• 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 capturing the position of the parking spaces (22) by means of the vehicle environment sensors (14), operating by category classification, recording the possible locations (22) with their position in a database (212) of the mainframe computer (210), and exploiting the data stored in the database (212) using a partitioning analysis by associating the possible parking locations with a lane section (30) , with a function formed by the quotient of the seizure frequency of a possible parking space (22) and the number of vehicle passes (1) and a weighting coefficient.
    公开号:FR3035734A1
    申请号:FR1653541
    申请日:2016-04-21
    公开日:2016-11-04
    发明作者:Philipp Mayer；Manuel Maier
    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 of recognizing free locations on which parking is prohibited and / or parking spaces on which parking is permitted. The invention also relates to a computer program as well as a central computer and a device for implementing the method. STATE OF THE ART In the automotive field, various driving assistance systems are used to assist the driver in performing various maneuvers. These include, for example, parking assist systems that capture the environment using sensors on the vehicle to detect possible parking locations in the environment and assist the driver in storing the vehicle. in the location. According to the state of the art, there are also known driving assistance systems which help the driver to find suitable free parking spaces.
    [0002] According to DE 10 2014 009 627 A1, a method for signaling free parking spaces for a vehicle is known. According to this method, free parking spaces are recognized by means of sensors fitted to the vehicle and with attributes such as length, width, height, angle, type and geographical position. A free parking slot is also visible when a previously occupied space is released. Other sensors make it possible to recognize in addition the traffic signs to integrate, for example, information concerning panels. In addition, there is provided a combination with a digitized road map to exclude the use of locations that are for example too close to a crossing. The appropriate parking spaces are signaled to the other vehicles and for this purpose one uses either the direct communication between two vehicles, or a central server.
    [0003] According to the document DE 10 2013 018 721 A 1, a method of recognizing at least one parking space for a motor vehicle is known. The method consists in establishing a occupancy grid in which the data of at least one sensor measuring the distance is integrated. Using the sensor data we identify the objects and then classify them for example as "auto" class or as "non-auto" class. This allows for example to identify an entrance portal because near such a portal, in general parking is not possible.
    [0004] WO 2012/019628 A1 discloses a parking location recognition method using collected GPS data. The GPS data of a navigation system is superimposed by a digital map and the partitions (cluster) indicate the possible parking locations. From cumulated data, data from a parking location are extracted such as, for example, the type of parking space and the average parking time. DESCRIPTION AND ADVANTAGES OF THE INVENTION The subject of the invention is a method of recognizing free places on which parking is prohibited and / or parking spaces on which parking is authorized, a process whereby vehicles transmit information concerning the possible parking spaces at a central computer, characterized in that it consists in: a) capturing the position of the parking spaces using vehicle environmental sensors, b) operating the locations possible parking, captured using environmental sensors, categorized, c) recording possible parking locations with their location in a central computer database, and d) exploit the data stored in the database using a partitioning analysis, 3035734 3 and when performing the analysis of p artitioning, the possible parking spaces are associated with a section of road, which is associated with a function which is formed by the quotient of the frequency of seizures of a possible parking space at a certain position along the section of road. track and the number of vehicle passes on the section as well as a weighting coefficient formed from the evaluation according to step b) and one concludes that there is a free location if the value of the function is greater than a predefined threshold and / or the conclusion of the existence of a parking space if the value of the function is within a predefined range. In other words, the subject of the invention is a method for recognizing free locations on which parking is not authorized and / or parking spaces on which parking is authorized. The vehicle information regarding the possible parking locations is transmitted to a central computer. According to the method, the positions of the possible parking spaces are entered using the environmental sensors fitted to the vehicles. Then, the possible parking locations entered using the data provided by the environmental sensors are exploited and classified into categories. The possible parking locations are received with their position and, if necessary, other data, in a database of the central computer. The data stored in the database is exploited using data partitioning analysis (cluster analysis). It is planned to associate the possible parking spaces with a section of road (street section). At this section of track there is associated a function which is the quotient of the frequency of the seizures of a possible parking space at a given position along the section of track and the number of vehicle passages in this section of track thus divided. by a weighting factor formed from the categorization of possible parking locations. It is concluded that there is a free location if the value of the function is greater than a predefined threshold and / or it is concluded that there is a parking slot if the value of the function is in a range. predefined. The free locations recognized by the method are, for example, entrances, gateways, green bands, or reserved parking spaces such as handicapped locations. In principle, free parking spaces are suitable for parking a vehicle but parking is not allowed. A section of road is defined as a road segment delimited at both ends. This delimitation may be the end of the road that of a crossing in the case