• 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 recovery position of a vehicle from a plurality of recovery positions (313, 315, 317, 319) of a vehicle in an automatic parking (301). The method consists of determining: - the state of the traffic inside and outside the car park (301), and - the recovery position among a set of recovery positions (313, 315, 317, 319) based on the traffic condition thus determined for the automatic parking operation to end at a determined recovery position.
    公开号:FR3039119A1
    申请号:FR1656747
    申请日:2016-07-13
    公开日:2017-01-27
    发明作者:Stefan Nordbruch；Thomas Nierhoff
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The present invention relates to a method and device for determining a recovery position among a set of recovery positions in a parking lot, when the vehicle has been stored in a parking space by an automatic storage operation. The invention also relates to a vehicle parking and equipped with a computer program for the implementation of such a method or device.
    State of the art
    DE 10 2012 222 562 A1 describes a parking system, managed and transferred a vehicle from a starting position to a destination position.
    In the case of automatic valet parking systems, systems that are fully automated, that is, autonomous, the vehicle is left by the driver at a drop-off location, for example in front of the garage and from there on vehicle moves from itself to its storage position, parking bay or back to the removal station (which then becomes the recovery station).
    For example, car parks can have multiple exits. In this case, we can provide a recovery station at each exit, where the vehicle will be taken by the driver after a maneuver "automatic valet".
    In the case of parking with several exits, traffic jams upstream of an exit may cause parking exit delays when the driver leaves the car park at this location because he will have taken his vehicle to the recovery position associated with this parking. exit.
    Purpose of the invention
    The present invention aims to develop means for effectively determining a recovery position among a set of recovery positions of a parking lot for a vehicle, which will be resumed after its automatic maneuver storage in the parking.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION To this end, the subject of the invention is a method for determining the position of recovery of a vehicle from several positions of recovery of a vehicle in an automatic parking, this method of determining the state of the traffic inside and / or outside the parking and the recovery position among a set of recovery positions based on the traffic status thus determined so that the automatic parking operation can end at a determined recovery position. The invention also relates to a device for determining the position of recovery of a vehicle among several recovery positions of a parking lot, where it is necessary to take the vehicle after an automatic storage maneuver in a parking space, device comprising a determination facility for determining the traffic condition inside and / or outside the car park and a determination facility for determining the recovery position among all the recovery positions based on the determined traffic condition so that the automatic storage maneuver in a parking location can end at the determined recovery position.
    According to one development, the car park comprises several recovery positions allowing a vehicle to be taken back after an automatic storage maneuver in a parking space and / or the device determines a recovery position.
    According to another development, the subject of the invention is a computer program with program code for implementing the method of determining a recovery position when the program is executed by a computer.
    Thus, the invention particularly encompasses and more particularly the concept of determining the recovery position of the vehicle based on the state of the traffic in the parking lot and / or outside thereof. The state of the traffic in and / or outside the car park is thus taken into account for the selection, to indicate the position of recovery of the vehicle at the end of an automatic valet operation. This results in particular the technical advantage of efficiently determining the recovery position in a set of several recovery positions.
    As part of an automatic valet operation, the vehicle is guided between its dispatcher position, without driver to the storage position of the vehicle. The vehicle will park for a predetermined period of time or until the vehicle user or the parking management system calls the vehicle. At the end of the predetermined duration or after a corresponding request, in the context of an automatic parking operation, the vehicle will either be returned to its delivery position which then constitutes a recovery position, without a driver or to another position in the parking position. parking to allow the user to recover his vehicle. Such a position is referred to hereinafter as "recovery position".
    This means that the position of removal is a position where the user or driver can leave his vehicle before the start of an automatic storage maneuver in a parking space. As well as the position of removal is a position where begins the automatic maneuver storage. In other words, the vehicle left at the removal station will be driven without driver from his position or removal station to its parking location.
    This also means that the recovery position is the position where the user will be able to pick up his vehicle at the end of an automatic parking operation. As well as the recovery position means a position where the automatic storage maneuver (automatic valet) ends. The vehicle will be guided between its storage position and its recovery position, without driver, to be deposited and allow the user to recover the vehicle.
