• 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 data for the driverless conduit of a vehicle (301) in a parking lot (401) using one or more surrounding field sensor systems (303, 405) comprising: - capturing the instant environment of the vehicle (301) during a manual vehicle ride in the car park (401) using the surrounding field sensor systems (303, 405), and - determining the data for a driverless driving of the vehicle in the car park. based on the surrounding field data.
    公开号:FR3046977A1
    申请号:FR1750416
    申请日:2017-01-19
    公开日:2017-07-28
    发明作者:Stefan Nordbruch；Gerrit Quast；Juergen Auracher
    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 system for determining data for driverless driving of a vehicle in a parking lot using one or more surrounding field sensor systems. The invention also relates to a vehicle thus equipped as well as a well equipped parking and a computer program for the implementation of this method.
    State of the art
    According to DE 10 2012 222 562 A1 there is known a system applied to managed parking surfaces for transferring a vehicle from a starting position to a destination position. For this transfer, it is necessary to use data for the vehicle to carry out the transfer.
    Purpose of the invention
    The present invention aims to develop an effective concept for efficiently determining data for driverless driving of a vehicle in a parking lot.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION To this end, the present invention relates to a method for determining the data for the driverless conduit of a vehicle in a parking lot by using one or more surrounding field sensor systems comprising the following steps comprising: capturing the instant environment of the vehicle during a manual vehicle ride in the parking lot using the surrounding field sensor system (s) to determine the surrounding field data corresponding to the environment, and determining the data for a driverless driving of the vehicle in the parking lot based on the surrounding field data so that depending on the data obtained, the vehicle can drive without driver in the parking. The invention also relates to one or more surrounding field sensor systems for capturing the instantaneous environment of the vehicle during the manual driving of the vehicle in the car park, to determine the surrounding field data corresponding to the environment entered and a processing facility for determining data of a driverless driving of the vehicle in the parking lot based on the surrounding field data so that the vehicle can travel in the parking space without a driver based on the determined data .
    According to a development, the subject of the invention is a vehicle comprising a system as defined above. According to another development, the invention relates to a parking for vehicles equipped with the above systems. The invention also relates to a computer program with a program code for implementing the above method when the program is executed by a computer.
    In other words, the object of the invention is notably the idea of grasping the environment of the vehicle while the vehicle is traveling in manual driving in the parking lot using one or more field sensor systems. surrounding. This gives surrounding field data corresponding to the environment entered. These data are obtained based on the surrounding field data. During manual driving, the data necessary for driving the driverless vehicle in the car park are efficiently determined.
    Thus, each driver of the vehicle according to the invention or each driver who travels with his vehicle in the parking according to the invention determines, advantageously itself the data, that is to say, it cooperates. This is particularly the case if the data is established using the vehicle according to the invention. Indeed, all that is needed for this, namely a surrounding field sensor system and the treatment facility already exist. In general, a vehicle is equipped with one or more surrounding field sensor systems, so that, advantageously, the driver of the vehicle independently of external providers determines the data to establish, for example, the digital map of locations parking. Thus, for example, the driver of the vehicle can determine itself, such data, for example the digital map of the car park if such a digital map does not exist yet and generally, if there is no data. This is particularly advantageous if the car park is a private car park for which, in general, there is still no digital map and for which, generally, there is not yet such data. In fact, in general, the data are established in particular in the form of a digital map for parking spaces intended for public car parks. But this is not guaranteed in all cases for public car parks. In general, to determine such data, corresponds to an important work for example in the form of a digital map so that this solution is only interesting for external suppliers and for large parking areas.
    A parking space, within the meaning of the present invention, is a parking surface for receiving a vehicle. The parking space thus constitutes, in particular, a coherent surface with several parking spaces (in the case of parking on private land) or parking spaces (in the case of a public parking). The parking space, according to one embodiment, is a garage. The parking space can also be a garage in the basement. The expression "digital map" is used, for example, for the data. This means that by using "numerical map" expressions in the general case, this includes the notion of data.
    The data that is determined in the context of the invention are the data which make it possible to drive a vehicle without a driver, on the basis of these data. Driverless means that the vehicle is no longer controlled manually by the driver. The vehicle travels in the context of driverless traffic, for example, autonomously, respectively, by remote control.
    Thus, the driver of the vehicle can establish a digital map of a public and / or private car park. Based on the digital map thus established, it is advantageously possible for the vehicle to travel in autonomous or remote mode in the parking. In particular, a digital map thus established of the car park, allows an efficient navigation in the carpark. Thus, for example, advantageously, the driver, based on the digital map, can navigate with his vehicle in manual driving in the parking. In addition, it is advantageously possible for the driver to navigate as a pedestrian in the parking lot using the digital map of the car park. The driver can, for example, load the digital map thus established on his mobile terminal, navigate and navigate the parking lot.
