• 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 driverless transfer method of a motor vehicle (110) on a path (130) between a dispensing station (115) and a parking space (105) in a parking lot (100). The method comprises: - entering a vehicle (110) to be driven to a parking space (105), - determining the free parking spaces (105) in the car park (100), - determining the traffic events in the car park (100). parking (100); and - selecting one of the free parking spaces (105) to minimize the traffic events on the path (130).
    公开号:FR3038568A1
    申请号:FR1656464
    申请日:2016-07-06
    公开日:2017-01-13
    发明作者:Stefan Nordbruch；Jan Rexilius；Gregor Blott；Jan Karl Warzelhan
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The present invention relates to a driverless transfer method of a motor vehicle on the path between a removal station and a parking space in a parking lot. The invention also relates to a device for controlling the driverless transfer of a motor vehicle on a path between a removal station and a parking space in a parking lot. Finally, the invention relates to a computer program product comprising a program code for the implementation of such a method.
    State of the art
    A parking system consists of a parking lot with many parking spaces for storing motor vehicles and in this parking system, the vehicle is controlled on the path between its removal station and a parking space by a standalone control. This operation is known under the name of "automatic valet" (or under its abbreviation AVP). To store a vehicle in a parking space it is sufficient for the driver to drive the vehicle to the removal station and leave the vehicle. The vehicle then moves autonomously to one of the parking spaces assigned to it by a management system. To pick up the vehicle, it will be driven in the opposite direction autonomously between its parking and the removal station where the driver climbs into the vehicle and drives it in the usual way out of the parking lot.
    The management system of a parking has, among other function, to select a free slot to receive the vehicle. It is then possible to determine the path between the removal station and the parking space to drive the vehicle on this path. In different embodiments, the parts for determining the path of the command can alternatively be made from the vehicle or from a control installation forming part of the parking.
    Driving the vehicle on the journey is a complex operation that can, in addition, be made difficult if an individual or another vehicle is present in the parking.
    GB 2 364 155 A relates to a search technique of a free parking space in a parking lot which is partially occupied. A parking space is determined which is released by operating the ticket of the vehicle leaving the car park.
    Purpose of the invention
    The present invention aims to develop a technique for the transfer of a vehicle in a parking independently of the driver.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION To this end, the subject of the invention is a driverless method of transferring a motor vehicle on the path between a removal station and a parking space in a parking lot, the method of seizing a vehicle that must be driven to a parking space, determine the free parking spaces in the parking lot, determine traffic events in the parking lot, and select one of the free parking spaces to minimize traffic events on the trip between the removal station and the selected parking space.
    In other words, according to the invention, the vehicle is driven without the driver on the path between the removal station and a parking space in the parking. The method includes entering the vehicle to be stowed in the parking space, determining the free parking locations in the parking lot, determining traffic events in the parking lot and then selecting one of the free slots to reduce at least traffic events on the route between the removal station and the selected parking space. Then the vehicle will be driven without a driver, from the drop-off station to the selected parking space.
    The selection of the parking space based on traffic events in the car park simplifies the guidance of the vehicle to be stored. Traffic events in the car park will be better balanced, ie more distributed so that overall driving or traffic in the car park will be simpler and more secure.
    Traffic events are preferably determined based on the current or planned transfer of another motor vehicle. In particular, if it is another driverless transfer operation, it will be easy to collect reliable information regarding the nature, location and duration of movements of this other vehicle. This helps to better determine traffic events.
    According to another development, the traffic events will be determined based on the detection of a traffic surface located between the removal station and a free parking space. This allows to better take into account a person who would drive in the parking lot. This also allows for better consideration of a vehicle driven by a driver.
    In particular, it is possible to determine the trajectory of an object along the traffic surface and to predict traffic events based on the trajectory. Advantageously, this makes it possible to determine the traffic events for the period during which the vehicle to be stored will probably be moving in the parking lot.
    Traffic events may further be determined based on the reservation of a parking space. For example, the remaining parking time, which indicates when the parking space of another vehicle will be released, can be better anticipated.
    A computer program product according to the invention comprises 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 data medium. readable by a computer. The invention also relates to a device for controlling the transfer of a driverless vehicle on the path between the transfer station and its parking space in a parking lot.
    Such a device according to the invention is characterized in that it comprises a seizure installation of a motor vehicle to be stored in a parking space, a determination facility for determining the free parking spaces in the parking, a second installation determining to determine traffic events in the parking lot and, a processing facility for selecting one of the free parking locations so as to minimize traffic events on the path between the drop station and the parking location. selected parking.