of a dead end. A variant of the method can also be envisaged by associating a digitized road map with the central computer, which map contains the streets and coordinates for a satellite navigation system. The track sections can then be extracted from the digitized road map by the detection of the lane segments, thus limited. It is furthermore possible to extract the channel segments using the data transmitted to the central computer. For this purpose, the location of all possible parking spaces at the central computer is recorded for recording in a map and using the fact that the possible parking spots are often located only at the edge of the map. a roadway. According to a preferential development, each segment of roadway is associated precisely with a section of road for each side of the roadway so that a single traffic lane comprises precisely a section of lane and for a two-way traffic lane. there are precisely two sections of track, namely a section for each direction of traffic. After associating the possible parking locations with the track section, a function is associated with each section of track. This function is formed by the quotient of the frequency of seizures of a possible parking space at a certain position along the track section and the number of vehicle passes on that section of road by a weighting coefficient. A function is obtained which can take a value between 0 and 1 for each position along the track section. The value 0 means that at the respective location along the track section, no possible parking location has been detected while a value equal to 1 indicates that each vehicle which has passed through the track section has determined a possible parking space at the given position. If the value of the function is close to 1, it means that certainly a possible parking space has been frequently determined, but that it has never or very rarely been used. Thus, the probability that this possible parking space is a free space and does not represent a parking space is a very high probability. If thus a position along the track section has a function value greater than the predefined threshold, it is concluded that there is a free location. The threshold is for example selected in the range of 0.5 to 0.99 and preferably in the range of 0.6 to 0.9 and particularly preferably in the range of 0 to 0.9. , 7 and 0.8. If the value of the function is within the predefined range whose upper limit is greater than the threshold, it can be concluded that there is a parking space. The predefined range for the existence of a parking space is preferably between 0.01 and 0.5 and particularly preferably between 0.1 and 0.4. With environmental sensors commonly used in connection with parking assistance systems, it is often not possible to distinguish between such a free location and an authorized parking location. This is why the method according to the invention provides environmental sensors fitted to the vehicle which capture the possible parking spaces in their environment. As an appropriate environmental sensor, there are radars, lidars, ultrasonic sensors or camera systems. If the environmental sensors are, for example, the distance sensors, in particular ultrasonic distance sensors, the vehicle recognizes the possible parking spaces in that, in a characteristic manner, at least one of the distance sensors is installed on the vehicle pointing towards the side and the vehicle passes in front of the possible parking spaces. Preferably, the vehicle environment sensors are distance sensors, which makes it possible to enter the possible parking spaces as they pass. To enter a possible parking location, several parameters are determined by the vehicle environment sensors. These parameters are in particular the reference objects which delimit the parking space at the edge of the road, there is a first reference object which is the roadway in the direction of circulation and which delimits the rear of the location. parking possible; there is a second reference object which delimits the front of the possible parking space and a lateral reference which delimits the parking space for the side facing the middle of the roadway. The first and second reference objects are, for example, parked vehicles; the lateral reference is for example the border. A classification can be made using, for example, the first and second reference objects to classify in the following classes "no reference object", "vehicle" and "unknown". The reference lateral object can be classified for example in the following classes: "no border", "border edge", "top object" and "unknown". A high object is for example a wall. Preferably, the position of a possible parking location is determined using the determined position. A vehicle position is determined by satellite navigation. With the aid of the vehicle environment sensors, the position of a possible parking space is determined, first of all with respect to the vehicle's own position. The vehicle's own position is itself determined by satellite navigation so as to associate an absolute position indication with a possible parking location. By exploiting the positions and magnitudes, including the length relative to the direction of travel of the reference objects, the position and magnitude of the possible parking location can be evaluated. From the size of the possible parking space it is also possible to know whether the possible parking space is a parallel slot or a longitudinal slot. In the case of a longitudinal slot, the vehicle is stopped in parallel with the traffic direction; in the case of a transverse slot, the vehicle is cut transversely to the direction of travel. If it is found that the width of the possible parking space, i.e. the absolute size of the parking space transverse to the direction of travel is less than the length of the vehicle, concludes that this is a longitudinal niche. If the width of the possible parking space is greater than the length of the vehicle, it is concluded that it is a transverse slot. After entering a parking slot, this possible parking location is evaluated using data entered by the environmental sensors. For this purpose it is planned to categorize and using the data entered, categories are formed with the parameters provided for the parking space. Some categories correspond to a higher probability of existence of an authorized parking space. The parking location parameters thus include the length of the location, its