• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of controlling a vehicle (105) comprising detecting the environment of the vehicle (105), controlling the vehicle (105) based on the detected information, determining a driving situation of the vehicle, and enabling, disabling and parameterizing a vehicle vehicle protection function according to the driving situation thus determined.
    公开号:FR3043972A1
    申请号:FR1661175
    申请日:2016-11-18
    公开日:2017-05-26
    发明作者:Gregor Blott；Jan Rexilius；Stefan Nordbruch
    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 a device for controlling a vehicle.
    State of the art
    A parking system consists of a car park with several locations for storing vehicles. The parking system allows autonomous control of a vehicle on a path between a drop-off point and a storage location in the parking lot. Such an operation is known as "automatic valet" or AVP maneuver. To store a vehicle in a parking lot, all that is required is for the driver to drop off his vehicle at a removal station and leave the vehicle. The vehicle then circulates very automatically or fully automated to one of the parking slots that has been assigned for example by a management system. To recover the vehicle, operations occur in the opposite direction between the location and the drop-off station where the driver retrieves his vehicle and drives it in the usual way outside the car park.
    To have short braking distances, it is usual to drive the vehicle at a reduced speed, for example at a speed below 10 km / h. Nevertheless the autonomous control of the vehicle in a parking lot is a technically complicated solution and there is always the risk of an accident with a person who would be on the way in the car park.
    Purpose of the invention
    The present invention thus aims to develop improved technical means for controlling the vehicle.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION The subject of the invention is thus a method for controlling a vehicle comprising: detecting the environment of the vehicle, controlling the vehicle according to the information detected, determining a driving situation of the vehicle, and activate, deactivate and set a vehicle protection function according to the driving situation thus determined.
    One or more different protective functions of the vehicle advantageously and in an improved manner depending on the determined driving situation, the safety of the vehicle or a person who would be in the vehicle area. Any unnecessary protection function will be cut off, eliminating ambiguous information. In addition, the treatment facility will be less heavily solicited. Another protection function can then be activated if the driving state allows this protection function. This protection function can also be set according to the determined driving state in order to anticipate specific predictive difficulties and, if necessary, to be able to communicate better.
    Preferably, in the context of an automatic valet maneuver, the vehicle is driven into the parking lot between the removal station and its location. The path between the removal station and the storage location can be traveled in any direction. In addition, this may include starting or stopping, storing or clearing the taxiway. An AVP maneuver is better controlled in the parking lot than, for example, a public traffic route. In addition, the parking will be installed taking into account the needs of the operation AVP, for example it will be equipped with permanent lighting, and will choose the turning radius and it will provide infrastructure, etc ...
    According to one variant, the driving state is determined on the basis of the information of a sensor embedded in the vehicle. This makes it possible to use different types of sensors installed on the vehicle, for example a radar sensor, an ultrasonic sensor or an optical sensor. The information always relates to the vehicle environment and can be directly available.
    According to another variant, the driving situation is determined on the basis of the information provided by the sensors of a parking processing system. These sensors are for example permanently installed in the car park. This allows you to monitor areas that are not directly visible from the vehicle.
    According to a third variant, information of the sensors of these last two variants is merged. Merger makes it possible to compensate, verify and mutually improve the result of the determination.
    According to other variants, the alternative driving situation is determined on the side of the treatment system by the car park and then the information is transmitted to the vehicle or to the vehicle's on-board network, for example by an auxiliary processing installation. One can also perform a dual determination that the two determinations complement or validate each other. The driving situation can be determined quickly and safely.
    Preferably, the driving or traffic situation is the starting, the straight-line traffic, the curved traffic, the storage maneuver, the disengagement maneuver of a parking space, the traffic on a straight ramp, the traffic on a ramp with curves, a flipping movement and stopping. Alternate or additional traffic situations can also be prepared. Possible traffic situations may depend on local parking data.
    According to a particularly preferential development, the driving situation is determined according to the existence of a temporary obstacle. The temporary obstacle is, for example, an influence of meteorology such as humidity or a slippery traffic lane, or a person or an animal who would be in the parking area. For example, the same parking area can be evaluated according to different driving situations, depending on whether or not a pedestrian is in the vicinity. According to another development, the temporary obstacle can also be another vehicle.
