• 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 for reducing the risk between two vehicles (301, 303) circulating in a parking lot (305), and for a surrounding field (317) of a place (315) on the car park (305), with which is associated a predetermined probability of collision risk. A safety reference trajectory is determined for one of the vehicles (301, 303) and a vehicle (301) is associated with the safety reference trajectory presetting the guidance of one of the vehicles (301) so that by leaving the safety setpoint path in the environment, the vehicle (301) reduces the risk of collision probability between the two vehicles (301, 303). The invention also relates to a computer program.
    公开号:FR3032675A1
    申请号:FR1651095
    申请日:2016-02-11
    公开日:2016-08-19
    发明作者:Stefan Nordbruch；Holger Mielenz
    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 reducing the risk of collision between two vehicles circulating in a parking lot and a computer program for carrying out the method. State of the art DE 10 2012 222 562 A1 discloses a system applied to managed parking surfaces for transferring a vehicle from a starting position to a destination position.
    [0002] In the case of fully automatic carriers (autonomous vehicles), the vehicle is driven from the drop-off station where the driver leaves it, for example in front of a parking lot, so that the vehicle drives itself to the parking space. parking bay and can return back to the deposit or recovery location again. When several vehicles are driving in the parking lot, there is a risk of collision between the vehicles. OBJECT OF THE INVENTION The object of the present invention is to develop an effective concept making it possible to reduce the risk of collision between two vehicles circulating in the parking lot, or even to exclude any risk. DESCRIPTION AND ADVANTAGES OF THE INVENTION To this end, the subject of the invention is a method for reducing the risk between two vehicles traveling in a parking lot, and for a surrounding field of a place on the parking lot. parking, which is associated with a predetermined probability of collision risk, a safety setpoint trajectory is determined for one of the vehicles and is associated with a vehicle, the safety setpoint trajectory presetting the guidance of one of the vehicles. vehicles to avoid that by leaving the safety setpoint path in the environment, the vehicle reduces the risk of probability of collision between two vehicles. According to another development, the invention also relates to a device for reducing the risk of collision between two vehicles traveling in a parking lot comprising a processor to determine for the environment a location in the car park to which A predetermined probability of collision is associated with a safety target trajectory for one of the vehicles, the safety target trajectory presetting the guidance of one of the vehicles to avoid, if the vehicle leaves the setpoint path. safety in the environment, a risk of collision between the two vehicles and a communication interface for sending the safety setpoint trajectory, determined to the vehicle by a communication network. According to another development, the subject of the invention is a computer program with a program code for implementing the above method when the program is executed by a computer.
    [0003] The invention particularly relates to the identification of a parking lot location where there is a probability of collision, predefined between two vehicles circulating in the parking lot. For the environment of the location, a safety trajectory for one of the vehicles is then determined and this trajectory for this vehicle is predefined. The safety trajectory thus provides guidance for the vehicle to reduce the risk of collision between the two vehicles if it leaves the safe path in the environment. This means in particular that if the vehicle leaves the safety reference path in the environment, the probability of collision between the two vehicles will be reduced. Reducing this probability reduces the risk of collision. According to a development, the safety setpoint trajectory is predefined for one of the vehicles and consists in reducing its speed so that if the vehicle leaves the safety trajectory, its speed will be low. This results in an effective reduction of the likelihood or risk of collision. Indeed, usually, the reaction time for a low speed of circulation of a vehicle is greater than at high traffic speeds so that, precisely, one can still react in time vis-à-vis potential risk situations .
