• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method for determining a parking position (405) of a vehicle (407, 409) comprising: - determining the vehicle geometry and a vehicle mobility parameter (407, 409), - selecting a parking location (405) for a vehicle (407, 409) among a set of parking spaces (405) of a parking lot (403) depending on the vehicle geometry and the mobility parameter.
    公开号:FR3032671A1
    申请号:FR1651048
    申请日:2016-02-10
    公开日:2016-08-19
    发明作者:Holger Mielenz；Stefan Nordbruch
    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 determining a parking space for a vehicle as well as a vehicle parking system and a computer program for carrying out the method. . State of the art DE 10 2012 222 562 A1 discloses a managed parking surface system for transferring a vehicle from a starting position to a destination position.
    [0002] In the case of fully automatic parking, that is to say with an automatic valet, the driver drops off his vehicle at a drop-off point, for example at the entrance of a parking lot and from there the vehicle joins from itself a parking space or a parking bay and, for recovery, it returns to the point of removal. OBJECT OF THE INVENTION The object of the present invention is to develop an effective concept for determining a parking space for a vehicle, reducing the risk of collision during the engagement or disengagement operation of the vehicle with respect to vehicles. - Cules already arranged and / or a fixed infrastructure such as for example walls and / or columns. SUMMARY OF THE INVENTION AND ADVANTAGES OF THE INVENTION To this end, the present invention relates to a method for determining a parking position of a vehicle comprising determining the vehicle geometry and a vehicle mobility parameter, and selecting a location. parking for a vehicle among a set of parking spaces of a parking lot according to the vehicle geometry and the mobility parameter. The invention also relates to a device for determining a parking space for a vehicle comprising an installation for determining a vehicle geometry and a mobility parameter of the vehicle and a selection facility for selecting a parking space of the vehicle from a 3032671 2 set of parking spaces of a parking lot according to the vehicle geometry and its mobility parameter. According to another development, the invention relates to a vehicle parking system comprising a park with several parking spaces and a device for determining a parking space for the vehicle. According to another development, the object of the invention is a computer program with a program code for carrying out the method for determining a parking space for a vehicle when the program is executed by a computer. Thus, in general, the object of the invention is the selection of a parking space for a vehicle from a set of parking spaces of a parking lot according to the geometry of the vehicle and its location. mobility parameter. This has, in particular the technical advantage of finding a parking space adapted to the individual vehicle. This means that with the vehicle geometry and the mobility parameter the choice of the parking location where the vehicle is to be stored is influenced. Thus, it does not just select any free parking slot to store the vehicle, but is selected a parking space adapted to the vehicle geometry and its mobility parameter. By virtue of the parking space adapted to the vehicle effectively, the probability of collision during a storage or disengagement maneuver of the vehicle compared to vehicles already stopped is advantageously reduced. The vehicle geometry includes the length and / or height and / or width of the vehicle. This means that to determine the vehicle geometry the length and / or the height and / or the width of the vehicle are determined. The mobility parameter notably describes the mobility of the vehicle. Thus, the mobility parameter includes for example the steering circle 3032671 3 of the vehicle and / or the maximum steering angle. In particular, it is planned to determine several mobility parameters. The parking space according to the present invention may also be referred to as a "parking surface" and serves as a storage area for the vehicle. The parking space thus constitutes a coherent surface that includes several parking spaces (in the case of a private parking lot) or a parking space in the case of a parking space on the public lot. According to one embodiment, the parking space may encompass a building of garages. In particular, the parking space is surrounded by a garage. According to another development, the parking space of the vehicle is chosen for which the range of work for the vehicle when engaged in the parking space or its clearance is greater than or equal to a threshold. parking lot. According to another development, the parking space of the vehicle for which the storage area of the vehicle for the engagement or disengagement of the parking location is maximum is chosen. This has the particular technical advantage of having a maneuvering range sufficient for storing or disengaging the vehicle. Indeed, not all vehicles fit together well. There are vehicles that require, for example, a larger turning radius for engagement or clearance than other vehicles. It is thus that it is advantageously guaranteed that, specifically for the vehicle, there is an individual storage area. This further reduces the probability of colliding with stopped vehicles when the vehicle in question is engaged or disengaged from its location. According to another development, the parking space is chosen for the vehicle for which the number of maneuvers that the vehicle must perform to engage or disengage from the parking space is less than or equal to a threshold. predefined maneuvers. According to another development, the parking space of the vehicle which requires the minimum number of operations performed by the vehicle to engage or disengage from the