• 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 of managing a vehicle (101) in which the vehicle (101) receives via a communication network, the position data of one or more locations in a parking lot where the vehicle (101) could encounter a difficulty on its autonomous path in the parking lot, the vehicle (101) receiving via the communication network, information data including information indicating that it may encounter a difficulty at one or more locations on its autonomous path in the park of parking, so that the vehicle (101), based on position data and information data, plans its autonomous journey in the parking lot, and circulates after the planning, autonomously in the parking lot .
    公开号:FR3033757A1
    申请号:FR1652222
    申请日:2016-03-16
    公开日:2016-09-23
    发明作者:Hans-Joerg Mathony；Stefan Nordbruch；Rolf Nicodemus；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 vehicle. The invention also relates to a method and a device for managing a parking lot as well as to a vehicle system and a computer program. State of the art DE 10 2012 222 562 A1 discloses a parking surface system, managed to transfer a vehicle from a starting position to a destination position. In the case of fully automated carriages (that is to say, autonomous carriages) the vehicle is deposited by its driver at a drop-off point, for example in front of a parking lot and from there the vehicle joins itself. parking space. He also returns himself to the request to the drop-off point. In the car parks, it may happen that a vehicle hardly perceives the contact with its environment. In a parking lot, there may be places where the vehicle has difficulty in correctly perceiving its environment. This is because vehicle environmental sensors do not always capture the entire vehicle environment because of their inherent limitations. In general, the opening angle of a sensor forming part of a set of environmental sensors is limited. In particular, environmental sensors can not usually see through an infrastructure (eg partitions or columns), meaning that objects behind a partition can not usually be detected by vehicle environmental sensors. .
    [0002] OBJECT OF THE INVENTION The object of the present invention is to develop an effective concept making it possible to overcome the known drawbacks and to ensure better autonomous, safer driving of the vehicle in a parking lot.
    [0003] SUMMARY OF THE INVENTION AND ADVANTAGES OF THE INVENTION To this end, the object of the invention is a method for managing a vehicle that receives, via a communication network, the position data of one or more locations in a station park. - 5 where the vehicle might encounter a difficulty on its autonomous journey in the parking lot, the vehicle receiving via the communication network, information data including information indicating that it might encounter a difficulty at one or more locations on its autonomous way in the parking lot, so that the vehicle, based on the position data and the information data, plans its autonomous journey in the parking lot, and circulates after the planning, autonomously in the parking lot. The invention also relates to a management device of a parking lot comprising a communication interface for sending via a communication network, position data of one or more parking lot locations to the parking lot. one or the other vehicle while traveling autonomously to the parking location, which might encounter a difficulty, the communication interface sending information data through the communication network and indicating that the vehicle could encounter a difficulty at one or more locations of its autonomous journey to the parking lot, a processor which according to the position data and the information data, plans the autonomous journey of the vehicle in the parking lot. parking and / or a control facility for driving the vehicle autonomously in the parking lot according to the plan.
    [0004] According to another development, the subject of the invention is a method according to which: the position data of one or more locations in the parking lot are sent to one or more vehicles on its autonomous path in the parking lot, where there may be a difficulty, the transmission being via a communication network to the vehicle, and - in addition, the vehicle receives information data transmitted by the communication network and containing information indicative of that the vehicle could encounter difficulty in one or more places on its autonomous journey, in the parking lot. According to another development, the subject of the invention is a device for managing a parking lot comprising a communication interface for receiving, via a communication network, the position data of one or more locations of the parking lot there where the vehicle could encounter a difficulty in its circulation in the parking space, the communication interface receiving information data by the communication network which contain information indicating that the vehicle might encounter a difficulty in one or several locations on his autonomous journey in the parking lot.
    [0005] According to a development, the subject of the invention is a computer program comprising a program for implementing the method of managing a vehicle and / or the method of managing a parking lot when the program is executed by a computer.