width, the side of the road on which the parking space is located, the orientation of the parking space, the measurement error and the nature of the reference objects of the possible parking location. To categorize with continuous parking location parameters such as the length of the parking space or its width predefined location length intervals and location width intervals and at each interval is associated with 30 cie a category. Categorization is preferentially used to associate the possible parking locations with the probability of existence of an authorized parking space. The probability of an authorized parking location is increased if there is one or more of the following factors: 3035734 8 recognition of a possible parking space on the right side of the roadway (or on the left side of the roadway in the case of traffic on the left), the existence of a first and a second reference object which have both been classified as vehicles, a border strip, detected or a small distance between the vehicle and the possible parking space. In addition, the probability is increased if the environmental sensors do not report a measurement error or only a small measurement error for the entered data. Typically, a data entry error is small if there is a large amount of sensor data. If the environmental sensors are ultrasonic distance sensors for example, a large number of echoes used to recognize the objects means that the error is small. The use of a measurement mode for a large distance corresponds to a small measurement error and thus to a high probability of existence of an authorized parking space. The probability of an authorized parking location decreases if there is one or more of the following: the position of the parking space pos- 20 Bible on the left side of the roadway ( or on the right side in the case of left-hand traffic), the absence of a first or a second reference object if no lateral reference object has been detected or if there is a distance between the vehicle and the possible parking space. In addition, the probability of the existence of an authorized parking space decreases if the environment sensors detecting a reference object display a significant measurement error. If the environmental sensors are ultrasonic distance sensors, there will typically be a large measurement error if only a small number of ultrasonic sensors have been used to determine the reference objects. In addition, the probability decreases if the ultrasonic sensors have operated in an unfavorable mode for the corresponding distance, for example in a mode for short distance. If, for example, because of the small number of echoes used and / or an improper mode of operation to detect a parking position with the ultrasonic sensors, the measurement error is very large, it also increases the risk that the data entered can not be used. Therefore, according to a development of the method, it is envisaged in addition to determining the probability of the existence of an authorized parking space, also the probability of error detection. This can be done by predefining a second threshold and if the probability of the existence of a detection error exceeds the second threshold, then the possible parking location, detected, will be completely rejected and will no longer be used in the following 10 process. Preferably, next to the exceeding of the second threshold, another criterion is used. Thus, and by way of example, partitioning analysis (cluster) can be applied by rejecting the possible detected parking locations, if their probability of erroneous detection exceeds the second threshold and if the partitioning analysis loud noise clutters the data entered. A strong noise attached to the data is expressed for example in that the possible parking places of a cluster can no longer be associated mainly with a category, but that one has practically an equal distribution between the possible categories.
    [0005] If, for example, a possible parking space is associated with a category for which the possible parking space is on the right side of the roadway and each time a first and a second reference object has been recognized consisting of vehicles and that the detected lateral reference is a low border, the distance to the vehicle is small and as a parking space a longitudinal slot has been recognized, so that a possible large parking lot probability is attributed to this possible parking space. example between 80% and 90% of existence of an authorized parking space. If, for example, a possible parking arrangement is associated with a category that corresponds to the parking spaces on the left side of the roadway, and only a second reference object has been detected, but no first object of reference, and that there is no border as a lateral reference, and that the distance of the possible parking location from the vehicle is important, this parking location is assigned a probability of existence of an authorized parking space, which will be low and for example between 0% and 10%. Categorizing, a weighting coefficient is established which acts as a coefficient in the function associated with the section of track. Preferably, a sliding window is used which moves along the axis of the location coordinates of the road section. In this window we observe how possible, recognized parking spaces are distributed among the different categories. If, within the sliding window, all possible parking spaces are divided into a single category or fall into a reduced number of categories, a high weighting coefficient is associated. If the possible parking spaces are distributed among many categories without producing accumulation, a low weighting coefficient is associated. If, for example, all the possible parking spaces in the sliding window are associated with a single category, we associate the weighting coefficient, for example 1.5. If, in another example, the possible parking spaces are regularly distributed between the categories, a weighting factor, for example equal to 0.5, is assigned. The length of the sliding window preferably corresponds to the measurement error for determining the position of the possible parking spaces. The length of the sliding window is, for example, in a range of 5 to 10 meters. The categorization can be used according to other embodiments also to reject data tainted with measurement errors. If, for example, in a window around a certain position along a section of track, it is recognized that