    According to a development, the protection function influences the control of the longitudinal or transverse acceleration of the vehicle. This allows in particular to determine the control of the vehicle based on the information detected to reach the target and / or be disabled. Elements of the chassis of the vehicle can also be influenced by the protection function, for example in that one modifies the damping to pass from the flexible state to the hard state. According to another development, the protection function also consists in transmitting a signal in the vehicle area, which is then reflected in particular by an optical or acoustic signal. The invention also relates to a computer program product with program code for executing the method described above when the computer program product is applied by a processing facility or is recorded on a data carrier. The invention also relates to a control device of a vehicle comprising a sensor for detecting the environment of the vehicle and a processing installation for controlling the vehicle according to the detected information. The processing facility is also suitable for determining a driving situation of the vehicle and enabling, disabling or parameterizing a protection function according to the determined driving situation.
    drawings
    The present invention will be described in more detail below with the aid of examples of vehicle control methods and devices shown in the accompanying drawings, in which: FIG. 1 shows a system with parking for storing a vehicle. Figure 2 shows a vehicle for the system of Figure 1, and Figure 3 shows a flow chart of a control method of the vehicle of Figure 2 in the parking of Figure 1.
    Description of embodiments
    Figure 1 shows a system 100 consisting of a vehicle 105 and a parking lot 110. The parking can be in different embodiments, outside, or in the form of a building of garages. The car park 110 comprises at least several parking spaces 115 to receive each a vehicle 105.
    The car park 110 is designed to apply the automatic valet method (AVP process or operation). For this, the driver drives the vehicle 105 to the dispensing station 120 and leaves it. The vehicle 105 is then driven on the path 125 to a predefined parking space 115 to be parked there. If the driver 105 wants to retrieve the vehicle, the latter will circulate in the opposite way between the parking space 115 to return to the removal station 120. The traffic on the path 125 is done autonomously and there is no permanent surveillance by a human observer or usually nobody to support the vehicle 105 if the automated system was to fail. The control of the vehicle 105 on the path 125 may be made by the vehicle 105 itself, by the support of the infrastructure 130 of the car park 110 or by the cooperation of these two facilities. For example, the path 125 is subdivided into six segments 135-160. Each of the segments 135-160 corresponds to an example of a driving situation that can influence the guidance of the vehicle 105 on the path 125 and in particular the activation of a protection function of the vehicle. In the first segment 135, the driving situation corresponds to the start; in the second segment 140, it corresponds to a path in a straight line; in the third segment 145, the situation corresponds to a curve path; in the fourth segment 150, the situation again corresponds to a straight line path; in the fifth segment 155, the situation corresponds to a storage maneuver in a parking space and in the sixth segment 160, the maneuver corresponds to the stopping of the vehicle 105. Other driving situations can also be provided. In a particularly preferred manner, the driving situation is not defined solely by a driving maneuver of the vehicle 105 but also, for example, according to the environment or the dynamic influence of a person in the zone of a respective segment of the path 125. Determining the driving situation is thus a dynamic operation and also a complex operation.
    According to the invention, the driving situation of the vehicle 105 is determined and the protection function of the vehicle 105 is activated, deactivated or parameterized according to the determined driving situation.
    FIG. 2 shows the vehicle 105 on the car park 110 of FIG. 1. A device 205 is embedded in the vehicle 105. This device comprises a processing installation 210 and an interface 215 connected to a control installation of the vehicle 105. interface 215 allows the exchange of information for the longitudinal and transverse guidance of the vehicle 105. In particular, it is possible to activate, deactivate or parameterize a vehicle protection function 105, for example an active safety system or a braking system or A passenger restraint system via the interface 215. The protection function may also relate to a helper such as an inter-vehicle distance assistance system or a maintenance assistance system in the traffic corridor.
    One can also have one or more sensors 220 to detect the environment of the vehicle 105. The sensor 220 is for example an ultrasonic sensor, a radar sensor or a lidar sensor, a camera or a stereo camera. The locating facility 225 may be connected to the processing facility 210 to determine the position of the vehicle 105 in the car park 110. An optional map memory 230 includes topological information of the environment around the position of the vehicle. vehicle 105. Preferably, the communication installation 235 is a wireless installation that communicates with the infrastructure 130 of the car park 110. The infrastructure 130 comprises a processing installation 250 and a communication installation 255 for exchanging information with the communication facility 235 of the device 205 on board the vehicle 105. In addition, the infrastructure 130 includes one and preferably several sensors 260 to detect the environment of the vehicle 105. The detected areas are preferably in the parking lot 110 ; they may also include segments that are not traversed by the vehicle 105. The sensors 260 are for example a camera, a video camera, a motion detector, a light barrier, a radar sensor or a lidar sensor or a loop to induction.