    The device as described above can in particular be integrated with another device that manages and controls the parking and parking spaces.
    The first determination facility is a vehicle sensor for determining the occupancy status of a parking space. According to another development, a vehicle sensor is associated with a number of parking spaces of the car park. Alternatively or in addition, the sensor ensures the detection of the traffic surface located between the parking space and the transfer station.
    Drawing
    The present invention will be described hereinafter in more detail with the aid of the single appended figure showing a vehicle transfer parking system to the parking spaces, independently of the driver.
    Description of an embodiment
    The figure shows a car park 100 equipped to ensure the transfer of the vehicles independently of the drivers according to the automatic valet system. Parking 100 can be part of a garage building or a garage in the basement or an outdoor parking. The car park 100 consists of several parking spaces 105 each receiving a motor vehicle 110, with a dispensing station 115 and a traffic surface 120 between a parking space 105 and the dispensing station 115 or between several parking spaces 105. There is also a control device 125.
    To store a vehicle 110 in the car park 100, the driver leaves the vehicle at the drop station 115 and gets off the vehicle 110. The control device 125 then selects a free parking space 105 and preferably also determines the path 130 on the surface 120 of circulation between the drop station 115 and the parking location 105 selected. According to one embodiment, the driver of the vehicle 110 selects the parking space 105 or rejects it, which results in the choice of an alternative parking space 105.
    When the parking space 105 is attached, the vehicle can be driven on the path 130 to the selected parking location 105 for storage. If necessary, the storage maneuver of the vehicle 110 is also controlled in the parking space 105. The control of the vehicle 110 on the path 130 is done by the vehicle 110, using the control device 125 or both. . Data can be exchanged between the vehicle 110 and the control device 125, for example wireless transmission technique WALN, Buetooth or mobile telephony. According to another development, the motor vehicle 110 is monitored at the traffic surface 120, for example using a sensor 135 which has or is in particular a camera, a light barrier, an ultrasonic sensor, a loop inductive, a radar sensor or a lidar sensor. The sensor 135 is connected by a wireless link, a wire link or a combined technique for exchanging data with the controller 125.
    Usually, during the control of the vehicle 110 on the path 130 of the traffic surface 120, there are other circulation elements. For example, another vehicle 110 may be controlled or be in course of driverless travel on another path 130 on the traffic surface 120 or it is faced with a storage maneuver or clearance of another vehicle 110. individual 142 may be on the circulation surface 120; this individual 142 is for example the driver of the vehicle 110 stored on one of the parking spaces 105.
    Traffic events are typically different in the parking areas: high traffic events mean a large number of vehicles and people on the move, and low traffic events mean a small number of vehicles or people on the move. The more traffic events are important in an area of parking 100 and more difficult will be the guidance of vehicle 110 in this area. That is why it is proposed to select a free parking space 105 for the vehicle to be stored 110, avoiding if possible, on the path between the vehicle 110 and the selected parking space 105, to pass into areas with strong traffic events.
    Circulation events are determined in different ways that can be combined. In general, it is advantageous to determine the traffic events each time for a future moment when the vehicle 110 to be stored could pass into an area of the car park 100 with difficulties due to traffic events. In order to determine the traffic events, it is possible, for example, to use the current or foreseeable movements of another vehicle 110 towards a parking space 105 reserved or upstream from this location 105 whose reservation time has elapsed. In particular, if the movement of the other vehicle 110 in the parking lot is assisted by the control device 125, for example because it is another automatic valet maneuver AVP, the movement of this other vehicle 110 can be expected with a good probability.
    According to another development, the sensor 135 captures the objects on the circulation surface 120. This is useful, in particular for the person 142. Preferably, for the objects seized 110, 140, based on several detections is determined a path that allows future interpolation and thus the determination of a predictable traffic event.
    In order to determine a free parking space, it is possible to detect the existing parking spaces 105 by means of the sensor 135, or it is possible to detect several dedicated parking sensors 140 prepared for this application. According to another development, a parking sensor 140 is associated with each parking space 105; this sensor is, for example, below or above the space provided for a vehicle 110. To this end, any technique can be used to determine whether a vehicle 110 occupies the location of the vehicle or not. parking 105, for example a capacitive sensor, a magnetic sensor, an optical sensor, an infrared sensor, a radar sensor or lidar or any other sensor. According to another development, the parking space 105 is also reserved and these reservations are neither detected nor managed by the control installation 125. A reserved parking space 105 can, under these conditions, be considered as occupied.