parking space is chosen. This results, in particular, in the technical advantage of being able to quickly make a commitment or clearance maneuver of the parking space insofar as it is guaranteed that a certain number of maneuvers are sufficient, this number being less than or equal to a predefined threshold. A maneuver in the sense of the present invention is a maneuver in forward or reversing maneuver performed in the context of a commitment or a release. For example, a maneuver may be to perform forward or reverse. Thus, it is for example necessary to move the vehicle forward and back several times to engage in the parking space or disengage so that a forward and a reverse each correspond to a maneuver. If, for example, the vehicle has to advance once and back one more time, to engage or disengage from the parking lot, it would take two maneuvers for this engagement or disengagement operation of the parking space. According to another development, a parking space for the vehicle is chosen which is directly adjacent to a parking space already allocated to another vehicle and which is larger or smaller or less mobile or more movable. mobile than the vehicle. This has the particular technical advantage of being able to store next to each other vehicles of different sizes. This advantageously ensures that a large vehicle will always be stowed next to a small vehicle. As the small vehicle takes up less space than the larger vehicle, the larger vehicle will have in its immediate vicinity a larger storage maneuvering range. According to another development, depending on the geometry of the vehicle, the mobility parameter and one or more granulators and / or one or more mobility thresholds, the vehicle is classified as a large vehicle or as a small vehicle and the parking position is selected for the vehicle which is directly adjacent to another parking position already assigned to another vehicle which has been classified according to its geometry, mobility parameter and one or more thresholds, either as a small vehicle in the classification of vehicles as large vehicles or as a large vehicle in the case of a classification of vehicles as small vehicles.
    [0003] In other words, the vehicle is classified as a large vehicle or as a small vehicle, depending on the vehicle geometry, its mobility parameter, and one or more dimension and / or mobility thresholds. selects for the vehicle the parking space directly adjacent to another parking space which has already been allocated to another vehicle, whereby if the vehicle is classified as a large vehicle, the parking space of the vehicle is selected other vehicle classified as a small vehicle, if the vehicle is classified as a small vehicle, the parking location of the other vehicle classified as a large vehicle is chosen, so that a large vehicle is always in a parking space directly adjacent to a parking space of a small vehicle, - the other vehicle having been classified as a large vehicle or 30 as a small vehicle its * mobility parameter, and * one or more dimensional and / or mobility thresholds. Thus, in particular, there is the technical advantage of a classification of the dimensions, structured in a simple and effective manner, and the parking location is selected based on this classification of dimensions (magnitudes). Thus, the vehicle is ranked 5 in one of two classes: the "big" class and the "small" class. In this embodiment it is also advantageous to guarantee that a large vehicle will always be stowed next to a small vehicle according to this classification. Thus, for the larger vehicle, there will be a larger storage maneuvering range compared to the case where it would have been stowed next to another large vehicle. The small vehicle that is more mobile will tidy up and release more easily if a large vehicle is stowed next to it as for a large motionless vehicle. According to a development, it is determined by capturing the vehicle with sensors, which has the technical advantage of being able to determine the vehicle geometry effectively. In particular, the capture by sensors consists of measuring the vehicle by sensors. In particular, it is expected that, depending on the input by sensors, the geometry of the vehicle and / or the mobility parameters will be searched in a database. Such a databank includes in particular the types of vehicles which have been previously fixed therewith the associated geometry and the mobility parameters. If, on the basis of sensor input, a certain type of vehicle or vehicle models are recognized, then the data and the corresponding geometry of the vehicle can be easily extracted from the database. The sensor input is, for example, using a sensor input system (s). This installation comprises for example one or more sensors: ultrasonic sensor, laser sensor, Lidar sensor, video sensor and radar sensor. According to one embodiment, in order to determine the geometry of the vehicle and / or the mobility parameter is received by a communication network, which has the particular technical advantage that the vehicle geometry and its mobility parameter can also be used. in particular, if the vehicle geometry and the mobility parameter of the device are received. The device comprises for this purpose, for example, a communication interface which receives the vehicle geometry and / or the mobility parameter via the communication network. The vehicle can itself send its geometry and / or mobility parameters via the communication network to the device. According to one development, the communication network is a WLAN network and / or a mobile telephone network. According to one embodiment, the communication by the communication network is or will be encrypted. According to a development, the vehicle is an autonomous vehicle and / or a remotely controlled vehicle so that the vehicle will be driven to its selected parking location, partly in autonomous mode and / or partly by remote control.
