• 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 the position of a vehicle (115) on a traffic surface (125) of a parking lot, detecting a camera image of the traffic surface (125) with the vehicle (115), determining the position of the vehicle (115) from the image, detecting the vehicle (115) with a fixed sensor (150), and validating or correcting the position. The fixed sensor (150) is of the same construction as a location sensor (150) for detecting the presence of a vehicle (115) stopped at a storage location (110) of the car park, and the vehicle (115) arrives at the storage location (110) passing on the traffic surface (125).
    公开号:FR3035632A1
    申请号:FR1653564
    申请日:2016-04-22
    公开日:2016-11-04
    发明作者:Felix Hess
    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 for determining the position of a vehicle on a traffic surface of a car park, comprising: detecting a camera image of the traffic surface with the vehicle , determine the position of the vehicle from the image of the camera, detect the vehicle using a fixed sensor on the traffic surface, and lo validate or correct the position obtained from the detection at the using the fixed sensor. The invention also relates to a computer program with a program code for the implementation of such a method and to a control system implementing the method 15 for a parking. STATE OF THE ART A parking system consists of a car park (that is to say a set of parking spaces for vehicles). In the parking system, a vehicle is automatically guided (controlled) on the path between the drop location and its storage location in the parking lot. This operation is known as automatic valet (abbreviated valet or AVP system). To store a vehicle in a parking lot, it is sufficient for the driver to drive the vehicle to the drop-off location where it leaves the vehicle. The vehicle then circulates automatically to the storage location that has been assigned to it, for example by the management system. To recover the vehicle, it is automatically driven in the opposite direction to its storage location at the drop location where the driver can then get into the vehicle and out of the parking lot. Currently, for security reasons, it is necessary to monitor the vehicle on its way between the drop location and a storage location in the parking lot using cameras installed in the parking lot station. If the vehicle leaves the route or if from the images of the camera there is a risk, the vehicle 3035632 2 will for example be stopped. The external vehicle monitoring completes the internal control of the vehicle or monitors it. The pursuit of a vehicle with cameras, however, is not always reliable. For example, a person or object may cover the camera or the position of the vehicle being determined may be distorted because of the perspective of the camera relative to the vehicle. Sometimes, the vehicle can not be tracked continuously on its way because of the small number of cameras. OBJECT OF THE INVENTION The present invention thus aims to develop means for improving and securing the automatic valet parking systems. DESCRIPTION AND ADVANTAGES OF THE INVENTION For this purpose, the subject of the invention is a method for determining the position of a vehicle of the type defined above, characterized in that the fixed sensor is of the same construction as a location sensor for detecting the presence of a stopped vehicle on a storage location of the car park, the vehicle arriving at the storage location while passing over the traffic area.
    [0002] In other words and more completely, the method according to the invention consists in determining the position of a vehicle on a traffic surface of a parking lot. This method includes detecting the image of the traffic surface taken by the camera with the vehicle to determine the position of the vehicle from that image and detecting the vehicle with a fixed sensor on the surface of the vehicle. circulation. Then validate and correct the determined position using the detection by the fixed sensor. The fixed sensor is identical to a storage location sensor that detects the presence of a stopped vehicle on a storage location of the parking. The vehicle arrives at the storage location by passing through the traffic area. According to the method, sensors of the same type are used to detect vehicles on a storage location and on a traffic surface. As they are the same sensors, it simplifies the processing of the signals emitted by these sensors. Thus, the position of the vehicle can be determined better by relying on the signals from the fixed sensor. According to a development, several positions of the vehicle are determined which are assembled and correspond to its trajectory. The fixed sensor signal allows the vehicle speed to be deduced. The vehicle automatically drives (controls) the path between the removal location and the storage location based on the validated or corrected position. The invention thus develops an integrated system which, on the one hand, allows the management of the parking, in particular for the reservation, the allocation and the counting of the storage locations and, on the other hand, it realizes an automatic valet or assists such a valet. The automatic valet function (AVP function) is thus improved or secured by relying on a simple, economical location sensor, improving the determination of the position of the vehicle. It can also be seen that the position of a vehicle detected by the fixed sensor can not be determined with the image of the camera and stop the vehicle. According to another development, it is also possible to stop the AVP valet mode in that, for example, all the vehicles controlled in the parking area are stopped. This ensures or enhances the security of the AVP automatic valet mode. A computer program according to the invention comprises a program code for executing the method described above when the program is applied by a processing facility or is stored on a computer readable data medium. According to another development, the invention relates to a location sensor for determining the presence of a stopped vehicle on a storage location of a parking lot and to use such a sensor as a position sensor to validate or correct the position of a vehicle obtained from the camera image. A parking control system according to the invention comprises a location sensor at each parking storage location for detecting the presence of a stopped vehicle at that location, a camera for providing images of the traffic surface. With the vehicle, a processing facility for determining the position of the vehicle based on the image of the camera and a fixed sensor in the area of the traffic area over which the vehicle passes to reach the location of the vehicle. storage.