    According to one development, based on the surrounding field data, it is checked whether the environment corresponding to the surrounding field data must be re-entered by the surrounding field sensor system (s) and if the verification has shown that the surrounding field data corresponding to the environment should be re-entered using the surrounding field sensor system (s), an indication is transmitted to the vehicle driver that during one of the vehicle trips corresponding to the transmitted indication, the environment is again captured by the surrounding field sensor system or systems and this indication is transmitted to the driver of the vehicle through a man-machine interface.
    This results in particular the technical advantage of effectively avoiding errors in the determined data. Indeed, insofar as the verification has shown that the corresponding environment has to be entered again, an indication is determined for the driver of the vehicle so that the latter, from this indication, can circulate again in the environment. This advantageously ensures that the environment is, once again, captured using the surrounding field sensor system and that thus obtain precise indications of surrounding field with the data thus obtained. The indication intended for the driver provides, for example, the driving maneuver that must be performed during a new passage in the environment originally entered. Thus, for example, the verification could show that a certain area of the environment was not sufficiently captured using the surrounding field sensor system (s) to establish the data corresponding to that area. zoned. A new route or passage of the receptive zone or zones and in particular the new entry of the zone using the surrounding field sensor system or systems advantageously ensures that this zone has been effectively captured by a new passage so that that we finally get efficient and accurate data. The human-machine interface in the sense of the present invention designates in particular a user interface or user interfaces between the system and the driver of the vehicle. The human-machine interface, according to one embodiment, comprises an indication installation such as, for example, an image screen, for example, a touch screen.
    According to one embodiment, the man-machine interface comprises a loudspeaker and optionally, preferably, a microphone.
    A surrounding field sensor system within the meaning of the present invention comprises for example one or more surrounding field sensors. A surrounding field sensor within the meaning of the present invention is in particular one of the following surrounding field sensors: video sensor, radar sensor, ultrasonic sensor, infrared sensor, laser sensor, lidar sensor, magnetic sensor. With the aid of a surrounding field sensor it is advantageous to effectively capture the environment of the vehicle. The data provided by such a surrounding field sensor and corresponding to the environment entered is the sensor data or surrounding field sensor data. The surrounding field data thus correspond, according to one embodiment, to sensor data. In one embodiment, the surrounding field data is determined based on the sensor data. Thus, according to one embodiment, it is intended to fuse together the sensor data to obtain the surrounding field data.
    According to a development, the data is determined by analyzing the surrounding field data entered for the possible parking locations for the vehicle so that the determined data includes the possible parking positions found for the vehicle.
    This results in particular the technical advantage that the parking spaces in which the vehicle can be stored have been found effectively. This advantageously makes it possible, for example, to record the possible parking spaces in a digital map.
    According to another development, the analysis consists in determining the dimensions of a parking space and comparing them to the dimensions of the vehicle; the parking space will only be considered as a possible parking space for the vehicle if the comparison has shown that the dimensions of the vehicle allow it to fit into the parking space.
    This results in particular the technical advantage of ensuring that the dimensions of the vehicle allow him to rank in the parking space.
    The size of the vehicle is in particular the length and / or the width and / or the height of the vehicle. In general, the size of the vehicle is known and is, for example, stored in a vehicle memory. As part of the analysis, it is then, for example, to extract the stored size of the vehicle from the memory installation.
    According to a development, the analysis consists in analyzing the parking space to determine if the vehicle can be parked without a driver in the parking space and / or if it can be disengaged without a driver from the parking space, this the parking space is then considered as a possible parking space for the vehicle only if the analysis has shown that the vehicle could be parked without a driver in the parking space and / or be unmanned from this parking space.
    Thus, it results in particular the technical advantage, to effectively ensure that the vehicle can be stored without driver in the parking space or can emerge without driver from this parking space.
    Driverless stowage / clearance from a parking space includes remote control of the vehicle for stowage and / or self-standing from that parking location. Driverless stowage / clearance includes allowing the vehicle to stand-alone, that is, stand-alone in the parking spot, or stand-alone from the parking spot. It also means that, in the case of driverless storage / clearing, it is no longer necessary for the driver to be on board the vehicle to drive it manually.
    Depending on the autonomous driving function or the remote control function for driving, it can be provided that the vehicle can not perform all the driving maneuvers physically possible. But as these features are taken into account in the search for a possible parking space, it results in particular the technical advantage that the vehicle can also be stored without a driver in the parking space or disengage without a driver from this location .
    For example, there is provided a parking assistant (valet) who can store the driverless vehicle in the parking space or clear it without driver from this parking space. The parking assistant has a certain parking function that predefines, for example, the maximum possible steering angle. For example, the function provides for a minimum distance between the vehicle and the object of its environment for the parking assistant to stow the vehicle in the parking space or to release it from the parking space. This ensures that the parking assistant can provide full functionality.
