• 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 driving assistance method for maneuvering in a covered area (30), comprising determining the current position (50) of the vehicle (1) and driving it to a destination position (54). The card contains the registration of the covered structures (40) of the roof of the covered area (30). A cover sensor (24) is associated with the vehicle (1) to recognize covered structures (40) and the current position (50) of the vehicle is determined using the map and the cover sensor (24).
    公开号:FR3039488A1
    申请号:FR1657196
    申请日:2016-07-27
    公开日:2017-02-03
    发明作者:Michael Schoenherr
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The present invention relates to a driving assistance method for assisting the driver in performing a driving maneuver in a covered area, the method of determining the current position of the vehicle and driving it from its current position. at the destination position. The invention also relates to a computer program for implementing such a method.
    State of the art
    According to the state of the art, driver assistance systems are known which assist the driver of a vehicle to perform different driving maneuvers. According to the state of the art, there are known automatic and semi-automatic systems. In automatic systems, the driving maneuver is performed automatically by the driver assistance system for both longitudinal and transverse guidance of the vehicle. The longitudinal guidance corresponds to the braking acceleration of the vehicle and the transverse guidance to the vehicle direction. In the case of a semi-automatic system, the driver of the vehicle ensures the longitudinal driving while the driving or transverse guidance is done by the driver assistance system or the transverse driving is provided by the driver of the vehicle and the longitudinal pipe, by the driving assistance system.
    According to the state of the art, driver assistance systems are also known which help the driver to maneuver in a parking space. DE 10 2013 015 349 A1 discloses a method of reaching a parking space, such as a car park or home location. In the case of an identified home location, the environmental data and driving data are stored and the location data of the home parking location is determined. With the aid of the data entered, a set path is determined to be traveled to start the automatic parking maneuver.
    The document DE 10 2010 017 689 A1 describes a method of orienting a device circulating autonomously. For example, it is planned to determine the height of the ceiling using ultrasonic and / or infrared sensors. The transition from an area with limited ceiling height to an area whose ceiling height is no longer measurable is interpreted as a passage to a free surface. The change of the ceiling height, closes the passage between two spaces.
    Description and advantages of the invention
    The present invention relates to a driving assistance method for assisting the driver in performing a driving maneuver in a covered area, comprising determining the current position of the vehicle and driving the vehicle from its present position to a destination position, this method being characterized in that the map contains the registration of roofed structures of the covered area and at least one roof sensor associated with the vehicle recognizes the covered structures, the current position of the vehicle being determined using the map and at least one coverage sensor.
    The covered area is an area in which the vehicle can circulate and is covered by a blanket. The covered area includes a garage, a garage in the basement, a parking lot or other.
    The coverage sensor is a sensor that detects coverage structures. This is for example a sensor facing upwards, that is to say towards the cover. If the sensor has a large opening angle to recognize objects objects structures, it is not necessary that the sensor is oriented towards the cover. The sensor, with a large opening angle, can be oriented in the direction of traffic and detect both roof structures and the vehicle environment. Preferably, only those structures recognized as being cover structures located above a predefined height, for example greater than a height of 2 meters or at the height of the vehicle, are taken into account.
    According to a development, the method assists the driver in performing a repetitive maneuver. The repetitive maneuver is for example the storage in a parking space or in a covered area or the release of the vehicle of this commitment or the passage from a narrow area to the covered area. The driver assistance system is driven by the driver in the learning mode. It is preferentially provided that the method comprises a learning mode with which the destination position and the trajectory are predefined in that the vehicle will circulate from the starting position while being driven by the driver to the destination position, the vehicle traveling along the path between the starting position and the destination position and at least one coverage sensor detecting the coverage structures and recording them in the map. The term trajectory refers to a curved path along which the vehicle moves during the driving maneuver. The vehicle is generally a motor vehicle, for example a passenger vehicle equipped with an internal combustion engine and / or an electric motor.