    [0003] The processing installation makes it possible to validate or correct the position obtained by the detection with the fixed sensor. A location sensor can be used to validate, verify or correct the vehicle position. Other usual sensors used for this purpose such as a light barrier, are not necessary. This reduces the number lo of system components. Installation, management and maintenance of the system are therefore simplified. The installation of the location sensor to serve as a fixed sensor can be done in a simple and economical way, for example in the context of the installation of a location sensor in a storage location. The location sensor 15 is of simple and economical construction. According to one embodiment, the location sensor uses adjustable detection intervals; this detection interval of the location sensor in the area of the traffic area where a moving vehicle is grasped is usually smaller than for a sensor in a storage location. The location sensor is preferably designed to be installed in the floor of the car park or storage area of a vehicle. This allows a security of determination, high. In addition, the location sensor is easy to install. According to other variants, the location sensor may also be located in another place, especially above or beside a storage location. Another fixed sensor may be installed in the region of one traffic node of the traffic surface and the vehicle will be guided (controlled) according to the signal from the other fixed sensor which indicates another vehicle. This other fixed sensor can be located in particular at the entrance of a traffic node, which makes it possible to detect a vehicle that is approaching. The AVP automatic valet system can be predictably controlled, better for the vehicle according to both embodiments. We avoid any collision between vehicles thanks to the infrastructure. It also avoids collisions with the vehicle's on-board means. The present invention will be described in more detail below with the aid of an exemplary method for determining the position of a vehicle on a traffic surface of a car park, shown schematically in the single appended FIGURE which shows a diagram of a parking system.
    [0004] DESCRIPTION OF EMBODIMENTS The figure schematically shows a parking system 100 consisting of a parking lot 105 at several locations 110 each receiving a vehicle 115. The parking system 100 has a drop-off location 120 where the driver deposits or retrieves sound. 115. Between the drop location 120 and the parking slot 110, there is a traffic surface 125 where the vehicle 115 can travel. The path 130 connects the removal location 120 to the storage location 110 or vice versa. The parking system 100 is preferably designed as an automatic valet system (also abbreviated AVP system). Thus, the driver can deposit his vehicle 115 at the location of removal 120 and from there, the vehicle 115 is driven in an automated manner, that is to say without a driver on the path 130 to a predefined storage location 110. When the driver then wants to retrieve the vehicle 115, the latter will be driven automatically from the storage location 110 back on the path 130 to the location of removal 120. The driver can then take back his vehicle 115. Various procedures are known for automatically driving the vehicle 115 on the path 130. According to a first embodiment, the vehicle 115 is controlled by a control installation 135 forming part of the parking system 100 and external to the vehicle. The control system 135 includes, for example, a radio interface 140 with which the vehicle 115 contacts. Several cameras 145 serve to monitor the vehicle 115.