    According to a development, at least one path traveled by the vehicle traveling between a predefined starting position and a predefined destination position will be recorded and the determination of the data consists, based on at least one recorded path, in determining a path standard between the starting position and the destination position so that the determined data comprises the determined standard path.
    This results in particular the technical advantage that the vehicle can use a route already known to circulate remotely in the parking lot or standalone mode in the parking.
    Thus, as part of a storage maneuver in the parking lot, it is usual for the vehicle to travel from its starting position to its destination position. Once this route has been traveled at least once, the vehicle will then know where to travel from the departure location to the destination location.
    According to one embodiment, the predefined starting position is the parking entrance. The predefined destination position according to this embodiment is a possible parking space for the vehicle. Thus, it will take the path of the vehicle leading from the parking entrance to a possible parking location.
    According to another development, the predefined starting position is a possible parking position of the vehicle. According to this embodiment, the destination position is the exit of the car park. Thus, according to this embodiment, the path of the vehicle will be taken efficiently, namely the path from the parking position to the exit of the parking.
    According to a development, several trips are recorded between each predefined starting position and the respective destination position predefined based on the multiplicity of recorded paths is determined each time the standard path from the predefined starting position to the destination position. preset and this path is saved in the digital map.
    It also means that, for example, the journey traveled by the vehicle between the entrance of the car park and a possible parking space of the vehicle has been recorded. For example, it is expected that the path traveled by the vehicle between a possible parking location of the vehicle and the exit of the car park is a recorded journey.
    Based on the standard paths, it is thus possible to advantageously apply an automatic valet operation (AVP maneuver) to the vehicle. The expression AVP represents the expression "automatic valet"; it can be applied to an automatic parking maneuver. In the context of an AVP maneuver, it is, for example, provided that the vehicle automatically moves from the parking entrance to its parking position to automatically store in this position. As part of the AVP maneuver, it is, for example, provided that the vehicle moves from a storage position where the vehicle was parked until the exit of the car park. Automatic driving includes remotely controlling the vehicle or using an autonomous driving mode. For example, it is provided that the vehicle is remotely controlled on part of the journey in the parking lot while the remainder of the journey is traveled by the vehicle in autonomous mode.
    According to one embodiment, with a human-machine interface, the driver of the vehicle is asked to determine an object of known dimensions in the parking lot so that when the object is captured using the field sensor or sensors surrounding, during the movement of the vehicle, the size of the object is determined based on the capture and the object is compared to a dimension and according to this comparison it is checked whether the surrounding field sensor system works without defect .
    This results in particular the technical advantage of effectively guaranteeing that the surrounding field sensor system works flawlessly. Indeed, as the dimension of the object is known per se it can be checked whether the surrounding field sensor system has also recognized the size of the object. The notion of dimension means, as indicated above, in connection with the size of the vehicle, in particular, a length and / or a height and / or a width of the object.
    According to a development, determining the data consists in updating the existing data for a driverless trip of the vehicle in the parking space based on the environment data.
    This results in particular the technical advantage of being able to effectively update the existing digital map of the car park.
    In particular, this has the technical advantage of being able to effectively update existing data so that the vehicle will have current data for driverless driving.
    For example, in the case of several manual vehicle ducts in the car park, for example, it is possible to enter the corresponding environment each time with the aid of the environmental sensor system or systems to determine the appropriate data of the surrounding field. . Thus, it is advantageously possible to establish even more precisely (or to determine) an existing digital map (general data) by going several times to the parking space.
    According to a development, the system is provided for determining the data for driverless driving of the vehicle so that the method determines the data for driverless driving of the vehicle in the parking lot.
    According to one development, the data determination method for driverless driving of a vehicle in a parking lot is performed by a data determination system for driverless driving.
    According to a development, the vehicle is designed or installed to perform the data determination process for driverless vehicle traffic in the car park.
    According to one development, a surrounding field sensor is provided to capture the instant environment of the vehicle during a manually executed trip for the vehicle in the parking location, to determine the surrounding field data using the environment. .
    According to one embodiment, the vehicle comprises one or more surrounding field sensor systems.
    According to one embodiment, a man-machine interface is provided. For example, the man-machine interface provides a driving indication to the driver of the vehicle so that he can re-enter the vehicle environment. It is, for example, made in the form of a machine interface that provides requests to a driver of the vehicle, so that the driver of the vehicle can use an object of known dimensions in the parking.
    According to one embodiment, the system comprises a man-machine interface.
    According to one embodiment, the vehicle comprises a man-machine interface. The human-machine interface of the system or the vehicle is, for example, the existing man-machine interface.