    [0006] Thus, one of the objects of the invention is, among other things, the general characteristic of assisting a vehicle on its autonomous path in the parking lot, to assist it precisely where the vehicle might encounter difficulties in his autonomous journey in the parking lot. This results in particular from the fact that position data of these locations are communicated to the vehicle. In particular, the vehicle receives information regarding the risk of difficulties that it may encounter in such places. This also means that the vehicle will know that there are one or more locations in the parking lot where the vehicle during its autonomous journey into the parking lot could encounter difficulties. According to this knowledge, the vehicle is advantageously able to adapt its autonomous path for the parking lot and to execute this path plan autonomously. The vehicle thus takes into account these 5 locations and it will be able to drive safer and more self-contained in the parking lot. This results in particular the advantage of reducing or even avoiding the risk of collision between the vehicle and an object, for example another vehicle or a fixed infrastructure.
    [0007] In particular, the result is the advantage of more efficient and better management of the car park. Proper driving of the vehicle in the car park reduces situations in which the vehicle no longer knows whether to continue its journey and whether it needs external assistance. The sending of such external help usually requires time and may block traffic in the parking lot. But since, because of the inventive concept of such situations can not occur or at least the number of such situations is reduced, it results in the guarantee of a fluid circulation in the parking lot.
    [0008] A parking lot according to the present invention is a parking area receiving vehicles. The parking lot thus constitutes a consistent surface with several parking spaces (in the case of a parking lot on private land) or parking stations 25 (in the case of a public parking lot). According to a development, the parking lot is a building of garages or parking lots and in particular a parking lot with a garage. Autonomous or automated mode in the sense of the present invention means that the vehicle navigates or circulates on its own without any intervention of the driver in the parking space. The vehicle thus automatically travels in the car park without a driver directing the vehicle or it is necessary to remotely control the vehicle. Such a self-driving vehicle which can automatically move into or out of a parking space is, for example, referred to as the AVP vehicle. The abbreviation AVP designates an automatic valet. Vehicles that do not have this AVP feature are called "normal vehicles". According to one development, a digital map of the parking lot and at least one target position in the park is / are received from the vehicle by a communication network. This is done for example using a communication interface, in particular made for this function. According to a development, the vehicle navigates autonomously in the parking lot based on the digital map to reach the destination position. According to a development, the vehicle is stored autonomously at the destination position. The digital map and the destination position are, for example, sent to the vehicle by the communication network by a parking management device which comprises, for example, a parking lot management system. To plan its autonomous journey, according to a development, the vehicle uses the digital map and the destination position. The processor plans including the autonomous path based on the digital map and the destination position. To plan its autonomous journey in the park, the vehicle relies on position data and information data; according to one embodiment this operation comprises the use of other data for the planning. Such other data are, for example, the data of the vehicle environment sensors. These data comprise, for example, map data of the digital map of the car park, for example the data of the destination position and also, for example, data of location of the vehicle in the car park. This means in particular that based on such data and in addition to the position data of the location (s) and in addition to the information data of its autonomous journey in the parking lot and according to the planning, the vehicle cir - 35 cule autonomously in the parking lot by relying on the data and in addition on the position data of the location (s). This means, in particular, that the planning of the autonomous journey, which usually could only be done with the digital map and the destination position, is adapted to the position data and the information data. According to a development, the autonomous path of the vehicle is between the starting position and the destination position, which means that the vehicle is traveling from its starting position to its destination position.
    [0009] The starting position is, for example, the stowing position, where the driver leaves his vehicle for autonomous storage operation. The destination position is for example the storage position where the vehicle will be parked autonomously. This means that, according to one embodiment, the vehicle travels autonomously from its removal position to its storage position to be stored there, in particular autonomously. According to a development, the starting position is the storage position and the destination position is the recovery position where the driver can recover his vehicle again after an autonomous storage operation. The recovery position is for example identical to the removal position. This position may also be different from the removal position. According to a development, the vehicle travels in auto mode from the dispense position to the parking position and back to the dispense position and generally to the recovery position. According to one development, the vehicle is stored in autonomous mode in its parking position and according to another development, the vehicle emerges in autonomous mode from its parking position. The autonomous journey made by the vehicle in the parking lot includes the autonomous storage and / or the autonomous release of the parking space and / or the autonomous traffic from the starting position to the position of 3033757 7 destination and / or the autonomous movement of the destination position back to the starting position. This means that the vehicle generally runs in autonomous mode and in particular without external assistance in the parking lot. Nevertheless, it is provided according to the invention that the vehicle could encounter difficulties in difficult locations and / or locations where AVP