    After learning the method, using the learning mode the data obtained will be available to be called later and in particular to later drive the vehicle to the destination position learned during the learning mode. If the learned driving maneuver is to be repeated, according to the method of the invention, the current position of the vehicle is determined using the cover sensor and the map obtained in learning mode and then the vehicle is guided from there. towards the destination position. This embodiment of the method is particularly suitable for assisting the driver in a storage maneuver of a parking space which is assigned to him in a fixed manner, for example his own garage or a garage in the basement.
    According to another development of the method, a central facility provides the destination position and the map. Where appropriate, the path along which the vehicle will be guided to the destination position is provided. If no trajectory is provided, it will be provided by the assistance system of the vehicle using the map and the destination position. The central facility includes a garage building or a basement garage with numerous parking spaces and the central facility selects one of the locations as the destination position and the path to reach that destination position. a map provided to the vehicle. This embodiment is particularly suitable for public garages or parking buildings in which the vehicle has no fixed location; this is characterized in particular that the destination position and the path do not have to be predefined by the driver using the learning mode of the method. The preset of the destination position and the trajectory are given by the parking or garage manager.
    Preferably, the map used to determine the current position of the vehicle contains information relating to the coverage structures.
    The recorded information is selected in particular from the following information: position, height, contour, passage possibilities below or a combination of two such information. In addition, it can be determined whether the recognized coverage structure is a fixed or temporary structure. Temporary or mobile structures are not registered preferably in the map.
    The height of a roofing structure according to this definition is the free path measured over a roofing sensor and remaining between the vehicle and the roofing structure when the vehicle equipped with the roofing sensor passes under the roofing structure. respective coverage. The outline is then distinguished by the geometric shape given by the cover sensor for the cover structure. The possibility of passage below indicates if the height under cover is sufficient to allow the vehicle to come safely under the cover structure.
    Preferably, the current vehicle position is determined by comparison with coverage structures captured by at least one coverage sensor and which are coverage structures recorded in the map. Cover structures instantly captured by the vehicle using a roof sensor will be recognized by their properties such as position and height or contour. The recognition by comparison of the coverage structure preferably also uses relative positions between two coverage structures. By comparing, a roofing structure can be recognized so that the vehicle determines its current position with respect to the previously recognized roofing structure. Preferably, the trajectories of the positions used in connection with the method and in particular the destination position are also indicated with respect to the position of the coverage structure and a reference point is defined in the map. This reference point constitutes the origin of the coordinates and all indications relating to the trajectories and positions, in particular to the positions of the cover structures and to the destination positions which are indicated by reference to this origin.
    If in the learning mode a destination position and a trajectory have been predefined by the driver, then in general to repeat this driving maneuver, the driver's usual position will not necessarily coincide with the starting position defined in the driving mode. learning. By transmitting a trajectory and a destination position by the central facility, it is conceivable that the current position of the vehicle differs from the starting point of the trajectory. For this, it is preferably provided to determine the offset between the current position of the vehicle and the starting point of the trajectory and to determine a corrected path taking into account the offset. The corrected trajectory is advantageously used to guide the vehicle to its destination position.
    The guidance of the vehicle to the destination position is for example giving directions to the driver who will follow. Preferably, driving the vehicle to the destination position is automatic or semi-automatic. In the case of automatic driving of the vehicle both the transverse guidance, that is to say the actual guiding of the vehicle and also the longitudinal guidance, that is to say the acceleration and braking of the vehicle. vehicle are executed automatically. The driver has no other obligations than the surveillance function. In the case of semi-automatic guidance, this is done by the automatic longitudinal guide, or by the transverse guidance or reciprocally, so that with the automatic transverse guidance the driver resumes the longitudinal pipe.
    In the case of an automatic or semi-automatic vehicle guidance, the vehicle environment is preferably monitored with the surrounding field sensors and the automatic or semi-automatic vehicle guidance will be interrupted or stopped if the distance is exceeded security, predefined in relation to an obstacle.