    [0004] In particular, reducing the speed of the vehicle reduces or avoids a serious collision in case there is a collision. A parking lot within the meaning of the present invention is a parking space for vehicles. The parking lot notably constitutes a coherent surface at several locations (in the case of a parking space on a private lot) or parking stations in the case of an official parking lot. The parking lot may also be, according to one embodiment, a parking lot. In particular, the parking lot has garages. According to one development, the vehicle and in particular the two vehicles circulate autonomously in the parking lot. The autonomous mode in the sense of the present invention means that the vehicle circulates itself without intervention of the driver by roaming or driving in the parking lot. The vehicle drives independently in the car park without the driver guiding the vehicle. An autonomous circulation consists in particular in guiding the vehicle autonomously. The guidance consists in particular of guiding the vehicle in the transverse direction and / or in the longitudinal direction. Such a vehicle traveling in autonomous mode and which can be automatically stored and exit automatically from its parking space is for example called AVP vehicle (the abbreviation AVP meaning "Automatic Valet Parking" that is to say an automatic valet. The vehicles which do not have this AVP function are hereinafter referred to as "normal vehicles." According to a development, at least one of the vehicles, and in particular the two vehicles, are remote-controlled, which means that the vehicle is remotely operated. Remote control consists in transmitting to the vehicle indications for longitudinal and / or transverse guidance by a communication network, these indications setting the vehicle on a set path, in particular a safety reference path, which means that the remote control consists in sending remote control commands by the communication network to the vehicle which then applies these commands. vehicle comprises a control installation 35 which applies such orders or control indications.
    [0005] According to a development, the communication network is a WLAN network and / or a mobile telephone network. According to another development, the communication in the communication network is encrypted.
    [0006] According to one development, the guidance also consists in stopping one of the vehicles and / or in an evasive maneuver of one of the vehicles. This means that the safety reference path is formed to stop the vehicle leaving its safety reference path and / or avoiding the other vehicle. By stopping, the collision probability is advantageously reduced. In particular, the avoidance maneuver reduces the probability of collision. In particular, according to one embodiment, the safety instruction path requires one of the vehicles to stop until the other vehicle has passed in front of the vehicle. This means in particular that one of the vehicles 15 waits for the passage until the other vehicle has passed by the vehicle stopped. According to another development, the location is determined with at least one respective set trajectory for the two vehicles in the parking lot. As a result, there is the technical advantage of being able to determine in a simple and efficient manner where such a location is in the parking lot. Indeed, the parking lot locations that are not in the area of a set trajectory of the two vehicles, that is to say the places through which the vehicles do not pass, do not present a risk. collision for both vehicles. Thus, when traveling the luggage route, vehicles would never arrive at such locations when they started. There are a large number of locations in the parking lot where there is no risk of collision between the two vehicles.
    [0007] The respective target trajectory of the vehicles is a set trajectory that must be traveled by one of the vehicles. This means that both vehicles travel in the parking lot on setpoints. Such target paths are defined internally and / or externally to the vehicle. In the case of a determination external to the vehicle, it is intended to send the setpoint path to the vehicle via a communication network. The vehicle thus circulates autonomously in the parking lot on the basis of the set path. In particular, the vehicle remote control is based on the design trajectory. According to another development, the location corresponds to a position in the parking lot where the two vehicles could meet by their journey in the parking lot.
    [0008] The location where the two vehicles meet while taxiing through the parking lot is the place where there is a risk of collision between the two vehicles. To this extent, it is interesting to determine a safe setpoint trajectory for such a location. This location may for example be called a "meeting point".
    [0009] Since such a location must have a predefined probability of collision in order to be able to apply the concept of the invention to this location, it can advantageously be influenced by determining for which location of the parking lot a safety reference path is required. Indeed, any location where the two vehicles meet is such that it presents a risk of collisions for both vehicles. For example, if there is enough space between the two vehicles, they certainly meet at the determined location, but will be sufficiently separated from each other so that a collision is more unlikely compared to the situation in which there is a short distance between the two vehicles passing one beside the other. This means in particular that according to one embodiment, in the context of determining the location, a collision probability for this location is determined and this placement is classified as a characteristic for determining the driving trajectory. if the collision probability is greater than or equal to a predefined collision probability threshold. In another development, the location is determined based on the odometer data of at least one of the vehicles. This results in particular the technical advantage of an efficient location of at least one vehicle in the parking lot which thus improves the determination of the location of a risk of collision. According to one embodiment, the location is determined based on odometer data of the two vehicles. According to a development, at least one of the vehicles, and in particular the two vehicles are monitored and / or located during their circulation in the parking lot. The location is determined in particular according to one embodiment, based on the monitoring data and / or the corresponding location data. According to one development, the safety trajectory is determined by relying on the free surfaces in the location environment, resulting in the technical advantage of more effectively determining the location. Indeed, the free surfaces are distinguished in that a vehicle can circulate there. Such free surfaces are advantageously used to stop a vehicle on this surface and / or to prevent it. According to a development, the vehicle is selected, the safety setpoint trajectory of which is predefined as a function of at least one parameter. This results in the technical advantage of setting the selection process. This results in the advantageous influence for determining the vehicle to which the safety reference path is assigned. This advantageously takes account of the practical situation which all the more advantageously and advantageously avoids the risk of collision. According to a development, at least one parameter is chosen from the following group of parameters: vehicle geometry, importance of the autonomous vehicle traffic function, precision of the location of the vehicle in the parking lot, 30 parameter time, maneuverability of the vehicle. The vehicle geometry and the importance of the vehicle's autonomous traffic function are thus the vehicle-specific parameters so that the selection process substantially takes these elements into account for each vehicle.