    According to a development, as the vehicle performs an automatic storage maneuver in a parking space it has the remote control of the vehicle. According to one embodiment, performing an automatic storage maneuver consists in guiding the vehicle at least partly autonomously and in particular completely autonomously. According to developments, it is possible to envisage mixed forms between the two embodiments described above. This means that the vehicle can, for example, go to a gas station. The vehicle will then continue on another partial journey while being remotely controlled. The expression "autonomous" in the sense of the present invention means in particular that the vehicle navigates or joins automatically, that is to say without intervention of the driver, his parking space. The vehicle thus circulates automatically on parking replacement without requiring guidance by a driver. The control or guidance further includes transverse guidance and / or longitudinal guidance.
    A guided vehicle autonomously and / or by remote control thus circulates without driver in the parking lot; it is for example called under the name "AVP vehicle". The expression AVP is the designation of an automatic valet.
    This means that the vehicle is guided without a driver or from its removal position to its storage position as part of the automatic storage maneuver. The vehicle is then driven without a driver from its storage position, at the end of a predetermined period which can also be called the parking time to return to the same position or to another position generally called "recovery position".
    According to one development, the automatic storage maneuver is carried out in a parking space. It is provided that after leaving his vehicle at the removal station, the vehicle is guided without a driver to the storage position. In particular after determining the recovery position, the vehicle is driven from the parking position to a certain recovery position by a driverless maneuver.
    The terms "with or without driver" mean that there is no human driver to drive the vehicle.
    The beginning of the automatic parking maneuver is characterized by the beginning of the guidance of the vehicle towards its storage position. The end of the automatic storage maneuver is also characterized by the moment at which the vehicle has been left waiting for replacement and from where it will be resumed without driver to go from the storage position to the recovery position.
    According to a development, the vehicle is a motor vehicle. The motor vehicle is for example a passenger vehicle or a commercial vehicle or for example a two-wheeled vehicle including a motorcycle. The state of the traffic is characterized in particular by a low traffic density and / or traffic link and / or a traffic state in which and / or outside which parking locations are taken into account.
    This state is for example the real state so that one can call the state of circulation, "real state of circulation" or momentary or current. The state is, for example, a predicted or predicted state and in this case the traffic state will be considered as a forecast or predicted traffic state. The general term "state of the circulation" means in the case of the present invention, both the current state and the forecast state. This means that according to one embodiment, the recovery position is determined based on the current state and / or on the forecast state and / or on the actual state as the forecast state.
    Parking within the meaning of the present invention is also a garage area used for storing vehicles. The parking thus constitutes a particularly coherent surface of a set of parking spaces (in the case of parking on private land) or storage position in the case of a public parking. The parking according to one embodiment can also be a garage.
    It also means that the places or areas or positions where a vehicle can be stowed are storage locations or parking spaces. For the sake of simplicity, the expressions parking space or parking position will be standardized and replaced by the expression parking space.
    According to a development, an area in the parking environment will be detected using internal environmental sensors to determine the data of the surrounding internal fields corresponding to the area entered and the traffic status will be obtained. in the car park based on the internal data thus determined of the surrounding field. This results in particular, the technical advantage of being able to effectively capture the state of traffic in the parking. For example, vehicles will be captured using internal environmental sensors located in the car park or inside the car park. Thus, for example, using internal surrounding field sensors, the density of vehicles in the area concerned is determined. The area that is in the car park is for example the entire car park. In particular, the area concerns only part of the car park. According to a development, there are several such areas that will be appropriately captured (detected) using the internal sensors of surrounding fields.
    According to another development, the state of the circulation in the parking lot is determined based on automatic storage maneuvers and which are currently running in the car park and / or which are about to be executed in the parking lot.