vehicle often encounter difficulties, to have more information for the vehicle to take into account these difficult locations . In the present description, the term "location" refers to a "place". A difficulty within the meaning of the present invention relates in particular to the case of vehicle environment sensors which can only enter a limited way the environment of the vehicle. Such limitation is due in particular to a fixed infrastructure in the vehicle environment which does not allow the environmental sensor to see. For example, ramps and / or corners are generally locations where the vehicle environment sensors can not fully detect the environment. In general, an environmental sensor can not "see" around a corner or over a ramp, i.e., make an entry. In particular, there may be places in the parking lot where there are, repeatedly, communication link problems with the vehicles. In particular, there may be places in the parking lot where there are always lighting problems. In such places, the vehicle traveling in autonomous mode may encounter difficulties. Indeed, a communication link problem may cause the vehicle no longer receives a digital map of the parking lot or a destination position to plan the rest of its journey in the parking lot. This means that in this case the vehicle no longer has the information necessary for its autonomous mode journey. A difficulty is for example that, because of the topography of the parking lot, radar echoes that the vehicle may erroneously detect several objects although a single object 3033757 8 is in the environment. But the vehicle will know that such a place in the parking lot exists and it can bypass it. In another development, the planning is to operate the vehicle environment sensors based on position data and / or information data so that planning can be done according to the sensors of the vehicle. the vehicle environment during its autonomous journey in the parking lot on the basis of position data and / or information data.
    [0010] This results in particular in the technical advantage that the environmental sensors can operate efficiently and adapted to the practical situation in the parking lot. In particular, the management consists of increasing the detection sensitivity of the environmental sensors. In particular, the management consists in increasing the range of the environmental sensors. This is done for example by operating the environmental sensors with higher power. The environment sensors of the vehicle consist in particular of one or more environmental sensors. An environmental sensor 20 is one of the following sensors: radar sensor, ultrasonic sensor, Lidar sensor, laser sensor, video sensor. According to one development, the planning is for the vehicle to reduce its speed of travel to a determined distance from the location (s) so that, according to the planning, the vehicle reduces its speed from a predefined distance from this place or these places. This has the particular advantage that the reduced traffic speed increases the reaction time of the vehicle to respond to unforeseen situations, for example the sudden arrival of other vehicles. It also means that, for example, there will be more time to brake to a stop or more time for an avoidance maneuver. This notably allows, advantageously, to reduce the risk of collision. In particular, this advantageously makes it possible, in the event of a collision, to reduce the severity of the accident 35 by virtue of the reduced speed of circulation of the vehicle.
    [0011] According to another development, the planning of the autonomous journey consists in determining a set trajectory that the vehicle must follow in the parking lot. The autonomous route according to the planning consists in that the vehicle regulates its real trajectory according to the set trajectory. According to another development, the vehicle receives the digital map of the parking lot via the communication network, this map comprising position data and / or information data. This has the advantage that the position data and / or the information data will be efficiently transmitted in common with the digital map of the car park to the vehicle. According to another development, the vehicle receives, via the communication network, the surveillance data of the parking lot monitoring system so that the planning will be done on the basis of the monitoring data. This results in particular the advantage of an even more efficient and better planning allowing a circulation in appropriate autonomous mode. Indeed, the vehicle has not only additional data, here the monitoring data. This allows, for example, to rectify or compensate for the limitations of the vehicle's environmental sensors. According to one development, the monitoring system comprises 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 sensors and / or one or more laser sensors and / or one or more light barriers and / or one or more door opening sensors. The above-mentioned elements of the surveillance system are generally distributed in the parking lot so that the vehicle also receives information concerning the parking areas which are no longer within the range of the sensors. vehicle environment. According to another development, the vehicle receives via the communication network, the environment data and / or the vehicle data, in particular the speed data, the trajectory data, the position data for several others. vehicles in the parking lot, which allows planning based on environmental data and / or vehicle data. In this case also, the vehicle receives information that these environmental sensors could not provide. Developments in the surveillance system, including the advantages mentioned, apply in a similar way to the transmission of environmental data and / or vehicle data concerning other vehicles to said vehicle. This means, in particular, that the other vehicle (s) in the parking lot access their own environment by their environmental sensor (s) and provide the environment data to the vehicle via the communication network. . In particular, these other vehicles provide other vehicles with vehicle data. Thus, the vehicle will know, for example the speed of movement of the other vehicle (s), the planned trajectory (trajectory data) of the other vehicles and / or the position of the other vehicles. This allows for particularly efficient and improved route planning. The communication between the vehicles can be done for example in C2C (Vehicle-to-Vehicle Communication) mode. In particular, the communication between the vehicles is a C2X communication (vehicle-to-infrastructure communication). This means that the other vehicle (s) sends the data to a central server which transmits this data to the vehicle.