practically all the possible parking spaces are part of a certain category, the locations of possible parking and belonging to a different category. The possible recognized parking locations are stored in a database associated with the central computer. The central computer is for example a server, including a cloud server. For communication between the vehicles and the central computer, it is possible, for example, to use an Internet connection; the internet connection of the vehicles is carried out for example using the mobile telephone network. Depending on the availability, you can also use other transmission techniques, for example Bluetooth or WLAN or other common protocols such as Car2Car and Car2 infrastructure. According to an alternative embodiment of the method, the data 10 captured using the vehicle environment sensors are transmitted to the central computer which then evaluates the possible parking locations, entered. According to an alternative embodiment of the method, the evaluation of the possible parking spaces, entered is made by a system of the vehicle. According to a variant, it is possible to envisage transmitting exclusively only the data of the possible parking spaces, the probability of which is an authorized parking space exceeds a third predefined threshold. This third threshold is included, for example between 40% and 90% and preferably between 50% and 80% and particularly preferably between 60% and 70%. According to another variant of the method, all the data of all the possible parking locations, detected, are transmitted. The central computer has a database containing all the possible parking spaces. The data base thus records in particular the position of a possible parking space as well as the category to which this possible parking space is associated. According to other embodiments of the method, the database includes other indications concerning the possible parking locations, such as, for example, the probability of the existence of an authorized parking location, such as parking space, the length of the site and its width. To recognize free locations and / or parking locations using the data recorded in the data strip, the host computer performs a cluster analysis. To carry out this partitioning analysis one can, for example, apply the DBSCAN (DensityBased Spatial Clustering of Applications with Noise) algorithm based on noise-marred density. Thepossible locations are associated with a section of track. According to another variant embodiment of the method, only a section of track is associated with the possible parking spaces whose probability of existence of an authorized parking space exceeds the third threshold.
    [0006] According to an alternative embodiment of the method, the partitioning analysis is carried out by the central computer in a continuous manner; this partitioning analysis can also be done at the end of a predefined time interval. The results of the partitioning analysis are preferably stored intermediate to be available for each previous event for the partition analysis while a new partitioning analysis is being performed. To determine the number of vehicle passages on a section of track, it is necessary to recognize the passage of a vehicle in this section of track. This is preferentially done by regularly determining the positions of the vehicle using satellite navigation and associating the plot of the position of the vehicle with the section of roadway. With the aid of satellite navigation, the entire path of the vehicle is followed, so that by associating the path of the vehicle with a digital road map, the passage is determined by a certain section of road. According to another preferred characteristic, the passage of a section of track is recognized by the repeated recognition of a possible parking space by a vehicle. It is intended to record the position of the possible parking spaces by the vehicle. If the vehicle returns to this section of road, the vehicle environment sensors again seek the possible parking locations and the vehicle then also transmits information to the central computer if, at one of the 35 pre-registered positions , it is recognized that there is no possible parking location, that is, if this location is now occupied. As in this variant embodiment, information is transmitted to the central computer, regardless of whether or not the possible parking space is occupied, it is sufficient, in order to determine the number of passages, to record the sum of the transmissions. of data. The number of passes is then given by the sum of the data transmissions associated with this section of track, divided by the number of possible parking spaces recognized on this section of track.
    [0007] According to another preferred feature, the passage of a vehicle in a section of track is recognized in that crossings passed by the vehicle are determined. If a section of track is delimited by two crossings, the entry of the vehicle into a section of track can be entered by the passage of a first intersection associated with this section of track and in that the exit of the section of track corresponds to at the crossing of the second crossing associated with this section of track. The passage of a crossing is, for this purpose transmitted each time by the vehicle to the central installation. Preferably, the information of the recognized free slots and / or only the parking spaces recognized by the central computer are provided. This is done for example by providing information via the internet. According to a preferred variant, a position indication is transmitted to the central computer. The central computer reports the information of the recognized free slots and / or parking spaces in the environment of the indicated position by a return. In a particularly preferred manner, a position indication is transmitted to the central computer which signals back whether at or near the indicated position there is a recognized free location and / or a recognized parking space. Preferably, the call for information for recognized free locations and / or the parking location is made by a navigation system or a parking assistance system. For example, a parking assistance system can transfer the position of a possible parking space, recognized to the central computer, and then the parking assistance system receives information as to whether at the position of the parking space possible, there is a parking space and / or a free space.