    This results in particular the technical advantage that the automatic storage maneuvers running and / or about to be executed in the car park are taken into account to determine the recovery position. This results in particular the technical advantage of effectively determining the recovery position. Indeed, since, for example, one of the recovery positions would be used for another vehicle as a recovery position after an automatic storage operation (automatic valet) it is interesting to select another recovery position for that the vehicle and the other vehicle do not compete or one of the vehicles does not have to wait for the other vehicle, until the recovery position is released again.
    This allows, for example, to reduce the waiting time of a vehicle until it can reach the recovery position.
    According to a development, for the implementation of the automatic storage maneuvers, with automatic valet, we use the setpoint trajectories to determine the state of the circulation.
    The use of automatic valet operations to determine the condition of the traffic means in particular that information about the storage maneuvers is used. This information is for example the location or position of the vehicle in the parking. The information contains, for example, vehicle trips in the car park. The information includes, for example, the actual trajectories of the vehicles in the car park.
    According to another development, outside the parking lot or directly adjacent to it, the zone at the exit of the car park is entered using an external external field sensor to determine external surrounding field data corresponding to the zone seized and thus obtain the state of the traffic outside the parking lot on the basis of the thus determined data of the surrounding field. This results in particular the technical advantage of taking into account the state of the traffic in the immediate environment of the output of the parking corresponding to a certain recovery position. For example, vehicles will be captured using external field sensors outside the car park directly adjacent to the exit. Thus, for example, using external surrounding field sensors, the density of vehicles in the area of the outlet is determined. If, as a result, for example, in this environment, the density of vehicles on the output side exceeds a threshold, a recovery position associated with another output is defined. This also means that we want to prevent a vehicle from generating a plug after the exit. The vehicle is thus advantageously led to a recovery position associated with another output.
    One or more surrounding field sensors in the sense of the present invention, that is to say in particular internal and / or external surrounding field sensors consist of one or more surrounding field sensors. A surrounding field sensor is, for example, one of the following surrounding field sensors: ultrasonic sensor, laser sensor, lidar sensor, video sensor, magnetic sensor and radar sensor.
    Such sensors capture their respective surrounding fields and form or transmit the surrounding field data they have captured. Insofar as a surrounding field is determined by means of internal surrounding field sensors, the corresponding data will be called internal inner field data. Similarly, for the surrounding external field sensors, external environmental field data will be discussed. In this case, the internal term refers to one or more areas that are in the parking lot. The external expression relates in particular to external areas, that is to say outside the car park.
    According to a development, the outside of the car park is an area at a certain distance from the car park. The predefined distance is for example less than 10 km, for example less than 5 km and in particular less than 1 km. This means, for example, that it only determines the state of the traffic in this area, which in particular reduces the means to implement for this determination.
    According to a development, the traffic data corresponding to the traffic state outside the car park is received by a communication network and the traffic condition outside the car park is determined on the basis of the data. received. This in particular results in the technical advantage of effectively determining the state of the traffic outside the car park. For example, the traffic data of a traffic server can be used. Such a traffic server receives the position data of vehicle user mobile terminals, which makes it possible to determine the density of vehicles outside the car park.
    According to another development, the determined traffic state includes the density of vehicles in the respective environment of the different recovery positions and that of the recovery positions which will be determined as the recovery position where the vehicle can be resumed after a maneuver automatic valet, is the recovery position having in its environment the lowest density of vehicles. This results in particular the technical advantage of minimizing inconvenience by other vehicles that complete the automatic maneuver by stopping at a determined recovery position.
    This means that for the respective environment the corresponding densities of vehicles are determined and compared. We can then calculate the smallest density of vehicles and transmit it. The environment also concerns, for example, an area up to a predetermined distance from the respective recovery position. This predetermined distance corresponds, for example to 30 m.
    According to another development, the recovery position determined by a communication network is sent to the terminal of the user of the vehicle so that, based on the determined recovery position, thus received, he can recover his vehicle at this position. determined recovery.
    This results in particular the technical advantage that the user will effectively know the determined recovery position.