    In connection with the proposed method, coverage structures that are at a coverage of the area covered or adjacent to the coverage are used to determine the current position of the vehicle. It will be possible to use only the respective cover structures in connection with the method and which are captured by at least one vehicle cover sensor. Suitable roofing structures include supporting beams, tubes, panels, lighting devices, walls, columns or a combination of at least two such roofing structures. In order to distinguish the roofing structures from other objects and structures of the vehicle environment, structures or structural parts are preferably used as covering structures which are above a predefined height. The predefined height is for example that of the vehicle. The invention also relates to a computer program applying the method as defined above when the computer program is executed by a programmable computing installation. The computer program is in particular a module for implementing a driver assistance system or a subsystem that can be a vehicle or an application for assistance functions performed on a mobile phone such as a smartphone or a smartphone. Tablet. The computer program can be recorded on a memory medium visible to the machine such as a permanent or rewritable memory medium or an association between the computer installation and a removable disk CD-Rom, DVD, Blu-ray disc. ray or a USB key. In addition or alternatively, the computer program will be downloaded from a computer installation such as a server, for example by a data transmission network such as the Internet or a communication to a link, for example a line phone or a wireless link. The invention also relates to a driving assistance system comprising a control device and a memory. The driver assistance system has at least one coverage sensor for capturing the coverage structures of a covered area. The assistance system is preferably designed to apply the method described above. The features cited in the process apply correspondingly to the driving assistance system and conversely the features described in the driving assistance system apply to the method.
    The functions of the control device or the components or units thereof can be implemented as a computer program. It can further be envisaged that the control device of the parts or components thereof is realized in the form of dedicated circuits (ASIC circuit). Preferably, the control apparatus is further adapted to communicate with other vehicle systems or is part of a vehicle-related system, such as the driver assistance system.
    The memory of the driving assistance system is especially designed to receive a card with the registration of coverage structures and a destination position and / or trajectory and it can return such information. The memory may be for example a separate memory or a part of another unit. In particular, the memory may be part of the control apparatus.
    The coverage sensor is for example an ultrasonic sensor, an infrared sensor, an optical camera, a stereo camera, a radar, a lidar or a combination of at least two such types of sensors. The cover sensor may be designed to recognize only cover structures in that it will be facing upwards towards a cover. Alternatively, particularly in the case of an optical camera, a stereo camera or a radar, the cover sensor is not oriented towards the cover; but for example in the direction of circulation, but as it has a large opening angle it will also capture roof structures. In this case, the coverage sensor captures both the vehicle environment and the coverage structures.
    Preferably, the driving assistance system captures the trajectory on which the vehicle moves. In particular, it is possible to provide connections with the steering wheel and the pedals. The driver assistance system further comprises odometric sensors for capturing the journeys traveled.
    Preferably, the driving assistance system comprises means for receiving a map, an oscillation position and a trajectory for guiding the vehicle to the destination position, from a central facility.
    Preferably, the driver assistance system further comprises environmental sensors that recognize obstacles in the vehicle environment. The environmental sensors are, for example, ultrasonic sensors, radar sensors, lidar sensors, optical cameras, stereo cameras or a combination of at least two such sensors. The environmental sensors may also be associated with other vehicle systems, including other driving assistance systems on the vehicle.
    Advantages of the invention
    The method and the device according to the invention improve the guidance of a vehicle in a covered area. For guidance of a vehicle, including automatic or semi-automatic vehicle guidance it is necessary to determine exactly its position. In a covered area, such as a garage, a basement garage or a garage building, the satellite navigation system is not accessible. Preferably, the method according to the invention or the device according to the invention guarantee the precise determination of the position of the vehicle by the detection of open structures.