    [0008] The invention also relates to a computer program for implementing the method as described above when the program is executed by a programmable computer. The computer program is for example a module implemented by a driver assistance system or a subsystem in a vehicle 10 or an application for the driving assistance function that can, for example, execute on a smartphone or tablet. The computer program can be recorded on a memory medium, readable by a machine, such as a permanent or rewritable memory medium or in association with a computer or even a CD-ROM, DVD, Blu-Ray disc or USB key. In addition or alternatively, the computer program may be provided by a computer installation such as a server or a cloud server, to be downloaded for example by a data transmission network such as the Internet or a communication link such as a wireless telephone line. According to another development, the central computer performs the method as described above. This central computer is, for example, a server or a cloud server. The central computer has a database for storing information about possible parking locations. The central computer further has means for performing a partitioning analysis. The central computer comprises means for communicating with the vehicles and preferably with a data transmission network such as, for example, the internet network. The data network is, for example, connected to the internet and transmits information concerning the possible parking spaces from the vehicles. This makes it possible to have information via the data transmission network to the free surfaces. The central computer is preferably designed to carry out the method described above. Under these conditions, the characteristics of the process apply to the central plant and vice versa the properties of the central plant also apply to the process. According to the invention, there is provided a driving assistance device for carrying out the method as described. The characteristics of the process apply correspondingly to the device and vice versa. The device comprises environmental sensors for capturing possible parking spaces in the vehicle environment as well as means of communication with a central computer installation. Preferably, the device further comprises means for evaluating the possible parking locations, detected.
    [0009] Advantages of the invention The method according to the invention makes it possible to reliably distinguish between an authorized parking space and a free space on which it is forbidden to park. The process according to the invention operates at two levels and at the first level there is a preparation for possible parking places. At the second level, a partitioning analysis is carried out using historical statistical filtering of possible parking locations, captured by one or more vehicles. The free locations will be easily recognized in that for the vehicle environment sensors they appear as possible parking spots, but in practice never a vehicle is parked on these locations. Advantageously, the free location and / or parking location information obtained by the method proposed above is completely automatic without the need for manual data entry. This is particularly advantageous if, for example, on narrow roads lined by very tall buildings, because of the reflections of the signals emitted by the navigation satellites, there is a shift between the position of the vehicle obtained by satellite navigation and the actual position of the vehicle, because the data recorded in the central facility also have this offset. This thus makes it possible, without difficulty and using a position determined by the satellite navigation, to interrogate the central computer to know whether, at the indicated position, there is a free, recognized location. Due to the automatic operation of the data, the information of the free slots and the parking spaces can be updated much more quickly than would be the case for statistical maps with indications marked in a fixed manner. The modifications, for example caused by building sites or events, thus arrive very quickly in the map indicated by the method of the invention. For a driver, the use of the method represents a gain in comfort since the parking assistance system, before proposing a possible parking space, queries the central computer to ask if this possible parking space is authorized. Thus, fewer possible parking spaces are available to drivers, but these locations are free and do not correspond to an unauthorized parking location. This increases the acceptance of driver assistance systems by drivers. Drawings The present invention will be described hereinafter in more detail with the aid of examples of free location recognition method and parking locations shown in the accompanying drawings in which: FIG. recognition of possible parking spaces by a vehicle, Figure 2 shows a map with the plot of possible parking locations, Figure 3 shows the possible parking locations associated with a section of road and, Figure 4 shows a function. for the presence of a free location and / or a parking space on a section of track.
    [0010] DESCRIPTION OF EMBODIMENTS OF THE INVENTION FIG. 1 shows a vehicle 1 traveling along a carriageway 2 in the direction 20. The vehicle 1 comprises a driving assistance device 10 which has environment 14 to enter parking locations 22, possible in the environment of the vehicle 1. The environment sensors 14 of the embodiment of Figure 1 are distance sensors oriented on the sides of the vehicle 1; each time an environmental sensor 14 is on the left side of the vehicle and on its right side.