    [0005] According to a second embodiment, the vehicle 115 circulates according to information received from the control installation 135. For this, the control installation 135 participates in driving the vehicle 115 on the path 130 with assistance active. This embodiment can also be called "cooperative infrastructure". According to a third embodiment, the vehicle 115 circulates exclusively with predefined data, for example the location plan of the parking space of the parking 105 and the position of the storage location 110.
    [0006] At least in one embodiment, the vehicle 115 is monitored by the parking system 100, i.e., outside the vehicle 115 on the path 130. For this, the following is determined or followed. (continued) the position of the vehicle 115 with the camera shot 145. The images of several cameras 145 which take pictures of the vehicle 115 simultaneously or successively can be related. The positioning accuracy thus obtained, however, is too low to secure the vehicle 115 against accidents, for example the collision with the entourage of the car park, a person or another vehicle 115, whatever the circumstances. Therefore, the position of the vehicle 115 is detected in a punctual manner with the aid of another sensor 150. The position obtained with the aid of the image of the camera will then be validated or corrected with the detected position. by the sensor 150. The sensor 150 that applies any physical measurement principle can be passive in that it operates a physical signal within a measurement range; it can be active by providing a corresponding physical signal in the measurement range and by exploiting this signal influenced by the vehicle 115. By way of example, the passive sensors are magnetometers and photosensors while the active sensors are for example radar, lidar or ultrasonic sensors. It is proposed to use as a sensor 150, in particular a parking sensor 150 that can be used to determine the occupation of a storage location 110. For this function, it finds the presence of a vehicle 115 in a measurement range and transmits the result to a processing facility which, based on the information thus received, allows the parking system 100 to allocate, reserve or downgrade the storage locations 110. The processing facility may be the control installation 135 or an installation integrated therein. The interface 140 transmits via a wired link, a wireless link or a mixed link. The control installation 135, which is part of the parking system, enables the vehicle 115 to be driven in an automated manner on the path 130. Such a system is known under the name of "automatic valet" and abbreviated AVP system. The guide or control parts of the vehicle 115 on the way can be performed directly by the vehicle 115 and other parts will be provided by the control unit 135. Communication between the control unit 135 and the vehicle 115 is made in particular by a wireless link with the interface 140.
    [0007] An additional location sensor 150 may be at another predefined position of the traffic area 125 or at the parking location 120 improves the tracking of the vehicle 115 by the parking system 100. The parking sensor 150 , for example, is located at a traffic node 155, in particular at the entrance of the traffic node 155. The traffic node 155 is in particular an important position for the traffic such as a cross, a entrance, a ramp or a junction of traffic lines. The additional location sensor 150 may also be used to detect another vehicle 115 which approaches for example a zone that the first vehicle 115 is about to use. In this case, the first vehicle 115 will be controlled to stop or not enter the area of the other location sensor 150 to avoid a collision.
    [0008] 30 3035632 8 NOMENCLATURE OF MAIN ELEMENTS 100 Parking system 105 Parking 5 110 Storage location 115 Vehicle 120 Removal location 125 Traffic area 130 Trip 10 135 Control unit 140 Interface 150 Location sensor 155 Traffic node 15
    权利要求:
    Claims (5)
    [0001]
    CLAIMS1 °) A method for determining the position of a vehicle (115) on a traffic surface (125) of a parking lot, the method comprising the following steps: detecting a camera image of the traffic surface (125) with the vehicle (115), determining the position of the vehicle (115) from the camera image, detecting the vehicle (115) with a fixed sensor (150) on the traffic surface ( 125), and validating or correcting the position obtained from the detection by means of the fixed sensor (150), characterized in that the fixed sensor (150) is of the same construction as a location sensor (150). ) to detect the presence of a vehicle (115) stopped at a storage location (110) of the car park, the vehicle (115) arriving at the storage location (110) while passing over the traffic surface (125).
    [0002]
    2) Method according to claim 1, characterized in that the vehicle (115) is automatically guided on the basis of the position validated or corrected on the path between the location of removal and the storage location.