    [0004] This means that the vehicle performs some sort of automatic valet operation. The automatic valet corresponds to an autonomous parking operation in the sense of the present invention meaning in particular that the vehicle navigates or circulates independently, that is to say without any intervention of the driver at the location of parking. The vehicle thus travels autonomously in the car park without being driven by the driver of the vehicle. Such autonomous driving consists in particular of autonomously regulating or controlling transverse and / or longitudinal guidance of the vehicle. Autonomous within the meaning of the present invention means in particular that the vehicle can be stored and / or disengaged automatically, that is to say, autonomously from the parking space. Such a vehicle traveling in autonomous mode is, for example, called "AVP vehicle". Vehicles which have this AVP function are for example called "normal vehicles". This also corresponds, in particular for such AVP vehicles and / or for such a remote-controlled vehicle, to a parking space that will have been obtained according to the explanations given above. Such a parking space is preferably sent to the vehicle via the communication network.
    [0005] 3032671 8 The vehicle will then be able to drive autonomously based on the assigned parking location to this parking location. In particular, the vehicle is guided remotely to the parking location. A target trajectory for the vehicle is determined up to the parking location assigned to the vehicle, for example by the communication network. Thus, the vehicle can drive autonomously to the parking position, based on the set path. According to one development, the device for determining the parking location of the vehicle executes the method of determining a parking space in which the vehicle may engage or disengage. By way of example, the determination installation comprises a communication interface which receives the vehicle geometry and a mobility parameter of the vehicle by the communication network. This means that determining the vehicle geometry and the mobility parameter consists in receiving the vehicle geometry and the mobility parameter via the communication network. According to a development, the parking location 20 is selected according to the size (length and / or width and / or height) of the parking space. The embodiments for the device result in a similar manner from the embodiments of the method and vice versa. This means that the functionality of the device and the technical features thereof are similarly obtained to the corresponding embodiments, functionalities and technical features of the process and vice versa. Drawings The present invention will be described hereinafter in more detail using a method of determining a parking space for a vehicle, shown in the accompanying drawings, in which: FIG. A method for determining a parking space for a vehicle, Figure 2 shows a device for determining a parking position for a vehicle, Figure 3 shows a vehicle storage system, and Figure 4 shows another vehicle storage system.
    [0006] Embodiment Description FIG. 1 shows a flow chart of a method for determining a parking location for a vehicle. According to step 101, the vehicle geometry and its mobility parameter are determined. In step 103 a parking space of the vehicle is selected from a large number of parking positions of a parking lot. This selection is based on the vehicle's geometry and its mobility parameter. Figure 2 shows a device 201 for determining a parking location for a vehicle. The device 201 includes a determining facility 203 for determining the vehicle geometry and the vehicle mobility parameter. The device 201 further includes a selection facility 205 for selecting a parking location for a vehicle from a set of parking locations of a parking lot, depending on the vehicle geometry and its mobility parameter. Figure 3 shows a parking system 301 for vehicles. The parking system 301 includes a parking lot 303. The parking lot 303 has several parking positions 305. The parking system 301 further comprises the device 210 of Figure 2.