    [0011] When the vehicle 1 passes in front of a possible parking space 22, the environmental sensors 14 determine the rear limit 28, the front limit 26 and the lateral limit 24. The limit 28 corresponds to the first reference object, the limit 26 corresponds to to the second reference object and the lateral limit 24 corresponds to the lateral reference. In the embodiment of the method according to FIG. 1, it is provided that the information determined for the possible parking space 22 is first exploited by the device 10. For this, the device 10 comprises a control device 12 20 which determines the probability of existence of an authorized parking space. For this, the recognized limits 24, 26, 28 are classified. In the case shown in FIG. 1, the front limit 26 and the rear limit 28 are vehicles. In addition, it has been found that the lateral limit 24 is a curb. With the aid of recognized limitations 24, 26, 28, the possible parking space 22 and its length and width in a vehicle coordinate system are determined. The vehicle coordinate system is shown in Figure 1 by a cross; the X direction is opposite to the direction of circulation 20; Y direction to the right side of the road is free.
    [0012] The possible parking space 22 is assigned to an appropriate category. The result of the operation of the possible parking space 22 is transmitted with the indication of its position by means of communication 18 to the central computer 210. For this the absolute position of the posible parking position 22 in that first of all its position relative to the vehicle 1 and in addition the position of the vehicle 1 by the satellite navigation is determined. To this end, the device 10 also comprises a GPS receiver 16. The central computer 210 comprises means of communication with the vehicles 216 for receiving indications concerning the possible parking space 22. The indications are recorded in a database 212. To perform the partitioning analysis, the central computer 210 further comprises a computer 214.
    [0013] According to other embodiments, the evaluation of the possible parking space 22 is done by the central computer 210. For this, the vehicle 1 transmits the data of the environmental sensors 14 to the central computer 210 Figure 2 shows the position of the possible staging locations 22 (compared with Figure 1) by a graphical representation. As shown in FIG. 2, in the zones in which pavements 2 are located, there are accumulations, that is to say clusters of possible parking spaces 22; in the representation of FIG. 2, the positions of the possible parking spaces 22 whose probability of the existence of an authorized parking space is greater than a third threshold, are represented in the form of open squares. 34 and the positions of the possible parking spaces 22 whose probability is lower than the third threshold are drawn in the form of crosses 36.
    [0014] The partitioning analysis makes it possible to associate the positions of the possible parking spaces 22 with the track sections 30. FIG. 3 shows a roadway 2 of the representation of FIG. 2 on an enlarged scale. The roadway 2 has precisely two sections of track 30, one for each direction of circulation. In the representation of FIG. 3, the authorized parking spaces 32 and the free spaces 38 have also been entered. As shown in FIG. 3, especially at the edges between the authorized parking spaces 32 and free slots 38 there are accumulations of parking places 22 pos- 35 Bibles, determined. This is based on the fact that the drivers preferably leave their vehicle at the limit of an authorized parking space 32. FIG. 4 shows, for one of the two track segments 30 in FIG. the plot of the function of the quotient of the frequency of the seizure of a possible parking space and the number of vehicle passes and the weighting coefficient. Along the X axis, we have the GPS position along the track section 30 and along the Y axis we have the quotient between 0 and 1. The representation of Figure 4 shows that in the zones 42, the function takes a value greater than 0.8. These zones at the free locations 38 indicated in FIG. 3. The zones in which the function takes a value between 0.1 and 0.5 corresponding to the authorized parking spaces 32. The invention is not limited to the examples embodiment 15 and the developments made above. A large number of variants is possible within the framework of the above developments.
    [0015] 20 3035734 20 NOMENCLATURE OF MAIN ELEMENTS 1 Vehicle 2 Roadway 5 10 Driving assistance device 14 Environmental sensor 16 GPS receiver 20 Travel direction 22 Possible parking space 10 24 Lateral limit 26 Forward limit 28 Rear limit 30 Track section 42 Area of the function having a value greater than 0.8 15 210 Central computer 212 Database 214 Calculator 216 Means of communication between vehicles 20
    权利要求:
    Claims (2)
    [0001]
    CLAIMS 1 °) A method of recognizing free locations (38) on which parking is prohibited and / or parking spaces (32) on which parking is authorized, the method according to which the vehicles (1) transmit information concerning the possible parking spaces (22) to a central computer (210), characterized in that it consists in: a) capturing the position of the parking spaces (22) by means of environmental sensors (14) vehicles (1), (b) use the possible parking spaces (22), entered by means of the environmental sensors (14), by classifying them, (c) record the possible parking spaces (22) with their position in a database (212) of the central computer (210), and d) exploiting the data stored in the database (212) using a partitioning analysis, and performing the analysispartitioning, the possible parking spaces (22) are associated with a section of track (30), to which is associated a function which is formed by the quotient of the frequency of seizures of a possible parking space ( 22) at a certain position along the track section (30) and the number of vehicle passages (1) on the section (30) and a weighting coefficient formed from the evaluation according to step b ) and concludes that there is a free slot (38) if the value of the function is greater than a predefined threshold and / or a parking slot (32) is found if the value of the function is in a predefined range.