    According to another development, the control device 125 also manages other developments of the management of the car park 100, for example the bill for the rent of occupancy of a parking space. Preferably, the control device comprises a processing installation 145 and in another still more preferential way, it has a memory 150 for recording the information relating to the parking spaces 105.
    The control device 125 determines the free parking spaces 105 to determine the location that must be assigned to a vehicle 110 to be stored and which is at the drop station 115. It is sought to select a parking space 105 to which the guide automatic is as simple as possible, that is to say without the assistance of the driver. A predefined parking space 105 can be reserved for the removal station of the motor vehicle 110 and is checked to determine whether the reserved parking space 105 is actually free or whether to select another parking space 105.
    According to a development, the parking lot 100 or the circulation area 120 is subdivided into parcels allocated to each traffic event. Plots are preferably adjacent and may be in the form of rectangles or hexagons. The parking space 105 of the vehicle 110 will then be determined in that the path 130 leads to the parking space 105 by parallel parcels in as small a number as possible and whose traffic events are above a predefined threshold. According to another development, the circulation events of all the parcels traversed by the path 130 are added or integrated to obtain a characteristic number; the parking space 105 will thus be chosen in that it minimizes the characteristic number of the paths 130. The two proposals can be combined. In all variants, it is also possible to modify the path 130, for example in that one does not use the shortest path, but an optimized path vis-à-vis the traffic events.
    On the basis of the determined traffic events and the free parking spaces 105 it is then preferable to select a parking space 105 which is optimum for the automatic guidance of the motor vehicle 110 to the parking space 105. considerably the automatic driving of the vehicle 110.
    MAIN COMPONENT NOMENCLATURE 100 Parking 105 Parking space 110 Motor vehicle 115 Drop-off station 120 Traffic area 125 Control unit 130 Trip 135 Sensor 140 Object entered 145 Treatment plant 150 Memory
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    CLAIMS 1 °) Method of driverless transfer of a motor vehicle (110) on the path (130) between a removal station (115) and a parking space (105) in a parking lot (100), the method comprising the steps of: entering a vehicle (110) to be driven to a parking space (105), determining the free parking spaces (105) in the car park (100), determining traffic events in the car park (100) and selecting one of the free parking locations (105) to minimize traffic events on the path (130) between the dispense station (115) and the selected parking location (105).
    [0002]
    Method according to claim 1, characterized in that the traffic events are determined based on the current transfer of another vehicle (110).
    [0003]
    Method according to one of claims 1 or 2, characterized in that the traffic events are determined on the basis of the planned transfer of another motor vehicle (110).
    [0004]
    Method according to one of Claims 1 or 3, characterized in that the traffic events are determined on the basis of the detection of a traffic surface (120) between the dispensing station (115) and a free parking space (105).
    [0005]
    Method according to claim 4, characterized in that the trajectory of an object (110, 142) is determined on the traffic surface (120) and the traffic events are predicted based on the trajectory.
    [0006]
    Method according to one of claims 1 to 5, characterized in that the traffic events are determined based on the reservation of a parking space (105).
    [0007]
    7) A computer program product comprising a program code for executing the method according to any one of claims 1 to 6 when the computer program product is applied by a processing facility (145) or is registered on a computer readable data carrier.
    [0008]
    8 °) driverless control device for the transfer of a motor vehicle (110) on a path (130) between a removal station (115) and a parking space (105) in a parking lot (100), characterized in that it comprises: an attachment device (145) for a motor vehicle (110) to be stored in a parking space (105), a determination facility (135, 140) for determining parking locations in the parking (100), a second determination facility (135, 145) for determining the traffic events in the parking (100), and a processing facility (145) for selecting one of the parking spaces (100). parking (105) free to minimize traffic events in the path (130) between the dispense station (115) and the selected parking location (105).
    [0009]
    Device according to claim 8, characterized in that the first determination device comprises a vehicle sensor for determining the occupancy status of a parking space (105).
    [0010]
    10 °) Device according to any one of claims 8 or 9, characterized in that a set of parking spaces of the parking (100) is associated in each case a vehicle sensor.
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    法律状态:
    2017-07-20| PLFP| Fee payment|Year of fee payment: 2 |
    2018-04-27| PLSC| Search report ready|Effective date: 20180427 |
    优先权:
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    DE102015212689.7A|DE102015212689A1|2015-07-07|2015-07-07|Driver-independent transfer of a motor vehicle|
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