    [0007] Figure 4 shows another parking system 401 for vehicles. The parking system 401 includes a parking lot 403 with several parking positions 405. The system further comprises the device 201 of Figure 2. Vehicles 407, 409 are stored at parking locations 405. The reference 407 is assigned to large 3032671 10 vehicles. Reference 409 is assigned to small vehicles. The ranking in large vehicles and small vehicles is based on the respective vehicle geometry and mobility parameters of the vehicles 407, 409 and according to a predefined threshold, according to several predefined thresholds. These thresholds include, for example, a mobility threshold and / or a threshold of dimensions. This means that depending on the size of the vehicle and the mobility of the vehicle, the vehicle will be classified as large or small vehicle depending on the threshold. Figure 4 clearly shows on the left side in relation to the drawing plane, the parking spaces 405 each with a large vehicle 407 beside a small vehicle 409. On the right side with respect to the There are only 405 parking spaces occupied by small 409 vehicles. As a small vehicle 409 is parked next to a large vehicle 407, the large vehicle 407 will have enough storage space to engage with the vehicle 407. the parking space or disengage from it. In particular, according to one embodiment, the parking spaces 405 for the large vehicles 407 are selected to maximize the maneuvering range for rear, rear and parking clearance. the side of large vehicles 407 so as to be able to store in this area small vehicles 409 (which are generally more maneuverable). The vehicles 407, 409 are, for example, autonomous and / or remote controlled vehicles. This means, for example, that the vehicles 407, 409 may be AVP vehicles. The reference numeral 411 is directed by a direction arrow which gives the direction of circulation in the parking lot 403. The invention notably develops the idea of an effective concept for efficiently managing an automatic valet in a parking system. parking by reducing the probability of collision during automatic storage and disengagement operations compared to stowed vehicles. The concept according to the invention is based in particular on the fact that the geometry and the mobility (mobility parameter) of the vehicles are determined and the parking space for the vehicle or vehicles is selected so as to store separately the large vehicles. less mobile vehicles to maximize the range of maneuver for such vehicles. This is achieved, for example, for transversal parallel locations, such as parking facilities or car parks, in that a ranking is made to rank behind and / or alongside the smaller vehicles less. Maneuverable, small vehicles so that the rearward clearance of vehicles with high clearance (large vehicles) can be done 10 with fewer maneuvers and more surely. This means, in particular, that a parking space for a self-driving or automatic vehicle and / or a remotely controlled vehicle is fixed so that, depending on its geometry and its mobility (minimum turning radius, braking angle maximum size) for bulky and not very mobile vehicles, for example, the maximum possible maneuvering surface is available. This is achieved in particular that small vehicles are stored at the rear and, where appropriate, in the lateral areas. According to a development, the determination installation 20 determines the vehicle geometry and its mobility parameter. This is done in particular when the vehicle arrives in the entrance area of the car park. For example, using an image processing unit and an automatic reading in a databank according to the prior classification of the vehicle type, the vehicle geometry and its mobility parameter are determined. . For example, it is provided that the vehicle transmits its geometry and / or its mobility parameter via a communication network, to the device which comprises, for example, a parking lot server, in particular a garage building server.
    [0008] For example, a parking space is assigned to the vehicle so that, for example, depending on the width of the traffic area in the car park, the vehicle parks next to a small vehicle if is a large vehicle or next to a large vehicle if it is a small vehicle. This means that according to one development, it is intended to stow the vehicle to stow away small and large vehicles alike. According to a development, a large vehicle is always parked next to a small vehicle. This means, for example, that, for example, there are two parking spaces facing each other, between which passes a traffic lane of the parking lot. If, in an opposite parking lot, a large vehicle is already stowed, then in the opposite parking space a small vehicle will be stowed (generally a smaller vehicle and / or a less bulky vehicle than the vehicle). During storage and conversely, a large and a small vehicle are decided according to a predefined threshold for the vehicle geometry and its mobility, and then a trajectory is determined in particular towards the destination position, that is, The vehicle may be guided to the destination position, for example, autonomously and in particular the vehicle will be remote-controlled to the parking location. parking, it is also determined the number of maneuvers to be counted for a commitment operation and / or clearance of the location and the vehicles will be stored in such a way as to minimize the number of maneuvers. This means that the combination of vehicles will not necessarily be structured according to the classification between big and small. On the other hand, it is planned, in particular, to make a free search in that one selects the free parking spaces according to the Greedy strategy or by relying on the Greedy algorithm and the number of necessary maneuvers is determined. for available free surfaces, the geometry and mobility of the vehicle to be stored and minimized. The advantages of the concept of the invention lie in particular in reducing the probability of collision during a storage and / or clearance operation of a parking space in that the large and / or or vehicles which are less mobile so that they have, for example, the largest possible maneuvering area in that the parking places in the rear and / or front area receive small amounts of space. 3032671 13 hicules. The concept according to the invention makes it possible in particular to reduce the requirements for location accuracy and the regulation of vehicle movement or the respective trajectory planning, which can lead to technically less complex and more advantageous solutions for the system. 10
    权利要求:
    Claims (5)
    [0001]
    CLAIMS 1 °) A method for determining a parking position (305, 405) of a vehicle (407, 409) comprising: determining (101) the vehicle geometry and a vehicle mobility parameter (407, 409), and selecting (103) a parking space (305, 405) for a vehicle (407, 409) from a set of parking spaces (305, 405) of a parking lot (303, 403) in accordance with the vehicle geometry and mobility parameter.