    As will be described more precisely below with reference to FIG. 3, according to the invention, a protective function is determined on board the vehicle 105 as a function of a driving situation of the vehicle 105. determine the driving situation, a driving situation present or directly upstream of the vehicle 105 (see segments 135-160 of Figure 1).
    According to a first exemplary embodiment, the vehicle 105 is on an inclined plane, in particular on a ramp of the car park 110 according to a predefined traffic direction (in the ascending or descending direction). The protective function is for example the braking system of the vehicle 105; the protection function can be set in that a prediction of the slope down force exerted on the vehicle 105 is made to have an additional brake pressure. If the system specific to the vehicle had to be faulty for the longitudinal control of the vehicle 105, the vehicle 105 can nevertheless be braked quickly and safely.
    In another example, the vehicle is put in a special mode in which the correct operation of a protection function and / or a control function of the vehicle 105 is verified before the determined driving situation. In various embodiments, the operation is checked in a normal, intensive or complete manner. For example, the voltage, the charging current or the braking pressure could be used more frequently and / or more intensively to detect early enough the protection function which is the braking system here. If the protection function fails, you can remedy or activate another protection function, such as the parking brake taken as a replacement.
    The parking management system or the infrastructure 130 can also communicate to the vehicle 105 the protective measure that it must launch. This may relate to one or more protective measures.
    In another example, the protection function can also be external to the vehicle, at the parking 110. The infrastructure 130 comprises for example a threshold that can be retracted or a barrier to stop the vehicle 105. For example, the barrier can trigger an internal system in the vehicle to avoid shock so that the vehicle will stop in front of the barrier.
    An expandable barrier or similar facility may also physically stop the vehicle 105 from entering a predefined area. The damage of vehicle 105 will thus be taken into account.
    In another example, the protection function relates to a waiting function. The ramp can only be used if there is sufficient free space at the end of the ramp. According to another development, it can also be expected that the space is free in a predefined period of time. If this is not the case, wait until the condition is met to circulate.
    In another example, the vehicle 105 will be able to circulate on a helical ramp which is a substantially curved ramp with a predefined helix. If the vehicle 105 circulates in a helical ramp in the parking lot, it is necessary not only to take into account the upward or downward slope but also that the visibility of the onboard sensor 220 forward will be severely limited. As a protective measure, you can increase the brake pressure. According to another development, additional information is transmitted to the vehicle 105 to avoid, for example, that it touches an immobilized vehicle 105 in the helical ramp of the car park. This protection function consists in reducing the speed of circulation of the vehicle 105 or in that the vehicle 105 does not borrow the spiral ramp of the parking lot as long as it is not free.
    In another example, the vehicle 105 passes an area of the car park 110 with a pedestrian crossing. Depending on whether the pedestrian crossing is busy or not, the vehicle will be able to pass at different speeds on this pedestrian crossing. This adaptation of the speed can also be done beyond the pedestrian crossing zone. The vehicle can thus circulate globally more quickly on the path 125, which increases the overall flow of the car park 110.
    FIG. 3 shows the flow chart of a vehicle control method 300 of FIG. 2 in the parking lot 110 of FIG. 1. In step 305, the environment of the vehicle 105 is detected. In step 310 Next, the detected information is processed. The detected information is usually used to control the vehicle 105 on the path 125. In particular, a search is sought autonomous control, that is to say fully automated vehicle 105. In parallel with the order of the vehicle 105 or in competition with this command, a protection function influences the control of the vehicle 105 in the step 315. In particular, the protection function can be controlled by relying on the information processed in the step 310.
    According to the invention, the protection function is activated, deactivated (neutralized) or parametrized in step 315 according to the previously determined driving situation.
    Various embodiments are shown in Figure 3. For greater clarity, the steps shown in the right zone of Figure 3 are associated with the vehicle 105 or device 205; the steps to the left are associated with the car park 110 or its infrastructure 130.
    According to a first embodiment, the environment of the vehicle 105 is detected in the step 320 using the onboard sensor 220. This step can also be integrated in the step 305. Optionally, the sensor information, detected , are transmitted in step 325 to the infrastructure 130 of the car park 110.
    In the next step 330, the detected information is processed. In a variant, the information processed in step 335 is transmitted to the infrastructure 130 of the car park 110. Next, the state of circulation in the step 340 is determined using the treatment facility 210 of the device 205. embedded in the vehicle 105.