    [0012] According to a development, the vehicle receives, via the communication network, a digital map of the parking lot which comprises the position data and / or the information data. According to another development, the monitoring data of a parking monitoring system is sent to the vehicle via the communication network. According to a development, the communication interface sends a digital map of the parking lot via the communication network to the vehicle, this map comprising position data and / or information data.
    [0013] According to another development, there is provided a parking lot monitoring system and the communication interface sends, via the communication network, surveillance data from the parking lot monitoring system to the vehicle. According to one development, the vehicle management device applies the vehicle management method. According to one development, the parking lot management device executes the management method of this park.
    [0014] According to a development, the vehicle executes the management method according to the invention. According to another development, the vehicle comprises a device for its management. According to another development, the vehicle comprises environment sensors, and according to a development, the vehicle management device comprises environmental sensors. The characteristics of the device derive analogously from the characteristics of the process and vice versa. According to another development, the communication network is a WLAN and / or a telephony network. According to another development, communication via a communication network is encrypted. Drawings The present invention will be described hereinafter in more detail with the aid of exemplary embodiments shown in the accompanying drawings, in which: FIG. 1 shows the diagram of a ramp, FIG. of a crossing at a corner of traffic lanes, Figure 3 shows a flowchart of a vehicle management method, Figure 4 shows a vehicle management device, Figure 5 shows a flow chart of a vehicle. A method of managing a parking lot, Figure 6 shows a parking lot management device, Figure 7 shows a vehicle parking system, and Figure 8 shows a vehicle.
    [0015] DESCRIPTION OF EMBODIMENTS FIG. 1 shows the case 101 of a ramp 103, that is to say a ramp 103, and a vehicle 105 traveling on the ramp 103. The direction of circulation of the vehicle 105 is indicated by FIG. arrow bearing the reference 107.
    [0016] Vehicle 105 has unrepresented environmental sensors. The input range of the environmental sensors is the front range of the vehicle 105 symbolically represented as 109. This means that the vehicle 105 can detect objects in the input range 109.
    [0017] Behind the ramp 103 is a person 111 who is not detected by the vehicle environment sensors 105 because the vehicle 105 is moving up the ramp 103 so that the sensing range 109 of the environmental sensors passes through. This also means that in this position on the ramp 103 the vehicle 105, can not detect the person 111 or detect it until too late. This can result in a collision risk. Figure 2 shows this corner case 201. This corner case 201 corresponds to a T-shaped cross between a first traffic lane 205 and a second traffic lane 207; the second traffic lane 207 meets the first traffic lane 205 at the intersection T 203. A first vehicle 209 circulates on the first lane 205. The direction of circulation of the first vehicle 209 is shown schematically by an arrow bearing the reference 211.
    [0018] A second vehicle 213 circulates on the second traffic lane 207. The direction of circulation of the second vehicle 213 is shown schematically by an arrow with reference 215. In a similar manner to FIG. of capturing the environmental sensors of the first vehicle 209 in its frontal range, with the reference zone 109.
    [0019] As schematically shown in FIG. 2, the input area 109 does not rotate around the corner, i.e. does not arrive in the second traffic lane 207. This means that the first vehicle 209 is traveling in the direction of the intersection T 203 can not detect the vehicle 213. Only when the track is clear can the second vehicle 213 be grasped. The first vehicle 209 may not be able to see in a way around the corner. The situations presented in Figures 1 and 2 can occur for example in a parking lot. Indeed, in general, there are places that have a ramp and / or a corner so that in these places there may be seizure problems for the environmental sensors. These seizure problems may then lead to an object, for example a vehicle or a person, being detected too late or not enough in time to avoid colliding. The concept according to the invention is based in particular on the fact that the vehicle 105 or the first vehicle 209 must be communicated to the places of the parking lot where it is located and that it may have difficulties in these places, for example to because of a limited detection capacity by the environmental sensors. The vehicle 105, 209 can thus plan its journey in the parking lot and move autonomously in the parking lot. For example, it is provided that as it exits the ramp 103, the vehicle 105 reduces its speed in order to lengthen its reaction time and enable the person 111 to react when he reaches the input range 109. Similarly, the first vehicle 209 reduces its traffic speed by approaching the T-shaped crossing 203. FIG. 3 shows a flow chart of a vehicle management method. In step 301, the vehicle receives via a communication network, the position data of one or more places of the parking lot where the vehicle could encounter a difficulty during its autonomous movement in the parking lot.