    [0010] The accuracy of the location of the vehicle in the parking lot is in particular a parameter which predefines the precision with which a fault of the vehicle is located in the parking lot.
    [0011] The time parameter designates, in particular, a parameter that predefines, for example, a time condition. For example, a time condition means that the vehicle must be at a certain position at a specific time. In everyday language, this means that one vehicle must travel faster than the other. It is then interesting to stop the vehicle which is not in a hurry until the other vehicle has passed. The maneuverability of the vehicle means a vehicle-specific parameter indicating the importance of the maneuverability of the vehicle. This maneuverability is for example the turning radius of the vehicle. According to a development, the device according to the invention implements the method defined above. Drawings The present invention will be described hereinafter in more detail with the aid of examples of risk reduction methods between two vehicles traveling in a parking lot, shown schematically in the accompanying drawings, in which: FIG. shows a flowchart of a collision risk reduction method, FIG. 2 shows a device for avoiding a risk of collision, and FIG. 3 shows a planned plot of two AVP vehicles and FIG. of the invention in the case of a passage or planned route according to FIG. 3. DESCRIPTION OF AN EMBODIMENT FIG. 1 shows a flow diagram of a method for reducing the risk of collision between two vehicles driving in a parking lot. The vehicles, according to this example, are AVP vehicles. According to step 101, for the environment of a parking lot location associated with a predetermined probability and collision, a safety path for one of the vehicles is determined. This safety setpoint trajectory, thus determined, is preset according to step 103 for one of the vehicles. The safety setpoint path predefines the guidance of one of the vehicles so as to reduce the probability of collision between the two vehicles if it leaves this safety setpoint trajectory in the environment. Presetting the safety setpoint trajectory according to one embodiment consists in sending the safety setpoint trajectory to one of the vehicles via a communication network. Presetting the safety command path consists in particular of sending remote control commands to the vehicle via the communication network. In response to receiving these remote control commands, the vehicle then travels on the safe command path 15. Figure 2 shows a device 201 for reducing the risk of collision between two vehicles traveling in a parking lot. The device 201 includes a processor 203 for determining a safety setpoint path for one of the vehicles, in the environment of a parking lot location with which a predefined probability of collision is associated; the safety setpoint trajectory then guides the vehicle in a predefined manner so that if it leaves this safety setpoint trajectory in the environment, the collision probability of this vehicle or a collision between the two vehicles is reduced. According to a development, the processor 203 determines or defines the location in the parking lot. In particular, the processor 203 determines the predefined probability of collision for the location. The device 201 further comprises a communication interface which sends the safety setpoint trajectory thus determined to the vehicle by the communication network. The safety instruction path obtained, in particular, comprises remote control commands that the communication interface 205 transmits via the communication network in the form of remote control commands to a vehicle. According to one development, a monitoring system monitors the respective journey of the two vehicles in the parking lot. The monitoring system comprises, according to one embodiment, one or more environmental sensors. Environmental sensors are, for example, ultrasonic sensors, lidar sensors, radar sensors, laser sensors, video sensors. In particular, the monitoring system comprises one or more light barriers and / or one or more motion sensors and / or one or more door opening sensors. The monitoring system advantageously makes it possible to monitor the movement of vehicles, that is to say the circulation of vehicles in the parking lot and thus advantageously locate the vehicles in the parking lot. This means that the vehicles are located using the monitoring system. According to a development, the device 201 includes such a monitoring system and the processor 203 monitors the location 20 to be determined. Figure 3 shows the planned passage of two AVP vehicles next to each other. One of the AVP vehicles has the reference 301. The other AVP vehicle has the reference 303. The two vehicles AVP 301, 303 25 circulate in the parking lot 305. Other vehicles 307 are parked in the parking lot 305 The set trajectory that the vehicle 301 is to travel has the reference 309. This means that the vehicle 301 moves on the path 309.