    In addition, position determination using covered structure recognition has advantages over position determination by recognizing obstacles such as parked vehicles or garbage cans. All the obstacles are not fixed so that, in the event of a modification, for example when a vehicle that was parked, is no longer parked or is stored in another position, it will no longer be possible to guarantee the accuracy of the determination. position. While it is possible to increase the accuracy of detection by rediscovering obstacles by distinguishing between fixed and stationary obstacles, it is often difficult or impossible to classify an obstacle as a fixed obstacle or as a temporary obstacle. The use of covered structures, which are characteristic of a covered area, makes it possible to avoid from the outset the difficulties of determining the position because the structures covered, such as for example supporting beams, tubes or coverage or bright spots attached to a blanket are usually not changed. drawings
    The present invention will be described with the aid of examples of driving assistance system methods shown in the accompanying drawings, in which: FIG. 1 shows a vehicle equipped with a driving assistance system according to the invention, Figure 2 shows the storage maneuver in a parking space of a garage in the basement by defining the destination position, and Figure 3 shows the guidance of a vehicle to its location in a garage in the basement.
    Description of Embodiments of the Invention
    FIG. 1 shows a vehicle 1 equipped with a driver assistance system 10. The driver assistance system 10 comprises a control device 12 connected to surrounding field sensors 18, odometric sensors 22 and a sensor 24. The surrounding field sensors 18 or, more simply, the environment sensors 18 are, for example, embodied in the form of ultrasonic sensors. The cover sensor 24 is for example also a sensor functioning as an ultrasonic sensor. The environmental sensors 18 are installed on or in the vehicle 1 so that their field of vision covers a large part of the environment of the vehicle 1 and makes it possible to detect obstacles located in the environment of the vehicle 1. cover 24 is installed to capture covered structures 40, for example the coverage of a covered area 30 such as a garage, a garage in the basement 32 or a building of garages (see Figures 2 and 3). In the example shown in Figure 1, the cover sensor 24 is oriented upwards, that is to say in the direction of the cover. If, for example, a stereo camera or a radar sensor is used as a cover sensor 24, this sensor may, for example, be oriented in the traffic direction of the vehicle 1 because the opening angle of the cover sensor 24 will be chosen sufficiently big so that he also grabbed the blanket. The control device 12 of the driver assistance system 10 is furthermore connected with other systems of the vehicle 1 so that the control device 12 also makes it possible to detect the steering of the steering wheel, to control steering of the steering wheel for guiding the vehicle 1 and / or accelerating and braking for example the vehicle 1. Figure 1 shows the connections with the steering wheel 14 and the pedal 16. With a map and covered structures 40 and using at least one cover sensor 24 the method according to the invention determines the capacity of the vehicle 1 to be driven to a destination position 54 (see Figure 3). For this purpose, the driver assistance system 10 comprises a memory 20 which notably contains the card and the destination position 54.
    According to one embodiment of the invention, the driver assistance system 10 also comprises receiving means 28 for receiving the card, the destination position 54 and the path 56 from a central installation 60 (see FIG. Figure 3).
    FIG. 2 schematically shows a garage in the basement 32 with a large number of parking spaces 36 which is a covered area 30. In the situation shown in FIG. 2, a learning mode of the method according to FIG. invention to define the destination position 54 on a parking space 36. Further defines the trajectory 56 in which the vehicle 1 is guided from the starting position 52 along the path 56 to the destination position 54.
    To set the destination position 54 and the trajectory 56, the driver assistance system 10 is put in learning mode. Then, the driver guides the vehicle 1 to the destination position 54 so that the vehicle 1 moves along the trajectory 56. During the movement along the trajectory 56, the driver assistance system 10 or its sensor cover 24 (see Figure 1) establish a map of the open area 30. For this, the cover sensor 24 captures the cover structures 40 and saves them in the map. In particular, it records the position of the cover structures 40 but also preferentially, their height and, where appropriate, the contour. Suitable roofing structures 40 comprise, in the situation shown in FIG. 2, a panel 42 fastened to the ceiling of the garage in the basement 32. Other suitable roof structures 40 are the lighting elements 44 and the support beams 46 because in the various places of a garage in the basement 32 we encounter such elements that allow a good location thanks to their size and their position.