    [0003]
    Method according to Claim 2, characterized in that the position of a vehicle (115) detected by the fixed sensor (150) can not be determined with the camera image. and that the vehicle (115) is to be stopped.
    [0004]
    4) A computer program product comprising a program code for executing the method according to any one of claims 1 to 3 when the program is executed by a processing facility 3035632 (135) and is recorded on a readable data medium by a computer.
    [0005]
    5 °) Application of a parking sensor designed to detect the presence of a vehicle (115) stopped on a storage location (110) of the car park, as a position sensor to validate or correct a position of the vehicle ( 115) on the traffic surface (125), the position being obtained based on a camera image. A parking control system (100) comprising: a location sensor (150) installed in a storage location (110) of the car park, the location sensor (150) for detecting a vehicle ( 115) stopped, a camera for providing an image of the traffic surface (125) with the vehicle (115), a processing facility for determining the position of the vehicle (115) based on the image of the camera, and a stationary sensor (150) in the region of the traffic surface (125), over which the vehicle (115) passes to reach its storage space (110), the location-validating or correcting treatment facility. based on the detection using the fixed sensor (150), control system characterized in that the fixed sensor (150) is of the same construction as the location sensor (150). Control system (100) according to claim 6, characterized in that the location sensor (150) is intended to be installed in the location under the vehicle (115). Control system (100) according to claim 6 or 7, characterized in that another fixed sensor (150) is installed in the region of a circulating node of the circulation surface (125) and based on a signal from the other fixed sensor (150) which indicates another vehicle (115), the vehicle (115) is controlled. Control system (100) according to claim 8, characterized in that the other fixed sensor (150) is installed at the entrance of the circulation node. 10
    类似技术:
    公开号 | 公开日 | 专利标题
    FR3035632B1|2019-09-13|AUTOMATED PARKING SYSTEM
    FR3040818B1|2019-07-12|METHOD FOR DETECTING OBJECTS ON A PARKING SURFACE
    FR3043972A1|2017-05-26|METHOD AND DEVICE FOR CONTROLLING A VEHICLE
    JP2017534118A|2017-11-16|Apparatus and method for operating a parking lot
    EP3332352B1|2019-09-04|Device and method for detecting a parking space that is available for a motor vehicle
    FR3050302A1|2017-10-20|METHOD AND DEVICE FOR COMMUNICATING BETWEEN A PARKING MANAGEMENT SYSTEM AND A VEHICLE
    FR3043973A1|2017-05-26|METHOD AND DEVICE FOR CONTROLLING A VEHICLE FOR A STORAGE MANEUVER IN A PARKING PLACE
    EP3028922A1|2016-06-08|Method for discriminating the presence of a railway vehicle on a block, method for calculating a safety interval and associated device
    FR3033757A1|2016-09-23|METHOD AND DEVICE FOR MANAGING A VEHICLE AND METHOD AND DEVICE FOR MANAGING A PARKING PARK
    FR3048113B1|2019-06-14|DEVICE AND METHOD FOR AIDING THE DRIVING OF A MOTOR VEHICLE
    US20180341819A1|2018-11-29|Method and device for the automated driving of a motor vehicle
    FR3039488A1|2017-02-03|METHOD AND DEVICE FOR DRIVING ASSISTANCE
    EP3729404A1|2020-10-28|Method for monitoring the area surrounding a first element located on a road, and associated system
    FR3046769A1|2017-07-21|METHOD AND SYSTEM FOR ASSISTING THE CHANGE OF THE TRACK TRACK FOR A MOTOR VEHICLE
    FR3005510A1|2014-11-14|IMPROVED METHOD FOR DETERMINING THE POSITION AND / OR THE SPEED OF A GUIDE VEHICLE; ASSOCIATED SYSTEM.