    [0012] Correspondingly, the reference 311 designates a set trajectory to be traveled by the vehicle 303. As shown in FIG. 3, the two vehicles 301, 303 meet in their path along the respective reference path 309, 311. Reference 313 relates to a parking lot management server with a radio transceiver unit for transmitting the necessary information between the parking management system and an automatic or autonomous vehicle (AVP vehicle). . The parking management server 313 comprises, for example, the device 201 of FIG. 2. The parking lot management server 313 communicates, for example, with the two vehicles 301, 303. The location where the two vehicles 301 , 303 will meet is indicated symbolically by a circle; this circle bears the reference 315. The environment of the location 315 is represented in broken lines and corresponds to the reference 317. As in the example presented, the location 315 is at a narrow point of the parking lot 305 There is a risk of a collision at this point between the two vehicles 301, 303. In order to reduce or avoid such a collision risk according to the concept of the invention, it is in particular envisaged that the vehicle 301 will stop and be placed according to its direction of movement, against the edge 3 of the roadway so that the vehicle 303 can avoid it. This example follows from Figure 4 which describes by way of example this concept of the invention. For example, a pictogram bearing the reference 401 which is a stop sign is intended for the vehicle 301 to stop. For this, there is provided a safety reference path for the vehicle 301 which predefines for the vehicle 301 that it must avoid the vehicle 303 in the environment 317 of the location 315, in particular it must circulate near the right edge of the roadway and must stop. The vehicle 301 must remain stopped until the vehicle 303 has passed by the vehicle 301. Only then, according to one embodiment of the invention, the vehicle 301 continues along the road. trajectory 309. The concept according to the invention makes it possible in particular to manage an AVP system (automatic parking system in a parking space) by reducing the probability of collision between the vehicles of the system, in particular AVP vehicles, by optimizing trip planning in the vehicle meeting point environment.
    [0013] The place where the two vehicles will meet is called a meeting point in the context of the present invention. In particular, the concept according to the invention provides in the environment of a meeting point of two vehicles, to select one of the vehicles and to brake it during / before the meeting and to make it circulate along from the edge. This selection is made so that the vehicle which can be located with the highest precision on the digital map available, is the one that passes while the vehicle with the highest location drift, for example by odometry or Due to an imprecise location, possibly before, by the sensors of the vehicle AVP, linked to the structure, will be stored on the side and will be braked and stopped. The advantage of the concept of the invention is, for example, at the locations of greater collision probability when two vehicles meet, for example at the narrow passage point, in the curves, in the S lines, next to poles, next to parked vehicles or the like, one of the vehicles will be on time enough on the side and will be braked to facilitate the passage of the other vehicle. After this passage, the stopped vehicle resumes its journey.
    [0014] Other benefits of the concept are to reduce the number of sensors integrated into the infrastructure to locate the vehicles and thereby save system costs. The concept according to the invention consists in particular in planning the path to the places presenting the highest probability of collision (for example the meeting point of two vehicles) in order to reduce the probability of collision between the two vehicles while driving. for example, one of the vehicles on the side and stopping temporarily. For the application by way of example, the following means, taken separately in combination, have been provided in particular: a two-dimensional digital map of the parking surface, parking lot or parking lot with information concerning the walls, walls, pillars, traffic lanes and parking areas, - description of journeys by paths (for example in x, y coordinates in the parking lot coordinate system) and trajectories (of paths with time information). Location and their accuracy for at least two vehicles with / or 5 supplemented with the odometry error, - determining the meeting points of at least two vehicles, o for example by checking the points of intersection of trajectories calculated on the server, a point of intersection means that a geometric zone (a so-called link box) 10 of two trajectories that meet at the same time is predictable, - determine the vehicle which will be stopped temporarily, o for example, the vehicle which has the most imprecise and / or geometrically largest motion control and / or is difficult to maneuver and / or for which the locating system (i.e. monitoring) currently gives the greatest inaccuracy and / or "least time constraint", that is, the auxiliary conditions of time (eg the driver's vehicle waiting in the return zone is priority ...) - determination of the stopping trajectory