    According to a development, the user's instantaneous position path and the determined recovery position are calculated, this calculated path being transmitted to the user by the communication network to the terminal so that the user can rely on the path calculated between its instantaneous position and the determined recovery position.
    This results in particular the advantage that the user can effectively arrive at the recovery position determined from its instantaneous position. The user is in particular the future driver of the vehicle. The user is in particular a future occupant of the vehicle who may be other than the usual or previous driver.
    According to another development, the position of a destination to which the vehicle is driven, after the vehicle has been taken to one of the recovery positions is transmitted by a communication network and for each of the recovery positions is determined the path between the respective recovery position and the destination position, and for the paths thus determined an other traffic state for the respective path is determined, and the recovery position is determined in relation to the other traffic conditions thus determined. This results in particular the technical advantage of being able to more effectively determine the recovery position. It is thus expected to determine which path the vehicle arrives the fastest to its destination. The recovery position, thus determined is that among the recovery positions, which corresponds to the fastest path. As a variant, the shortest path is determined so that the determined recovery position is that of the recovery positions which corresponds to the shortest path.
    According to one development, the device for determining a recovery position is made or designed to perform the method for determining a recovery position.
    Embodiments of the device flow analogously from the corresponding embodiments of the method and vice versa. This also means that the technical functions of the device will be analogous to the technical functions of the process and vice versa.
    This also means that according to one embodiment, the determination installation makes it possible to determine the state of the circulation in the parking lot on the basis of the determined internal data of the surrounding field.
    According to a development, the determination facility automatically determines the traffic condition in the parking lot based on automatic storage maneuvers and which are currently in the parking lot and / or which are about to be carried out in the car park.
    According to a development, the determination facility determines the state of traffic outside the parking lot based on the determined external data of the surrounding field.
    According to a development, the determination facility determines the state of traffic outside the parking location based on the received traffic data.
    According to a development, the determination installation determines the density of vehicles in the respective surrounding field of a set of recovery positions so that the traffic state thus determined comprises the density of vehicles in the respective environment field of the different recovery positions and the determination facility determines the respective recovery positions as the resume position where the vehicle will be resumed after an automatic storage maneuver in a parking location, and which will have the lowest density of vehicles in the surrounding field .
    According to a development, the device comprises a communication interface via a communication network. Communication includes receiving traffic data. This communication consists in transmitting the determined recovery position to the terminal of the user of the vehicle. In particular, the communication consists of transmitting the path between the instantaneous position of the user and the determined recovery position.
    According to a development, the device comprises internal and / or external sensors of surrounding field.
    According to a development, the determination facility calculates the path between the instantaneous position of the user and the recovery position that has been determined.
    According to a development, the determination installation determines for each of the recovery positions, the path between the corresponding recovery position and the destination position to which the reclaimed vehicle is directed to the recovery position, the destination position being received by a communication network and the determination installation establishing among the paths each time obtained another traffic state on the respective path, the determination installation obtaining the recovery position based on the other determined traffic states.
    According to one development, the communication network is a WLAN network and / or a mobile telephone network.
    According to one development, communication over the communication network is encrypted.
    According to a development, the terminal is a mobile terminal, in particular a mobile phone and in particular a smartphone. drawings
    The present invention will be described below, in more detail for the method of determining the recovery position and the installation for its implementation by means of examples shown in the accompanying drawings in which: FIG. 1 shows the diagram of a method of determining a recovery position, FIG. 2 shows a device for determining a recovery position, and FIG. 3 shows a parking of vehicles.
    Description of embodiments
    FIG. 1 shows a flow chart of a method for determining a position of recovery of a vehicle from a set of recovery positions of a parking lot, to take back a vehicle after it has been parked by a maneuver of automatic storage in the parking.
    The method comprises the following steps: - determining a state of circulation inside and / or outside the parking lot, and - determining the recovery position among a set of recovery positions based on the determined in such a way that the automatic storage maneuver ends at the determined recovery position.
    Figure 2 shows a device 201 for determining the recovery position of a vehicle from a set of recovery positions in a parking, the vehicle to be taken to this recovery position after an automatic storage maneuver.