    Some storage locations 36 of the garage in the basement 32 are occupied by parked vehicles 34. These vehicles are not taken into account for the establishment of the card.
    In addition to the establishment of the card, it is preferably provided that the driver assistance system 10 uses the sensors associated with the vehicle 1 and in particular the odometer sensors 22 and with the position of the vehicle 1 obtained at the same time. With the aid of the cover sensor 24, the trajectory 56 is recorded. Both the map thus established and the trajectory 56 drawn will be recorded in the memory 20 associated with the driving assistance system 10. The position of the vehicle 1 is related to a reference point 26 which is, for example, in the middle of the rear axle of the vehicle 1.
    FIG. 3 shows the guidance of a vehicle 1 towards the destination position 54. The destination position 54 is in a garage in the basement 32 which has a covered area 30 described in connection with FIG. situation shown in Figure 2, some vehicles 34 are parked at other locations 36.
    According to one embodiment of the method, the destination position 54 is defined by first traversing in the learning mode or by using the central installation 60 associated with the covered area 32.
    In the case of the passage described above by the learning mode of the method, the driving assistance system 10 of the vehicle 1 has a map of the covered area 30 stored in the memory 20. In addition, the vehicle 1 has the destination position 54 stored in memory and the path 56 defined during the learning path. The trajectory 56 thus starts at the starting position 52.
    If no learning mode has been applied beforehand, the destination position 54 as well as the trajectory 56 and the map of the covered area 30 will be provided by the central installation 60. The central installation 60 is for example associated fixed to the garage in the basement 32 or a building of garages and it communicates to the vehicle 1 which enters the garage in the basement 32, the destination position 54 which is located on a parking space 36 free. In this case, a trajectory 56 is preferably determined by the starting position 52 and ending at the destination position 54.
    During a first step, the current position 50 of the vehicle 1 is determined. If this position is different from the starting position 52, the offset between the starting position 52 and the current position 50 of the vehicle is determined and determined. a corrected trajectory 58 based on the trajectory 56 and the offset thus obtained. Then, the vehicle 1 is driven along the corrected trajectory 58 starting from the current position 50 of the vehicle towards the destination position 54. The guidance of the vehicle 1 is preferably done in a completely automatic manner without any intervention by the driver. of the vehicle 1.
    Advantageously, in order to determine the current position 50 of the vehicle, only the transmitted map and the covered structures 40 captured by the cover sensor 24 of the vehicle 1 are used. As no obstacle is taken into account in the environment of the vehicle 1, such as parked vehicles 34, to determine the position, it matters little, for the determination of the position that for the establishment of the map (see Figure 2) the obstacles or vehicles parked 34 found themselves in other places or not. In each case it is necessary to precisely determine the current position 50 of the vehicle. 1H
    NOMENCLATURE OF MAIN COMPONENTS 1 Vehicle 10 Driving assistance system 12 Control unit 14 Steering wheel 16 Pedal 18 Environmental sensor 22 Odometer sensor 24 Coverage sensor 28 Reception system 30 Covered area 32 Garage in the basement 40 Structure covered 50 Current vehicle position 52 Starting position 54 Destination position 56 Trajectory 58 Trajectory corrected 60 Central installation
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1) A driving assistance method for assisting the driver in performing a driving maneuver in a covered area (30), comprising determining the current position (50) of the vehicle and driving the vehicle (1) from its present position (50) to a destination position (54), characterized in that the card contains the registration of the covered structures (40) of a roof of the covered area (30) at least one roof sensor (24) being associated with the vehicle (1) for recognizing covered structures (40) and the current position (50) of the vehicle is determined using the map and at least one coverage sensor (24).
    [0002]
    2) Method according to claim 1, characterized in that the method comprises a learning mode by which the destination position (54) of the trajectory (56) is predefined in that starting from its starting position (52) the vehicle (1) is driven by the driver to the destination position (54), the vehicle (1) traveling along the path (56) from the starting position (52) to the destination position ( 54), and at least one cover sensor (24) recognizing the covered structures (40) and recording them in the card.