    [0020] In step 303, the vehicle further receives via the communication network, the data information including information that at that location or in a plurality of locations, it may encounter difficulties on its way through the communication network. parking. Steps 301 and 303 can for example be done simultaneously.
    [0021] According to a third step 305, the vehicle plans its autonomous journey in the parking lot from the position data and the information data and, according to the step 307, it travels autonomously according to the corresponding plane, in the parking.
    [0022] FIG. 4 shows a device 401 for managing a vehicle. The device 401 comprises: a communication interface 403 for receiving, via a communication network, the position data of one or more places of the parking lot, where the vehicle could encounter difficulties during its autonomous journey through the parking lot, the communication interface 403 receives via the communication network, the information data which includes information indicating that the vehicle could encounter difficulties in one or more places, when it enters the mode of operation. in the parking lot, a processor 405 for autonomously scheduling the vehicle route in the parking lot according to position data and information data, and a control facility 407 for driving the vehicle in the parking mode; autonomous to its parking location according to the plan. The control system 407 is especially designed to control and / or guide the vehicle longitudinally.
    [0023] Figure 5 shows a flowchart of a method of managing a parking space. According to step 501, the position data at several points of the parking lot where a vehicle might encounter difficulties during its autonomous journey in the parking lot, are sent by a communication network to a parking lot. vehicle.
    [0024] According to step 503, the vehicle sends information data through the communication network; these data include information indicating that the vehicle could encounter difficulties at one or more locations during its autonomous journey to the parking space. Steps 501 and 503 can be executed for example simultaneously in time. Thus, and advantageously, the vehicle is able to rely on position data and information data to plan its autonomous journey in the park and to drive autonomously in the park. parking. Figure 6 shows a device 601 for managing a parking lot.
    [0025] The device 601 includes a communication interface 603 for sending a vehicle, the positional data of one or more locations on the parking space at the location where a self-driving vehicle could encounter difficulties. a parking location for transmitting this information to a vehicle, and the communication interface 603 sending to the vehicle, via the communication network, the data information which contains information indicating that the vehicle may encounter difficulty at one or more locations of his journey, in autonomous mode, in the parking lot. According to one development, the device 601 includes a database that contains the registration of position data and information data. In particular, the device 601, according to one embodiment of a processor, is adapted to read the position data and the information data in the database and display them by the communication interface 603. The FIG. 7 shows the vehicle parking system 701. The parking system 701 has a parking slot 703 and the device 601 of Figure 6.
    [0026] FIG. 8 shows a vehicle 801. The vehicle 801 comprises the device 401 of FIG. 4. The invention also encompasses, among other things, inter alia the idea of developing a technological principle that could arrive in the autonomous mode of the vehicle in the parking lot, to reduce or avoid or eliminate this risk. In particular, the vehicle based on a digital map and / or maps, circulates autonomously in the parking lot. In particular, it is envisaged that the vehicles in the situation and / or places (also called localities) where the vehicle will encounter problems or could encounter them, or be assisted with additional information. It also means that a cooperation operation is particularly and advantageously applied. In particular, the vehicle will receive additional information in difficult locations and locations and / or locations or locations where AVP vehicles often / always have problems. In particular, the positions, that is, the position data of the problematic places or places (for example the corners, the ramps) as well as other information (information data) are integrated in a map. digital. This digital map can transmit to the vehicle via a communication network and send the elements in particular so that the position data and / or the information data and / or the digital map are kept up to date and updated continuously. According to a development, the vehicle receives from a parking management system (also called a parking lot management system or a parking management system or a parking management system), in particular the parking system. transmission of parking locations actually transmits information (images, object data, vehicle data), that is to say generally protected data are transmitted by the communication network. According to another development, one or more vehicles in the parking lot send environmental data and / or vehicle data to the vehicle via the communication network. This means that the vehicle receives such data and in particular that, for example, other vehicles receive through the CEX communication information sent similarly and from the environment to the vehicles. The expression "C2X" means "a vehicle-infrastructure exchange", which corresponds to an exchange between a vehicle and a fixed infrastructure. It also means that these other vehicles can first send to the central server, for example, to the parking management device, and then this data, and in particular the environment data and / or the data of the parking facility. vehicle are sent to the vehicle. According to another development, in addition to or instead of the C2X communication, a C2C communication is provided. This means that the vehicle receives appropriate data provided directly by other vehicles. In these formulas, C2C represents the expression "Car-to-Car", which means "communication directly between vehicles". According to another development, on the basis of the additional information, i.e. including position data, information data and / or surrounding field data, or information data of the from this other vehicle, the vehicle adapts its autonomous circulation on the parking lot and circulates there autonomously according to the plan. According to one development, the vehicle observes these locations or locations based on additional information. In particular, the environmental sensors are set to these problem areas. The advantages of the concept according to the invention lie particularly in the reduction of problems and accidents, in particular, the invention allows a fluid circulation in the parking lot or the parking lot.