    FR3039917B1|2019-08-09|METHOD AND DEVICE FOR GUIDING A VEHICLE IN A PARKING
    FR3077547A1|2019-08-09|SYSTEM AND METHOD FOR DETECTING A RISK OF COLLISION BETWEEN A MOTOR VEHICLE AND A SECONDARY OBJECT LOCATED ON CIRCULATION PATHS ADJACENT TO THE VEHICLE DURING CHANGE OF TRACK
    EP1832493B1|2008-12-31|System and method of verifying the integrity of a train
    FR3061886A1|2018-07-20|METHOD FOR DETERMINING A WORK AREA END, WORK AREA MANAGEMENT DEVICE AND ON-BOARD SYSTEM COMPRISING SUCH A DEVICE
    FR3040961A1|2017-03-17|METHOD AND DEVICE FOR DETERMINING WHETHER A VEHICLE IS DRIVEN MANUALLY OR AUTOMATICALLY TO A GIVEN INSTANT
    EP3608635A1|2020-02-12|Positioning system
    US9530315B2|2016-12-27|Method and device for establishing an alternate route in the event of a blocked roadway in a monitored region
    CA2887617A1|2015-10-02|Calculation process for a range of positions of a rail vehicle on a railway and associated device
    WO2019122555A1|2019-06-27|Assistance device and method for determining the route to be followed by a vehicle in a car park in the absence of signage
    KR20140050468A|2014-04-29|Accident recording apparatus and method for vehicle
    同族专利:
    公开号 | 公开日
    CN106097760A|2016-11-09|
    DE102015208058B4|2017-06-29|
    US20160318510A1|2016-11-03|
    FR3035632B1|2019-09-13|
    DE102015208058A1|2016-11-03|
    CN106097760B|2021-06-01|
    US9884620B2|2018-02-06|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    KR20100071804A|2008-12-19|2010-06-29|한국전자통신연구원|System and method for auto valet parking|
    JP2013127717A|2011-12-19|2013-06-27|Nippon Signal Co Ltd:The|Vehicle detection system|
    DE102012016868A1|2012-08-25|2014-02-27|Audi Ag|Method and system for operating a vehicle while monitoring the movement of the vehicle by means of a camera device of a mobile operating device|
    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|
    WO2015004581A1|2013-07-09|2015-01-15|Koninklijke Philips N.V.|Methods and systems for tracking a vehicle's position using a plurality of light sensors|
    WO2000046068A1|1999-02-05|2000-08-10|Brett Hall|Computerized parking facility management system|
    JP2001202596A|2000-01-18|2001-07-27|Sumitomo Densetsu Corp|Parking detection device|
    US6683539B2|2001-12-27|2004-01-27|Koninklijke Philips Electronics N.V.|Computer vision based parking assistant|
    JP3927512B2|2003-03-27|2007-06-13|トヨタ自動車株式会社|Parking assistance device|
    JP2005313710A|2004-04-27|2005-11-10|Toyota Motor Corp|Parking assist device|
    JP4769625B2|2006-04-25|2011-09-07|トヨタ自動車株式会社|Parking assistance device and parking assistance method|
    KR101188588B1|2008-03-27|2012-10-08|주식회사 만도|Monocular Motion Stereo-Based Free Parking Space Detection Apparatus and Method|
    US8126642B2|2008-10-24|2012-02-28|Gray & Company, Inc.|Control and systems for autonomously driven vehicles|
    TWI360489B|2009-06-23|2012-03-21|Automotive Res & Testing Ct|
    CN103507807A|2012-06-28|2014-01-15|俞骥|Intelligent parking system based on single-chip microcomputer|
    CN102800212B|2012-07-22|2015-09-30|江南大学|Intelligent parking system under a kind of environment of internet of things|
    CN102810260B|2012-07-31|2015-03-18|深圳市捷顺科技实业股份有限公司|System and method for parking place guidance management in park|
    US8698896B2|2012-08-06|2014-04-15|Cloudparc, Inc.|Controlling vehicle use of parking spaces and parking violations within the parking spaces using multiple cameras|