of the vehicle to be stopped 25 o geometrical identification of the meeting point, o taking into account of the free surfaces from the known geometry of the parking lot or meeting point, o taking into account the geometry vehicles already stopped and determination of the free surface existing temporarily at the meeting points, o determination of the stopping trajectory so that the selected vehicle is only braked when stopped just before the passage of the other vehicle (weather conditions), and the vehicle is positioned as close as possible to the edge 35 (geometrical conditions) o in the environment of the meeting point the stopping point is optimized so that in a certain zone of distance (for example 10 m) from the meeting point, the area on the map of temporarily free surfaces which gives the greatest width of free passage is identified. on the vehicle to stop. - Determine the end of the encounter situation and calculation of the starting trajectory, vehicle previously stopped, o For example, once the passage is completed, it returns by a return trajectory on the previously determined trajectory. Advantages of the concept of the invention are for example the following: - Avoid collisions between two AVP vehicles that meet in o Reducing the number of environmental sensors needed to locate AVP vehicles, o Tolerance a lesser decision of locating an AVP vehicle on a digital map of a parking lot / 20 parking space, o Using vehicle-related odometry by passing areas of less precise location by sensors related to the infrastructure, - Optimize according to the final desire of the customer in that for example 25 for a final customer (driver) who is waiting for his vehicle, it is driven more quickly to the recovery area. 30
    权利要求:
    Claims (5)
    [0001]
    CLAIMS1 °) A method for reducing the risk between two vehicles (301, 303) circulating in a parking lot (305), and for a surrounding field (317) of a location (315) on the parking lot (305), associated with a predetermined probability of collision risk, - determining a safety reference path for one of the vehicles (301, 303) and associating it (103) with a vehicle (301) , the safety setpoint trajectory predefines the guidance of one of the vehicles (301) to prevent the vehicle (301) from reducing the safety setpoint trajectory in the environment (317) to reduce the risk of collision between two vehicles (301, 303).
    [0002]
    2) Method according to claim 1, characterized in that the guide is to stop one of the vehicles (301) and / or avoid one of the vehicles (301).
    [0003]
    Method according to Claim 1, characterized in that the location (315) is determined based on at least one of the respective reference paths (309, 311) of the two vehicles (301, 303) in the parking lot (305).
    [0004]
    4) Method according to claim 1, characterized in that the location (315) corresponds to a position in the parking lot (305) where the two vehicles (301, 303) would meet on their journey in the park of parking (305).
    [0005]
    Method according to claim 1, characterized in that the location (315) is determined on the basis of odometric data of at least one of the vehicles (301, 303). A method according to claim 1, characterized in that the safety path is determined based on the free surfaces in the environment (317) of the location (315). Method according to Claim 1, characterized in that for the selection of vehicles (301, 303) the safety reference path is predefined as a function of at least one parameter. Method according to Claim 7, characterized in that at least one parameter is selected from the following group of parameters: vehicle geometry, importance of the autonomous vehicle traveling function, accuracy of the location of the vehicle in the parking lot, time parameter, maneuverability of the vehicle. 9) Device (201) for reducing the risk of collision between two vehicles (301, 303) circulating in a parking lot (305) comprising: a processor (203) for determining for the environment (317) ) a location (315) in the parking lot (305) with which is associated a predetermined probability of collision, a safe set point trajectory for one of the vehicles (301, 303), the safety setpoint path presetting the guidance of one of the vehicles (301) so that if the vehicle (301) leaves the safety reference path in the environment (317), a risk of collision between the two vehicles 30 (301, 303) is avoided and a communication interface (205) for sending the safe setpoint path determined to the vehicle (301) by a communication network. Computer program comprising a program code for executing the method according to one of claims 1 to 8, when the program is executed on a computer. 5
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    同族专利:
    公开号 | 公开日
    DE102015202469A1|2016-08-18|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    DE102019134971A1|2019-12-18|2021-06-24|Valeo Schalter Und Sensoren Gmbh|Driving behavior determination for V2X-capable vehicles|
    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 |
    2021-02-18| 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
    DE102015202469.5A|DE102015202469A1|2015-02-12|2015-02-12|Method and device for reducing a risk of collision between two vehicles driving in a parking lot|
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