• 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 (200) of: - transferring (205) a motor vehicle (115) on a predefined path (130) between a storage location (110) and a parking location (120), - determining (210) ) the transfer state, and - transmit (240) by a wireless link, the state of transfer to a mobile (155) of a potential conductor (150) of the vehicle (115).
    公开号:FR3036216A1
    申请号:FR1654194
    申请日:2016-05-11
    公开日:2016-11-18
    发明作者:Michael Schoenherr
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to an autonomous parking system and in particular a method for monitoring a vehicle in the event of a fault in an autonomous parking system.
    [0002] State of the art In an autonomous parking system (automatic valet parking system, also called AVP parking system) the parking has several storage locations for storing vehicles and a location of removal. The driver leaves his vehicle at the drop-off location and then the vehicle is driven automatically (or autonomously) without the driver's intervention to a parking space to be stored. To recover the vehicle, the driver initiates the reverse operation and the vehicle can be picked up by the driver at the drop location.
    [0003] For various reasons, the transfer of the vehicle may be disturbed by an incident between its removal location and its storage location. To reduce the risk to people and equipment, the vehicle is stopped. However, the vehicle then represents a barrier to traffic for the automatic valet mode and in these conditions the vehicle must be manually evacuated. This can be done by the service personnel or the driver of the vehicle. Since the traffic surface between the drop-off location and the storage locations is not usually considered as a free-access area for people, it may be difficult to inform a potential driver of the vehicle of the vehicle. current status of the transfer. OBJECT OF THE INVENTION The present invention aims to provide better information or alarm to the potential driver of a vehicle that is transferred as part of an AVP system. SUMMARY OF THE INVENTION AND ADVANTAGES OF THE INVENTION The subject of the present invention is thus a method of transferring a motor vehicle on a predefined path between a removal location and a storage location of a parcel, determining the transfer status and, transmit over a wireless link, the transfer status to a mobile of a driver of the vehicle. The driver (or designated driver) is in particular the person who left the vehicle at the drop-off location or who would like to pick up the vehicle at that location; it is generally the owner or owner of the vehicle. Alternatively, the person may also be part of the service personnel who maintains the automatic valet mode. The mobile is that of the potential driver and it is usually a smart phone. The transfer of the vehicle is usually done as part of an automatic valet system. By providing the transfer status to the potential driver, he can monitor the transfer operation. In addition, the person will be able to notice in time a future or present defective state. In addition, this increases the acceptance of the AVP system by the person responsible for the vehicle through better information. Preferably, the transfer state is exploited and it is transmitted only if the intervention of the potential driver is required. In particular, it helps to determine that the potential driver has been informed in time and that his intervention is needed.
    [0004] The transfer status may indicate a fault and then the vehicle is stopped. The stopped vehicle will not automatically continue to circulate usually as part of the AVP system so that the potential driver of the vehicle is called for this disposal operation.
    [0005] According to a particularly preferred development, the cause of the fault is further determined and transmitted to the mobile. The potential driver can then prepare himself sufficiently in time to move the vehicle into the automatic valet system. In addition, a preparatory maneuver can be provided, such as, for example, opening a closed path or barrier before the potential driver moves the vehicle. According to another preferred development, the position of the vehicle is determined and transmitted to the potential driver who will then find the vehicle more easily in the automatic valet system.
    [0006] In a particularly preferred manner, an indication is transmitted to the potential conductor to reach the position of the vehicle. This position will be indicated in particular in a reference system linked to the parking. By way of example, for example, the floor, the parking area or a storage location in the vicinity will be indicated. According to another development, the position will be in the form of a combination of geodesic data. The indication to indicate the position will be oriented according to the parking organization system so that the driver arrives, for example, first at the right level 10 and then in the right zone and finally at the position of the vehicle. According to a particularly preferred embodiment, the position of the mobile and the indication of the position of the mobile are determined. This makes it possible, for example, to indicate a direction, even three-dimensionally, and the distance of the mobile, which enables the driver to find his vehicle simply and quickly. According to a preferred embodiment, the indication is given according to the constructive characteristics of the car park. For example, it is necessary for pedestrians to take a pedestrian path, for example a staircase and not the ramp used by the vehicles, to arrive quickly and safely at the vehicle. The orientation of the potential driver in the car park will be facilitated and he will reach the vehicle more quickly. The invention also relates to a computer program product with a program code for implementing the method described above when the computer program product is executed by a processing installation or is recorded on a computer. data carrier, readable by a computer. The invention also relates to a parking system 30 with a transfer location and a storage location and a control facility for controlling the transfer of the vehicle on a predefined path between the location of removal and the location of storage and a wireless transmission facility to determine the transfer status of the vehicle and transmit this state to the mobile of the potential driver of the vehicle.