    [0002]
    Method according to Claim 1, characterized in that the parking space (305, 405) for the vehicle (407, 409) is selected for which the parking maneuvering range of the vehicle (407, 409 ) for its commitment to the location or its clearance from the location (305, 405) is greater than or equal to a pre-defined range threshold.
    [0003]
    Method according to Claim 1 or 2, characterized in that the parking space (305, 405) of the vehicle (407, 409) for which the number of maneuvers required by the vehicle (407, 409) for engaging or disengaging from the parking space (305, 405) is less than or equal to a predefined threshold of maneuvers.
    [0004]
    Method according to Claim 1, characterized in that the parking space (305, 405) for the vehicle (407, 409), which is located directly adjacent to a parking space ( 305, 405) which has been associated with another vehicle (407, 409) which is larger or smaller or less mobile or more mobile than the vehicle (407, 409).
    [0005]
    Method according to claim 1, characterized in that the vehicle (407, 409) is classified as a large vehicle (407) or as a small vehicle (409), depending on the vehicle geometry, its mobility parameter, and 5 * one or more dimension and / or mobility thresholds, the parking space (305, 405) directly adjacent to another parking space (305, 405) is selected for the vehicle (407, 409). , 405) which has already been assigned to another vehicle, wherein if the vehicle is classified as a large vehicle (407), the parking space (305, 405) of the other vehicle classified as a small vehicle is selected (409), if the vehicle is classified as a small vehicle (409), the parking location (305, 405) of the other vehicle classified as a large vehicle (407) is chosen, so that a large vehicle vehicle (407) is still in a parking space (305, 405) d adjacent to a parking space (305, 405) of a small vehicle (409), the other vehicle (407, 409) having been classified as a large vehicle (407) or as a small vehicle (409). ) according to * its vehicle geometry, * its mobility parameter, and * one or more dimensional and / or mobility thresholds. 6. The method according to claim 1, characterized in that for determining, the vehicle (407, 409) is picked up with sensors. 7. Method according to claim 1, characterized in that for determining, the geometry of the vehicle and / or the mobility parameter is received via a communication network. Method according to claim 1, characterized in that the vehicle (407, 409) is an autonomous vehicle and / or a remotely controlled vehicle (407, 409) so that the vehicle (407, 409) can be partially drives autonomously and / or partly remotely controlled to the selected parking position (305, 405). 9) Device (201) for determining a parking location (305, 405) for a vehicle (407, 409) comprising: - a determination facility (203) for determining a vehicle geometry and a mobility parameter of the vehicle (407, 409), and - a selection facility (205) for selecting a parking space (305, 405) of the vehicle (407, 409) from a set of parking spaces (305, 405) of a parking lot (303, 403) depending on the vehicle geometry and its mobility parameter. Vehicle parking system (301, 401) (407, 409) having a parking lot (303, 403) with a plurality of parking spaces (305, 405) and a device according to claim 9, for determining a parking location (305, 405) for a vehicle (407, 409) having a determining facility (203) for determining a vehicle geometry and a vehicle mobility parameter (407, 409), and a vehicle installation (407, 409); 25 (205) to select a parking space (305, 405) of the vehicle (407, 409) from a set of parking spaces (305, 405) of a parking lot (303, 403) based on the geometry of the vehicle and its mobility parameter. Computer program comprising a program for executing the method according to one of claims 1 to 8, when the program is executed by a computer. 35
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    同族专利:
    公开号 | 公开日
    DE102015202480A1|2016-08-18|
    FR3032671B1|2021-02-19|
    CN105882653A|2016-08-24|
    CN105882653B|2021-03-19|
    US20160240082A1|2016-08-18|
    US9990849B2|2018-06-05|
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    法律状态:
    2017-02-20| PLFP| Fee payment|Year of fee payment: 2 |
    2018-02-23| PLFP| Fee payment|Year of fee payment: 3 |
    2020-02-20| PLFP| Fee payment|Year of fee payment: 5 |
    2021-02-17| PLFP| Fee payment|Year of fee payment: 6 |
    2022-02-21| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015202480.6A|DE102015202480A1|2015-02-12|2015-02-12|Method and device for determining a parking position for a vehicle|
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