    [0002]
    2) Method according to claim 1, characterized in that the environment sensors (14) of the vehicles (1) are distance sensors and the possible parking spaces (22) are intersected. The method according to claim 1 or 2, characterized in that the position of a possible parking space (22) is determined using the position determined by the environment sensors (14) with respect to vehicle (1) and the position of the vehicle provided by satellite navigation. 4) Method according to any one of claims 1 to 3, characterized in that the evaluation of a possible parking space (22), entered, is made by the vehicle (1) which has seized this location of parking possible (22). Method according to one of Claims 1 to 4, characterized in that the passage of a vehicle (1) in a track segment (30) is recognized in that the position of the vehicle is regularly determined. vehicle by satellite navigation and the route of the vehicle position is associated with the section of track (30), and / or the crossings (31) through which the vehicle (1), the section of track ( 30) being delimited by two crossings (31), and / or there is repeatedly recognized a possible parking position (22) by the vehicle (1) and at the passage of a section of track (30) is recorded the positions of the possible parking spaces (22) for the vehicle (1) and to a new passage information is transmitted to the central computer (210) if at the previously recorded position, location is not recognized. possible parking (22), the number of journeys in the section of track (30) being set by the sum of the data transmissions associated with the section of roadway (30) or the number of parking spaces (22) possible, recognized on this section of road (30). A method according to any one of claims 1 to 5, characterized in that the central computer (210) provides the information for the recognized free locations (38). Method according to Claim 6, characterized in that a position indication is transmitted to the central computer (210) and the central computer (210) transmits information back to the recognized free surfaces (38). ) in the environment or at the position indicated. 8. Computer program for carrying out the method according to any one of claims 1 to 7 when executed by a computer, wherein the vehicles (1) transmit location information. possible parking (22) at a central computer (210), and comprising: a) capturing the position of the parking spaces (22) with the help of environmental sensors (14) of the vehicles (1), 20b ) use the possible parking spaces (22), entered by means of the environmental sensors (14), in a classification by category, c) record the possible parking spaces (22) with their position in a base of data (212) of the mainframe computer (210), and d) exploiting the data stored in the database (212) using a partitioning analysis, and when performing the partitioning analysis, associating the parking places (22) possible to a track section (30), to which is associated a function which is formed by the quotient of the seizure frequency of a possible parking space (22) at a certain position along the track section ( 30) and the number of vehicle passages (1) on the section (30) and a weighting coefficient formed from the evaluation according to step b) and concludes that there is a location free (38) if the value of the function is greater than a predefined threshold and / or it is concluded that there is a parking slot (32) if the value of the function is within a predefined range. 9) Central computer (210) comprising a database (212), a computer (214) and means for communicating with vehicles (216), characterized in that it is designed for the implementation of The method according to one of Claims 1 to 7. 10 °) A driver assistance device (10) comprising environmental sensors (14) for capturing the possible parking spaces (22) in the vehicle. environment of a vehicle (1) and means of communication with a central facility (18), characterized in that it is adapted to carry out the method according to one of claims 1 to 7.
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    同族专利:
    公开号 | 公开日
    US9747791B2|2017-08-29|
    CN106097755B|2021-01-29|
    DE102015207804B4|2017-03-16|
    DE102015207804A1|2016-11-03|
    CN106097755A|2016-11-09|
    US20160321926A1|2016-11-03|
    FR3035734B1|2019-07-26|
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    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 |
    2018-04-27| PLSC| Search report ready|Effective date: 20180427 |
    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
    DE102015207804.3|2015-04-28|
    DE102015207804.3A|DE102015207804B4|2015-04-28|2015-04-28|Method for detecting parking areas and / or open spaces|
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