    [0027] 3033757 18 5 103 105 109 111 200 203 205 207 NOMENCLATURE OF KEY ELEMENTS 10 Ramp Vehicle Input range Individual Location representing a corner / crossing T T-shaped crossing First traffic lane Second traffic lane 209 First vehicle 211 Arrow 213 Second vehicle Arrow 15 301 Step of the vehicle management method 303 Step of the vehicle management method 305 Planning of an autonomous trip according to the position data and information data 401 Vehicle management device 20 403 Communication interface 405 Processor 407 Control unit 501, 503 Parking park management process step 601 Parking lot management system 25 603 Communication interface 701 Parking system 703 Parking space 801 C2X vehicle "Vehicle to infrastructure" communication 30 C2C "Vehicle-to-vehicle" communication
    权利要求:
    Claims (3)
    [0001]
    CLAIMS 1 °) A vehicle management method (801) according to which the vehicle (801) receives (301) by a communication network, the position data of one or more locations in a parking lot (703) where the vehicle (801) could encounter a difficulty on its autonomous journey in the parking lot (703), the vehicle (801) receiving (303) by the communication network, information data including information indicating that it could meet a difficulty in one or more locations on its autonomous path in the parking lot (703), so that the vehicle (801), based on the position data and the information data, plans (305) its autonomous journey in the parking lot (703), and circulates (307) after planning, autonomously in the parking lot (703).
    [0002]
    Method according to claim 1, characterized in that the planning is to operate vehicle environment sensors (801) based on the position data and / or the information data for planning purposes. according to the vehicle environment sensors (801) is performed during autonomous traffic in the parking lot (703) based on the position data and / or based on the information data.
    [0003]
    Method according to claim 1 or 2, characterized in that the planning consists in that after a predetermined distance to the location or locations, the vehicle (801) reduces its speed so that according to the planning, the vehicle (801) reduces its travel speed from a predefined distance from one or more locations. A method according to claim 1, characterized in that the vehicle (801) receives via the communication network a digital map of the parking space (703) which includes the position data and / or the information data. A method according to claim 1, characterized in that by the communication network the vehicle (801) receives monitoring data from a parking position monitoring system for the vehicle to apply the data of the parking system. monitoring according to its planning. Method according to Claim 1, characterized in that the vehicle (801) receives, via the communication network, the surrounding field data and / or the vehicle data, in particular speed data, trajectory data. , position data of one or more other vehicles in the park (703) for planning based on the environment data and / or the vehicle data. 7 °) Device (401) for managing a vehicle (801) having a communication interface (403) for receiving by a communication network 25, the position data of one or more locations of the parking lot (703) where the vehicle (801) could encounter difficulty in its circulation in the parking space (703), the communication interface (403) receiving information data through the communication network which contains information indicating that the vehicle (801) could encounter difficulty at one or more locations on its stand-alone journey in the parking lot (703), a processor (405) for depending on the position data and information data, to plan an autonomous path from the vehicle (801) to the parking space (703), and a control facility (407) for driving the vehicle (801) autonomously in the parking lot (701) according to vehicle planning. 8 °) A parking lot management method (703) characterized in that the position data of one or more parking lot locations (703) where the vehicle or vehicles (801) traveling from autonomously in the parking lot (703) could encounter a difficulty, are transmitted by the communication network (501) to a vehicle (801), the vehicle (801) transmitting (503) information data through the network communication, information including the indication that the vehicle (801) could encounter difficulty at one or more locations on its way to the parking space (703). A method according to claim 8, characterized in that a digital map of the parking space (703) is sent to the vehicle (801) via the communication network, which card comprises position data. and / or information data. Method according to claim 8 or 9, characterized in that the monitoring data of the parking location monitoring system are sent by the vehicle (801) through the communication network. 