    The device 201 comprises: a determination installation 203 for determining a state of circulation inside and / or outside the car park, and a definition facility 205 for defining the recovery position among a set of positions of recovery based on the traffic condition determined so that the automatic storage maneuver in the parking lot can end at the recovery position thus defined.
    According to a not shown embodiment, the device 201 comprises a communication interface for communicating via a communication network.
    FIG. 3 shows a car park 301 with several exits 303, 305, 307, 309 to leave the car park 301. The car park 301 comprises several parking spaces or parking spaces 311. At each exit 303, 305, 307, 309 is associated a recovery position 313, 315, 317, 319. A vehicle takes one of its recovery positions 313, 315, 317, 319 by its user after an operation or automatic storage maneuver in the parking. The automatic storage maneuver ends at each of these recovery positions 313, 315, 317, 319.
    The car park 301 also has a parking server 201 according to FIG.
    To perform an automatic storage maneuver in a parking space, the driver drives a vehicle through the entrance of the parking lot to the parking space 301 and leaves it at a removal station.
    After driving his vehicle to the removal station, the driver leaves the vehicle. Then, the vehicle performs an automatic storage maneuver in the parking and thus automatically stores on a storage area 311. For example, the server 201 of the parking remote control the vehicle and the driverless conduit to a storage position. The server 201 of the car park sends for example the storage position to the vehicle which will know which storage position it must go to be driven autonomously to the storage position.
    To determine which of the four recovery positions 313, 315, 317, 319 the driver will be able to recover his vehicle, the traffic situation is used in the car park and / or outside thereof. At the end of the parking period, the vehicle is driven back to a determined recovery position and without the assistance of the driver to get there and allow the user to resume his vehicle. The invention thus develops among other things a technical concept allowing, for example, to minimize the time required for a driver to take back his vehicle after an automatic storage operation of his vehicle (taking into account the state of the traffic in the car park) and / or continue its journey (taking into account the traffic situation outside the car park).
    The parking management system comprises for example a device for determining a recovery position. Such a parking management system coordinates and / or controls the operation of the parking lot and the management system controls including automatic parking operations.
    According to a feature of the invention, the parking has several recovery positions. According to one embodiment, the recovery position at which the vehicle can be resumed in practice to then leave the car park is selected dynamically taking into account the traffic situation in the car park and / or outside the car park. car park. The parking management system is at the initiative of this selection.
    According to a development, the driver is informed of the selected recovery position and, for example, the corresponding path. This is done, using a smartphone and generally using a mobile terminal that will receive including information provided by the parking.
    According to another development, the driver is informed in advance by the parking management system, the path to which the vehicle circulates for recovery. This makes it possible to advantageously also integrate the state of the traffic on the path and to select the best recovery position. The state of the traffic in the car park, that is to say, for example in a building of garages is known parking management system, which, according to one embodiment, and from these indications (execution automatic storage maneuvers) and based on its infrastructure (for example using internal sensors of the surrounding field which includes for example cameras). The state of the traffic outside the car park, for example outside the garage building is determined by the management system according to one embodiment by one or more of the following possibilities:
    The data (traffic data) is determined (obtained) for traffic conditions and / or traffic congestion monitoring services. This means that the parking management system collects such traffic data over a communication network.
    The parking management system directly determines the respective state of traffic in front of the exits and / or entrances of the car park. This is done, using external environmental field sensors that include, for example, external cameras.
    The advantages of the invention reside in particular in the shorter duration required for a recovery operation. In particular, the advantages of the invention reside in particular in a shorter duration and less complexity to leave the parking.