    [0007] The present invention will be described hereinafter in more detail with the aid of an exemplary method and system for parking with a drop-off location and a storage location according to the invention. shown in the accompanying drawing in which: - Figure 1 shows a diagram of a parking system, - Figure 2 is a flow chart of the process. DESCRIPTION OF AN EMBODIMENT FIG. 1 schematically shows a parking system 100 consisting of a car park 105 with several storage locations 110 for receiving each a vehicle 115. The car park system 100 also has a parking location. 120 where the driver leaves his vehicle 115 or takes it back. The removal location 120 and the storage locations 110 are separated by a traffic surface 125 taken by the vehicles 115. The path 130 connects the dispensing location 120 to a storage location 110 or vice versa. The parking system 100 is designed as an automatic valet system (also called AVP system). This allows the driver to leave his vehicle 115 at the dropout location 120 and from there the vehicle 115 is autonomously driven on the path 130 to a certain storage location 110. If then the driver wants to pick up his vehicle 115 the vehicle 115 will be autonomously guided from its storage location 110 on a reverse path 130 to the drop location 120 where the driver will be able to retrieve his vehicle 115. Different modes are known for driving the vehicle independently. 115 in the path 130. According to a first embodiment, the vehicle 115 is controlled by a control facility 135 which is partially in the parking system 100 and outside the vehicle 115. The control installation 135 comprises for example a wireless interface 140 which puts it in contact with the vehicle 115. One or more detection installations 145 are provided to monitor the vehicle 115; it is for example a camera, a light barrier, a rangefinder or other device.
    [0008] According to a second embodiment, the vehicle 115 circulates from the information it receives from the control installation 135. The control installation 135 assists the guidance of the vehicle 115 on the path 130 by active assistance. This embodiment is also referred to as a "cooperative structure". According to a third embodiment, the vehicle 115 circulates exclusively based on predefined data, for example a plane of the parking 105 and the position of the storage location 110 where it must go.
    [0009] Regardless of the embodiment in the parking system 100, it may happen that the transfer of the vehicle 115 in the path 130 is disturbed by an incident. The vehicle 115 is then usually stopped and the automatic valet system no longer allows to continue to move it automatically. However, the vehicle 115 stopped then constitutes an obstacle on the traffic surface 125. This obstacle represents a risk for further AVP operation. Therefore, it is necessary to inform the potential driver 150 to move the vehicle 115. For this purpose, it is proposed to determine the step of transferring the vehicle 115 and transmitting it via the wireless interface 140. in mobile 155 of the person 150. Preferably, the transfer state is determined only if there has been an incident. According to one embodiment, it is also possible to transmit the cause of the defect or incident. To enable the person 150 to reach the vehicle 115 quickly, the position 160 where the vehicle 115 is located and where the vehicle 115 is normally stopped because of the defect, will be communicated to it. According to another embodiment, the position of the person 150 or the mobile 155 is determined to indicate to the person 150 by his mobile 155 how to easily reach the vehicle 115 or the position 160. According to a preferred embodiment, the indication is given with reference to construction information regarding the parking 105 by a kind of pedestrian navigation allowing the person 150 to use a path 165 to arrive as quickly as possible to the position 160. The path of Access 165 35 is any suitable path for pedestrians, such as by stairs, a pedestrian path or a people lift. FIG. 2 shows a flowchart of a method 200 for controlling the operation of the parking system 100 of FIG. 1. It is assumed that an original AVP function is implemented to drive the vehicle 115 on the path 130 between the location of removal 120 and the storage location 110. This function is symbolized in this case in step 205. In parallel, or periodically, in a step 210, the transfer state of the vehicle 115 is determined. The transfer status includes in particular the progress, a fault state or a waiting time. According to step 215, the transfer state is exploited optimally. In particular, in step 215, it is checked whether there has been a defect in the transfer of the vehicle 115 in the step 205. If this is not the case, the method 200 returns to step 205 and keep on going. Otherwise, the vehicle 115 will be stopped in step 220. The vehicle 1115 is then normally on the traffic surface 125 and can block and / or block the drop location 120 or the storage location 110 for other vehicles. According to a development, in step 225 the cause of the fault or incident is determined. This cause is for example linked to the driving of traffic in the context of the parking system 100. Another possible cause is another vehicle 115 driving on a collision path along another path in the parking lot 105.
    [0010] Preferably, in step 230 the position 160 of the vehicle 115 is determined. For this purpose, a reference system of the parking space 105 is used. The position can be determined, for example, by means of FIG. one or more detection facilities 145 placed in the parking 105 and connected to the control installation 135. According to the step 235 an indication is preferably determined so that the person 150 can reach the vehicle 115 or the position 160. In step 240 the information is transmitted. This transmission is preferably by a wireless link, for example by the interface 140 to the person 150 or his mobile 155.
