to remotely modify the position of the projection of the guide mark 16, in particular according to the position of existing obstacles in the garage. . Alternatively, several laser transmitters, such as the transmitter 15, can be installed inside the parking space, for example to completely frame the parking space available inside the parking space. . As illustrated in FIG. 6, a rectangle 16 'can be projected on the ground so as to delimit on the ground the available parking space inside the parking space, for example according to the position of possible obstacles. , 01, 02, 03 present inside the parking space, and thus allow to assist the remote commander or laser transmitter 15 disposed within the parking space to determine the final parking position of the vehicle according to the position of the obstacles.
    [0011] 3032410 13 Once the image of the guidance mark 16 projected on the ground acquired by the camera 21 equipping the vehicle, the processing computer analyzes the image of the guide mark acquired by the camera to generate a second parking trajectory relative to at the intermediate parking position in which the vehicle is located and controls the operation of the vehicle to follow this second parking trajectory. Thus, thanks to the exploitation of the guide mark 16 by the camera and the dedicated computer, the vehicle is able to locate itself and to make the maneuver to enter the closed parking space 10 by locating itself 10 with respect to guidance mark until the vehicle is brought to the final parking position. For example, the parking maneuver is considered complete when the guide mark, materialized by the laser line projected on the ground, is detected by the rear camera equipping the vehicle at a given distance from the rear of the vehicle. The vehicle 15 is then considered to be parked in the final parking position. Alternatively, the projection of the guide mark on the hood of the vehicle during the entry maneuver of the vehicle could also be exploited by the front camera and the dedicated computer to guide the vehicle in the parking space to the position final parking.
    [0012] Finally, the closing of the garage door is, for example, adapted to control the extinguishing of the laser transmitter (s) fitted to the interior of the parking space.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. Automatic parking device of a motor vehicle adapted to assist the action of parking the vehicle (20) in at least one parking space (10, 10 ', 10 "), said vehicle (20) comprising propulsion members, braking and steering device and automatic control members of the propulsion, braking and steering members, the device being characterized in that it comprises at least a first transmitter (13, 13 ') disposed outside the the parking space and adapted to materialize at least a first parking path (14, 14 ', 14 ") by one or more light beams between a starting position and a final or intermediate parking position, at least one camera ( 21) fitted to the vehicle and capable of acquiring an image of the trace of the light beam in order to display the first parking trajectory, a processing unit equipping the vehicle capable of analyzing the image acquired by the camera for detecting the first parking trajectory and for calculating, according to the analysis, a first maneuver or a first sequence of vehicle maneuvers appropriate to a follow-up of the first parking trajectory, said automatic control devices being controlled according to the first following of maneuvers thus calculated so as to automatically bring the vehicle (20) to the final or intermediate parking position.
    [0002]
    Automatic parking device according to claim 1, characterized in that, the parking space (10) being a closed parking space, the device comprises at least a second transmitter (15) arranged inside the parking space (10). parking space and adapted to materialize at least one guide mark (16, 16 ') by one or more light beams, the guide mark (16, 16') being adapted to define a final parking position of the vehicle to the inside the closed parking space with respect to the intermediate parking position corresponding to an entry position in the parking space, the processing unit being able to analyze the image of the guide mark acquired by the camera (21) to generate a second parking trajectory with respect to the intermediate parking position and to calculate from the analysis a second maneuver or a second sequence of maneuvers of the vehicle. vehicle suitable for tracking the second parking trajectory, said automatic control members being controlled according to the second sequence of maneuvers 5 thus calculated so as to automatically bring the vehicle to the final parking position from the intermediate parking position.
    [0003]
    3. Automatic parking device according to claim 2, characterized in that the parking space (10) is equipped with means for detecting the arrival of the vehicle in the intermediate parking position, the detection means being designed to activate the emission of the light beam from the second transmitter (15) to materialize the guide mark (16, 16 ') within the parking space.
    [0004]
    4. Device according to any one of claims 2 or 3, characterized in that the guide mark (16) comprises a projected line 15 on the ground inside the parking space (10) in a substantially transverse direction at a longitudinal direction of the parking space.
    [0005]
    5. Automatic parking device according to any one of claims 2 to 4, characterized in that the second transmitter (15) comprises means for remotely controlling the second transmitter so as to be able to modify the position of the guide mark ( 16) by one or more light beams depending on the position of obstacles present inside the parking space.
    [0006]
    6. Automatic parking device according to any one of the preceding claims, characterized in that the first transmitter (13) is adapted to materialize a plurality of parking paths, each associated respectively with a separate parking space (10, 10). '), the device comprising means for selecting said first parking trajectory materialized from among said plurality of parking trajectories. 30
    [0007]
    7. Automatic parking device according to any one of the preceding claims, characterized in that the first transmitter 3032410 16 (13) is adapted to materialize the first parking path in the form of a continuous guide line projected to the ground.
    [0008]
    8. Device according to any one of the preceding claims, characterized in that the processing member is adapted to receive dynamic information associated with the vehicle, so as to correct the sequence of maneuvers calculated for tracking trajectory during the moving the vehicle based on the dynamic information associated with the vehicle received.
    [0009]
    9. Automatic parking method of a motor vehicle 10 (20) for assisting the parking of the vehicle in at least one parking space (10, 10 '), said method being characterized in that it comprises steps a) - materializing at least a first parking path (14, 14 ', 14 ") to be followed by the vehicle with at least one light beam between a starting position and a final or intermediate parking position; acquiring an image of the trace of the at least one light beam using at least one camera (21) equipping the vehicle, in order to visualize the first parking trajectory to be followed; c) - analyzing the image obtained at the step (b) for detecting the first parking trajectory to be followed, and (d) - calculating from the analysis performed in (c) a first maneuver or a first sequence of vehicle maneuvers appropriate to a follow-up of the first parking trajectory to follow and control the automatic movement of the vehicle according to the sequence of maneuvers thus calculated so as to automatically bring the vehicle to the final or intermediate parking position. 25
    [0010]
    10. Automatic parking method according to claim 9, characterized in that, the parking space (10) being a closed parking space, it comprises steps of materializing at least one guide mark (16, 16 ') to the interior of the parking space by at least one light beam, the guide mark (16) being adapted to define a final parking position of the vehicle within the closed parking space relative to the parking space. intermediate parking position corresponding to an entry position in the parking space 3032410 17, analyzing the image of the guide mark (16) acquired by the camera to generate a second parking trajectory with respect to the intermediate parking position and to calculate from the analysis a second maneuver or a second sequence of maneuvers of the vehicle 5 suitable for tracking the second parking trajectory, and to control the depot. automatic vehicle lacement according to the second sequence of maneuvers thus calculated so as to automatically bring the vehicle to the final parking position from the intermediate parking position.
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    同族专利:
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    法律状态:
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    2016-08-12| PLSC| Publication of the preliminary search report|Effective date: 20160812 |
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    2022-02-16| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1551027A|FR3032410B1|2015-02-10|2015-02-10|DEVICE AND METHOD FOR AUTOMATICALLY PARKING A MOTOR VEHICLE.|FR1551027A| FR3032410B1|2015-02-10|2015-02-10|DEVICE AND METHOD FOR AUTOMATICALLY PARKING A MOTOR VEHICLE.|
    PCT/FR2016/050250| WO2016128654A1|2015-02-10|2016-02-05|Device and method for automatically parking a motor vehicle|
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