    NOMENCLATURE OF PRINCIPAL ELEMENTS 101, 103 Process steps for determining the recovery position of a vehicle in a parking lot 201 Device for determining the recovery position 203,205 Process steps 201 301 Parking 303, 305, Parking exits 307, 309 311 Location parking 313, 315, Vehicle recovery positions at car park exit 317, 319
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    1 °) A method for determining the position of recovery of a vehicle among several recovery positions (313, 315, 317, 319) of a vehicle in an automatic parking (301), the method comprising the following steps of: determining (101) the condition of the traffic inside and / or outside the car park (301), and determining (103) the recovery position from among a set of recovery positions (313, 315, 317, 319 ) based on the traffic condition so determined for the automatic parking operation to end at a specified recovery position.
    [0002]
    2) Method according to claim 1, characterized in that in the parking (301): - it captures a range using an environmental sensor to internal to determine the internal data of the environment corresponding to the entered range, and - the traffic condition in the car park (301) is determined based on the internal environment data obtained.
    [0003]
    Method according to Claim 1 or 2, characterized in that the state of the traffic in the car park (301) is determined on the basis of the automatic storage operations which are being carried out in the car park ( 301) and / or which are about to be executed in the car park (301).
    [0004]
    Method according to one of Claims 1 to 3, characterized in that an area outside the car park (301) is determined directly adjacent to an exit of the car park (301) using an external environment sensor, for determining the external surrounding field data corresponding to the input area, and * determining the traffic condition outside the parking lot (301) based on the field data. externally obtained.
    [0005]
    5) Method according to one of claims 1 to 4, characterized in that * one receives the traffic data corresponding to the state of the external circulation of the parking (301) by a communication network, and * is determined the traffic condition outside the car park (301) based on the traffic data received.
    [0006]
    Method according to one of Claims 1 to 5, characterized in that the determined traffic state comprises the vehicle density in a respective environment of the recovery positions and the recovery position is determined as the recovery position. recovery positions (313, 315, 317, 319) where the vehicle must be resumed after an automatic storage operation in a parking space which has the least density of vehicles in the respective surrounding field.
    [0007]
    7 °) Method according to one of claims 1 to 6, characterized in that one sends the recovery position determined by a communication network to the terminal of the user of the vehicle so that it, relying on the determined recovery position, received, can resume his vehicle to the recovery position, determined.
    [0008]
    Method according to Claim 7, characterized in that the path between the instantaneous position of the user to the determined recovery position is calculated, and the path calculated by the communication network is sent to the terminal. the user so that the user can rely on the calculated path and go from its instantaneous position to the determined recovery position.
    [0009]
    9 °) Method according to one of claims 1 to 8, characterized in that * we receive the position of a destination to which the vehicle arrives after being taken from one of the recovery positions (313, 315, 317, 319) by a communication network, * for each of the recovery positions (313, 315, 317, 319) a path is determined between the respective return position and the destination position, * for the determined paths each time another traffic state on the respective path, and * the recovery position is determined based on the other determined traffic conditions.
    [0010]
    10 °) Device (201) for determining a recovery position among several recovery positions (313, 315, 317, 319) of a parking (301) for a vehicle, where it is necessary to take the vehicle after a storage maneuver automatic in a parking space, device comprising a determination facility (203) for determining the traffic condition inside and / or outside the car park (301), and a determining facility (205) for determining the recovery position among all the recovery positions (313, 315, 317, 319) based on the determined state of the circulation for the automatic storage maneuver in a parking space to end at a position of determined recovery.
    [0011]
    11 °) Parking (301) for vehicles having several recovery positions (313, 315, 317, 319) or it is possible to take back a vehicle after an automatic storage operation in a parking space, and
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    同族专利:
    公开号 | 公开日
    FR3039119B1|2019-08-16|
    US10019899B2|2018-07-10|
    US20170025004A1|2017-01-26|
    DE102015213996A1|2017-01-26|
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    法律状态:
    2017-07-07| PLSC| Publication of the preliminary search report|Effective date: 20170707 |
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    优先权:
    申请号 | 申请日 | 专利标题
    DE102015213996.4A|DE102015213996A1|2015-07-24|2015-07-24|A method and apparatus for determining a pick-up position from a plurality of pick-up positions for a vehicle included in a parking lot|
    DE102015213996.4|2015-07-24|
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