    [0011] The part of the process 200 shown in the left zone of FIG. 2 preferably corresponds to the control installation 135. After step 240, the left-hand portion of the process can return to step 210 and resume this path. . If the transfer state indicates that there is no longer the determined fault, the transfer of the vehicle in step 205 can be resumed. The portion of the process 200 shown in the right zone of FIG. preferably in the mobile 155 of the potential conductor 150. In the first step 245, it receives information transmitted in the step 240. In the following step 250 is preferably determined the position of the mobile 155, for example by triangulation with the wireless transmitter and the satellite navigation receiver. In the following step 255, an indication to the person 150 which enables him to reach the position 160 is preferably transmitted. The indication determined is that of the step 235 which is then transmitted. The additional information can also be used to determine the indications and in particular the position of the mobile 155 or the actual constructive data of the parking 105. This may include map information for the navigation of the person 150 moving as a pedestrian. According to the embodiment, the information is set according to the construction data in step 235 to be transmitted to the mobile device 155. This allows the person 150 to be guided to the position 160 of the vehicle 115 from his own position. position and map information of the parking 105. In step 260 an appropriate indication is made for the person 150. Then, the right part of the process 200 returns to the step 250 in the embodiment, one can have a return to Step 245. The two left and right portions shown of the method 200 are preferably independent of one another and if necessary asynchronously. The combination of the process parts involves transmitting the information between steps 240 and 245.
    [0012] 35 3036216 8 NOMENCLATURE OF MAIN ELEMENTS 100 Parking System 105 Parking 5 110 Storage Location 115 Vehicle 120 Removal Location 125 Traffic Surface 130 Trip 10 135 Control Unit 140 Wireless Interface 150 Person 155 Mobile 160 Person Position 15 165 Path 200 Process Flowchart 210, 240 Process Step 20
    权利要求:
    Claims (6)
    [0001]
    CLAIMS 1 °) A method (200) for monitoring a vehicle in the event of a fault in an autonomous parking system comprising the following steps: - transferring (205) a motor vehicle (115) to a predefined path (130) between a removal location (120) and a storage location (110) of a parking area, - determining (210) the transfer status and, - transmitting (240) via a wireless link, the transfer state to a mobile (155) of a potential conductor (150) of the vehicle (115).
    [0002]
    2) Method (200) according to claim 1, characterized in that one exploits the transfer state (215) and is transmitted only if it requires intervention of the potential driver (150).
    [0003]
    3) Method (200) according to claim 2, characterized in that the transfer state indicates a fault and in response to the fault is stopped (220) of the vehicle (115).
    [0004]
    4) Method (200) according to claim 3, characterized in that the cause of the fault is determined and transmitted to the mobile (155).
    [0005]
    Method (200) according to claim 1, characterized in that the position (160) of the vehicle (115) is determined and transmitted to the potential conductor (150).
    [0006]
    Method (200) according to claim 5, characterized in that an indication (235) is transmitted to the potential conductor (150) to indicate to it how to reach the position of the vehicle (115). Method (200) according to claim 5, characterized in that the position of the mobile (155) is determined (250) and an indication of the position of the mobile (155) is determined. Method (200) according to claim 6 or 7, characterized in that the indication is determined on the basis of the parking construction data. 9) A computer program product comprising a program code for implementing the method (200) according to any of claims 1 to 8, when the computer program product is executed by a processing facility. (135, 155) or is recorded on a computer readable data carrier. 10) A parking storage system (105) having a removal location (120) and a storage location (110), the system (100) being characterized by comprising: a control facility (135); ) for controlling the transfer of a vehicle (115) on a predefined path (130) between the removal location (120) and its storage location (110), said control facility having a wireless interface (140) determining the state of transfer of the vehicle (115), and the state of transfer is transmitted to a mobile (155) of a potential conductor (150) of the vehicle (115).
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    同族专利:
    公开号 | 公开日
    DE102016207139A1|2016-11-17|
    FR3036216B1|2020-11-13|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102017200432A1|2017-01-12|2018-07-12|Audi Ag|Method for operating a safety system for a motor vehicle and safety system|
    DE102018203685A1|2018-03-12|2019-09-12|Audi Ag|Method for transferring a motor vehicle to an automatic parking system, automatic parking system and motor vehicle|
    CN108482366A|2018-03-23|2018-09-04|重庆长安汽车股份有限公司|Valet parking system and method based on Vehicular automatic driving|
    法律状态:
    2017-05-22| PLFP| Fee payment|Year of fee payment: 2 |
    2018-05-22| PLFP| Fee payment|Year of fee payment: 3 |
    2018-08-10| PLSC| Search report ready|Effective date: 20180810 |
    2019-05-21| PLFP| Fee payment|Year of fee payment: 4 |
    2020-05-19| PLFP| Fee payment|Year of fee payment: 5 |
    2021-05-21| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015208917|2015-05-13|
    DE102016207139.4A|DE102016207139A1|2015-05-13|2016-04-27|Autonomous parking system|
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