    [0003]
    Method according to claim 1, characterized in that a central facility (60) provides the destination position (54), the path (56) along which the vehicle (1) is driven to the destination position. (54) and the map.
    [0004]
    4) Method according to any one of claims 1 to 3, characterized in that the card contains the information record relating to the covered structures (40), the information being selected from the information of position, height, outline, crossing below or a combination of such information.
    [0005]
    Method according to one of Claims 1 to 4, characterized in that the current position (50) of the vehicle is determined by comparing the cover structures (40) input to the structure by a cover sensor (24). coverage (40) recorded in the map.
    [0006]
    Method according to one of Claims 2 to 5, characterized in that, before the vehicle (1) is guided to the destination position (54), the difference between the current position (50) of the vehicle and the starting point of the trajectory (56) and determining a corrected trajectory (58) corresponding to this offset.
    [0007]
    7 °) Method according to any one of claims 1 to 6, characterized in that the vehicle (1) is guided to the destination position (54) automatically or semi-automatically.
    [0008]
    8 °) Method according to any one of claims 1 to 7, characterized in that the cover structures (40) are selected from the structures of the following assembly: support beam (46), tube, panel (42) ), lighting element (44), wall, column, or a combination of at least two such cover structures (40).
    [0009]
    9 °) computer program applying the method according to any one of claims 1 to 8 when executed by a computer.
    [0010]
    Driving assistance system (10) comprising a control apparatus (12) and a memory unit (20), characterized in that it comprises at least one cover sensor (24) for capturing structures covering (40) the cover of a covered area (30) and the driving assistance system (10) is adapted to perform the method according to any one of claims 1 to 8.
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    同族专利:
    公开号 | 公开日
    DE102015214367A1|2017-02-02|
    FR3039488B1|2019-04-05|
    DE102015214367B4|2019-06-06|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP2008915A3|2007-06-28|2012-02-22|Robert Bosch Gmbh|Device for semi-autonomous support of the steering movement of a car|
    DE102009029117A1|2009-09-02|2011-03-03|Robert Bosch Gmbh|Method for supporting driving operation of motor vehicle, involves conveying navigation information to motor vehicle of external unit, and moving that motor vehicle on basis of navigation information|
    DE102010017689A1|2010-07-01|2012-01-05|Vorwerk & Co. Interholding Gmbh|Automatically movable device and method for orientation of such a device|
    DE102012222562A1|2012-12-07|2014-06-12|Robert Bosch Gmbh|System for managing parking spaces in e.g. public park for transferring vehicle from start to target position, has central processing unit to generate speed control signals and pass to transfer unit for transmission to vehicle|
    DE102013015349A1|2013-09-17|2014-04-10|Daimler Ag|Method for starting-up of vehicle for parking in parking lot, involves determining whether vehicle is to be parked in home parking lot or home parking zone when starting-up vehicle, based on identified environmental data of vehicle|DE102017123195A1|2017-10-06|2019-04-11|Airbus Operations Gmbh|System and method for navigating an aircraft in a hall|
    DE102018216109B4|2018-09-21|2022-01-05|Volkswagen Aktiengesellschaft|Method for detecting the surroundings of a vehicle and vehicle|
    CN110979312B|2019-12-11|2021-09-14|武汉乐庭软件技术有限公司|Automatic parking method based on memory parking|
    法律状态:
    2017-07-20| PLFP| Fee payment|Year of fee payment: 2 |
    2018-07-23| PLFP| Fee payment|Year of fee payment: 3 |
    2018-08-24| PLSC| Search report ready|Effective date: 20180824 |
    2019-07-24| PLFP| Fee payment|Year of fee payment: 4 |
    2020-07-27| PLFP| Fee payment|Year of fee payment: 5 |
    2021-07-22| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015214367.8|2015-07-29|
    DE102015214367.8A|DE102015214367B4|2015-07-29|2015-07-29|Method and device for driver assistance|
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