11 °) Device (601) for managing a parking lot (703) comprising a communication interface (603) for sending, via a communication network, position data of one or more locations of the park of parking (703) to one or the other vehicle (801) during its autonomous traffic up to the parking location (703), which could encounter a difficulty, to a vehicle (801), - the interface communication system (603) transmitting information data to the vehicle (801) over the communication network which indicates that the vehicle (801) might encounter difficulty at one or more locations on its self-driving route to the vehicle park. parking (703). Device (601) according to claim 11, characterized in that the communication interface (603) sends a digital map of the parking space (703) through the communication network to the vehicle (801) which includes position data and / or information data. Device (601) according to claim 11, characterized in that it further comprises a parking position monitoring system, the communication interface (603) sending via the communication network to the vehicle (801). , the surveillance data of the parking lot monitoring system. 14 °) parking system (701) of vehicle (801) comprising a parking lot (703) and the device (601) according to one of claims 11 to 13. 30 15 °) Computer program comprising a program code for carrying out the method according to one of claims 1 to 6 and / or 8 to 10 when the computer program is executed by a computer. 35
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    FR3042766B1|2019-10-18|METHOD AND DEVICE FOR DETERMINING A SAFE ACTION TO REDUCE THE RISK OF COLLISION OF A VEHICLE WITH AN OBJECT
    FR3084770A1|2020-02-07|Method for establishing an automatic valet parking card
    FR3084629A1|2020-02-07|Method for guiding a vehicle in a parking environment
    CN111801550A|2020-10-20|Remote operation to extend an existing route to a destination
    EP3683779A1|2020-07-22|Platform and method for supervising an infrastructure for transport vehicles, associated vehicle, transport system and computer program
    同族专利:
    公开号 | 公开日
    DE102015204861A1|2016-09-22|
    FR3033757B1|2019-07-19|
    DE102015204861B4|2022-01-27|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102009029117A1|2009-09-02|2011-03-03|Robert Bosch Gmbh|Method for supporting driving operation of motor vehicle, involves conveying navigation information to motor vehicle of external unit, and moving that motor vehicle on basis of navigation information|
    WO2015025667A1|2013-08-23|2015-02-26|カヤバ工業株式会社|Parking guiding device, and parking guiding method|
    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|
    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|
    DE102014008578B4|2014-06-12|2016-02-18|Audi Ag|Method for determining position data for use in the operation of a vehicle system of a motor vehicle and position data acquisition and distribution system|DE102017202065A1|2017-02-09|2018-08-09|Audi Ag|Method for coordinating a traffic of several motor vehicles within a predetermined infrastructure area as well as server device, motor vehicle and system|
    DE102017220607B4|2017-11-17|2020-03-19|Robert Bosch Gmbh|Concept for operating a parking robot|
    DE102017221286A1|2017-11-28|2019-05-29|Audi Ag|Method for setting fully automatic vehicle guidance functions in a predefined navigation environment and motor vehicle|
    DE102018106472A1|2018-03-20|2019-09-26|Dr. Ing. H.C. F. Porsche Aktiengesellschaft|Method and device for locating a vehicle in a parking area to support autonomous driving of the vehicle in the parking area|
    法律状态:
    2017-03-23| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-26| PLFP| Fee payment|Year of fee payment: 3 |
    2018-08-17| PLSC| Publication of the preliminary search report|Effective date: 20180817 |
    2020-03-25| PLFP| Fee payment|Year of fee payment: 5 |
    2021-03-22| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015204861.6|2015-03-18|
    DE102015204861.6A|DE102015204861B4|2015-03-18|2015-03-18|Method and device for operating a vehicle and method and device for operating a parking lot|
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