    CN102831780B|2012-08-10|2015-07-08|深圳市捷顺科技实业股份有限公司|Vehicle positioning method and system|
    DE102012015968A1|2012-08-11|2014-03-06|Audi Ag|Method for the driverless movement of a vehicle on a parking area|
    CN103810898A|2012-11-15|2014-05-21|深圳市赛格导航科技股份有限公司|Automatic parking and picking system and method|
    CN103065496B|2012-12-20|2014-12-31|北京时代凌宇科技有限公司|Parking lot vehicle tracking and locating management system and method based on geomagnetism|
    KR20140089999A|2013-01-08|2014-07-16|연세대학교 산학협력단|Parking Area Guidance System and Method|
    CN103465906B|2013-08-27|2016-01-20|东莞中国科学院云计算产业技术创新与育成中心|A kind of parking area automatic train stop implementation method based on telepresenc|
    CN103496340B|2013-09-23|2015-12-02|电子科技大学|A kind of visible parking system based on video navigation technology|
    CN103680206B|2013-12-26|2016-03-02|江苏大学|A kind of based on vehicle guidance device and bootstrap technique in the parking lot of laser aiming|
    CN103985270A|2014-04-17|2014-08-13|北京汉王智通科技有限公司|Parking lot control system|
    CN104217612B|2014-07-22|2016-05-25|刘全羽|A kind of parking lot real-time intelligent vehicle guide system|
    KR101526815B1|2014-09-11|2015-06-10|현대자동차주식회사|Apparatus and Method for Un-parking Control of Vehicle|
    CN204129967U|2014-10-08|2015-01-28|蒲宇全|A kind of parking lot Vehicle positioning system|
    US9701305B2|2015-03-10|2017-07-11|GM Global Technology Operations LLC|Automatic valet parking|DE102015212689A1|2015-07-07|2017-01-12|Robert Bosch Gmbh|Driver-independent transfer of a motor vehicle|
    KR20180068492A|2016-12-14|2018-06-22|현대자동차주식회사|Apparatus for controlling an automatic parking, system having the same and method thereof|
    DE102017200727A1|2017-01-18|2018-07-19|Robert Bosch Gmbh|Concept for warning at least one road user located within a parking lot|
    DE102017212374A1|2017-07-19|2019-01-24|Robert Bosch Gmbh|Concept for monitoring a parking space|
    DE102017212533A1|2017-07-21|2019-01-24|Robert Bosch Gmbh|Device and method for providing state information of an automatic valet parking system|
    CN107564334B|2017-08-04|2020-04-21|武汉理工大学|Vehicle blind area danger early warning system and method for parking lot|
    CN108198450A|2017-12-26|2018-06-22|佛山市道静科技有限公司|A kind of intelligent parking system based on wireless telecommunications|
    DE102018200574A1|2018-01-15|2019-07-18|Zf Friedrichshafen Ag|Parking system for the detection and management of occupied and unoccupied parking stands|
    DE102018104243B3|2018-02-26|2019-05-16|Autoliv Development Ab|Method and system for detecting parking spaces suitable for a vehicle|
    CN108556840B|2018-04-27|2021-07-02|榛硕（武汉）智能科技有限公司|Full-automatic parking system and method|
    CN110466502B|2018-05-11|2020-12-08|广州汽车集团股份有限公司|Passenger-riding parking method and device|
    WO2021021427A1|2019-07-29|2021-02-04|Waymo Llc|Methods for transitioning between autonomous driving modes in large vehicles|
    法律状态:
    2017-04-24| PLFP| Fee payment|Year of fee payment: 2 |
    2018-04-23| PLFP| Fee payment|Year of fee payment: 3 |
    2019-02-08| PLSC| Publication of the preliminary search report|Effective date: 20190208 |
    2019-04-23| PLFP| Fee payment|Year of fee payment: 4 |
    2020-04-21| PLFP| Fee payment|Year of fee payment: 5 |
    2021-04-21| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015208058.7A|DE102015208058B4|2015-04-30|2015-04-30|Automated parking system|
    DE102015208058.7|2015-04-30|
    [返回顶部]