    According to a second embodiment, steps 350-370 are performed on the infrastructure side 130, these steps corresponding to steps 320-340. In step 350, the environment of the vehicle 105 is detected; in step 355, the optional sensing information is transmitted to the vehicle 105; the information is processed in step 360; as an option, they are transmitted in step 365 to vehicle 105 and then in step 370 the traffic state is determined. The two embodiments can be executed in parallel so that for the protection function, there will be two driving situations in the step 315. Preferably, however, a single driving situation is defined and this alternatively in the step 340 or in step 370. The processed information can be exchanged between the infrastructure 130 and the device 205.
    MAIN COMPONENT NOMENCLATURE 100 System 105 Vehicle 110 Parking 115 Parking space 120 Drop-off station 125 Trip 130 Infrastructure 135 First segments of trip 140 Second segment in straight line 145 Third segment in curve 150 Fourth segment in a straight line 155 Fifth segment to store in a slot 160 Sixth segment to stop the vehicle 205 Device 210 Process plant 215 Interface 220 Sensor 225 Positioning device 230 Card memory 235 Communication installation 250 Processing plant 255 Communication installation 260 Sensor 305-370 Process steps
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    1) A method (300) for controlling a vehicle (105) comprising the following steps: - detecting (305) the environment of the vehicle (105), - controlling (310) the vehicle (105) in function detected information, - determining (340, 370) a driving situation of the vehicle (105), and - activating, deactivating and setting a vehicle protection function (105) according to the driving situation thus determined.
    [0002]
    2) Method (300) according to claim 1, characterized in that in the context of an automatic valet parking maneuver in the parking (110) is conducted the vehicle (105) between the station of removal (120) and the storage location (115) of the vehicle (105).
    [0003]
    3) Method (300) according to claim 2, characterized in that based on the information provided by an onboard sensor (220) of the vehicle (105) determines the driving state.
    [0004]
    4) Method (300) according to claim 2 or 3, characterized in that based on the sensor information (260) of a treatment system (130) parking side is determined the driving state.
    [0005]
    Method (300) according to one of Claims 2 to 4, characterized in that the driving situation of the treatment system (130) on the parking side is determined and transmitted to the vehicle (105).
    [0006]
    6) Method (300) according to one of claims 2 to 5, characterized in that the driving situation is determined using a processing facility (210) on board the vehicle (105).
    [0007]
    7 °) Method (300) according to one of claims 1 to 6, characterized in that the driving situation is one of the following situations: starting, moving in a straight line, curving, storage maneuver in a location parking, clearing of a parking space, traffic on a straight ramp, traffic on a ramp with curves, change of direction and stop.
    [0008]
    Process (300) according to one of Claims 1 to 7, characterized in that, depending on the presence of a temporary obstacle, the driving situation is determined dynamically.
    [0009]
    9 °) Method (300) according to one of claims 1 to 8, characterized in that the protection function influences the control of the longitudinal or transverse acceleration of the vehicle (105).
    [0010]
    A computer program product having a program code for performing the method (300) according to one of claims 1 to 9 when the computer program product is applied by a processing facility (210, 250) or is registered. on a computer-readable data medium.
    [0011]
    11 °) control device for a vehicle (105) comprising: - a sensor (220, 260) for detecting the environment of the vehicle (105), a processing installation (210, 115) for controlling the vehicle (105) according to the information detected, - the processing installation (220, 260) being furthermore designed to determine a driving situation of the vehicle (105) and to activate deactivate or parameterize a protection function according to the driving situation thus determined .
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    同族专利:
    公开号 | 公开日
    DE102015222934A1|2017-05-24|
    FR3043972B1|2021-02-12|
    US10059332B2|2018-08-28|
    CN107031618B|2021-08-31|
    CN107031618A|2017-08-11|
    US20170144655A1|2017-05-25|
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    法律状态:
    2017-11-24| PLFP| Fee payment|Year of fee payment: 2 |
    2018-08-17| PLSC| Publication of the preliminary search report|Effective date: 20180817 |
    2019-11-21| PLFP| Fee payment|Year of fee payment: 4 |
    2020-11-19| PLFP| Fee payment|Year of fee payment: 5 |
    2021-11-19| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015222934.3A|DE102015222934A1|2015-11-20|2015-11-20|Controlling a motor vehicle|
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