    The "respective" formula is particularly synonymous with the formula "and / or".
    According to one embodiment, the processing facility verifies, based on the surrounding field data, whether the environment corresponding to the data is to be re-entered using the surrounding field sensor system (s) and the processing installation is performed to determine an indication to the driver of the vehicle, so that, during the journey of the corresponding vehicle the indication provided to the driver, the environment is again entered using the system or systems if the verification has shown that the environment corresponding to the surrounding field data must be re-entered using the surrounding field sensor system (s) and the treatment facility is realized so that the man-machine interface can provide the driver of the vehicle with the driving indication.
    According to a development, the processing facility determines the entered environment data relating to possible parking locations for the vehicle by analyzing them so that the resulting data includes the possible parking locations of the vehicle.
    According to a development, the processing facility analyzes the data to determine the size of the parking location and to compare that dimension to that of the vehicle and the treatment facility considers the parking location as a possible location for the vehicle if the comparison showed that the size of the vehicle allowed him to fit into the parking space.
    According to a development, the treatment facility analyzes the parking space to determine if the vehicle can be parked without a driver in this parking space and / or if it can be disengaged without a driver from this parking space, the installation considering the parking space as a possible parking space for the vehicle only if the analysis showed that the vehicle could be parked without a driver and / or disengaged without a driver from the parking space.
    According to a development, there is provided a recording installation for recording at least one path traveled by the vehicle during its circulation and corresponding to a predefined starting position for a predefined destination position and the processing installation determines the data by itself. basing on at least one path recorded for at least one standard path from a starting position to a destination position so that the obtained data comprises the determined standard path.
    According to a development, the predefined starting position is the parking entrance and the predefined destination position is a possible parking location of the vehicle and / or the predefined parking location for the vehicle and the predefined destination position is the exit parking.
    According to a development, the processing facility applies, as a request, a known object dimension in the parking slot to determine it and provides it to a man-machine interface so that this interface can request the driver of the vehicle to to use an object of known dimensions in the parking space and the processing facility to enter an object using the surrounding field sensor system (s) while the vehicle is traveling in the parking lot, determines a dimension of the object based on the input and compares this dimension to the known quantities or the comparison to determine whether the surrounding field sensor system (s) are functioning properly.
    According to one development, to determine the data, the facility updates the existing data for driverless driving of the vehicle in the parking lot based on the update data.
    According to one embodiment, the surrounding field sensor system (s) comprise a surrounding field sensor system of the vehicle and / or a surrounding field sensor system of the parking lot.
    According to one embodiment, the processing facility determines the data of a digital map of the parking and / or the data of the setpoint paths of a vehicle to determine the target paths.
    drawings
    The present invention will be described hereinafter, by way of examples of a data determination method for driverless driving of a vehicle in a parking lot, shown in the accompanying drawings, in which: FIG. of a method for determining data relating to a driverless driving of a vehicle in a parking lot, Figure 2 very schematically shows a system for determining the data of a driverless driving of a vehicle in a parking lot using one or more surrounding field sensor systems, Figure 3 shows a motor vehicle, and Figures 4-6 show various schematic views of a parking space.
    Description of embodiments
    FIG. 1 shows a simplified flowchart of a method for determining data for a driverless (path) driving of a motor vehicle in a parking lot using one or more surrounding field sensor systems.
    The method includes performing the steps of: capturing the instantaneous environment of the vehicle during a manual vehicle ride in the parking lot using the surrounding field sensor system (s) to determine the surrounding field data corresponding to the captured environment, and determine the data for a driverless vehicle trip in the parking lot based on the surrounding field data so that the vehicle can travel in the driverless parking using the data obtained.
    Capturing the instantaneous environment (instantaneous surrounding field) of the vehicle advantageously makes it possible to capture objects that are in the environment of the vehicle. The establishment of the digital map of the parking then consists, in particular, to record or register the objects entered in the digital map. By way of example, it is thus advantageously possible to use the surrounding field sensor system to effectively capture the partitions, walls, columns, borders and other fixed objects of the car park, for example the elements of the fixed infrastructure. parking and record or plot the digital map of the car park.
    Figure 2 shows a system 201 for determining the data for driverless (driver) driving of a vehicle in the parking lot using one or more surrounding field sensor systems.
    The system 201 comprises: one or more surrounding field sensor systems 203 for capturing the instant environment of the vehicle during manual vehicle driving in the car park, for determining the environment data corresponding to the surrounding field being entered, and a facility of processing 205 to determine the data for a driverless (path) driving of the vehicle in the parking lot based on the surrounding field data so that the vehicle can drive in the parking lot without driver based on the data obtained.
    The square shown in Figure 2 and labeled 203 symbolically represents a surrounding field sensor system or several surrounding field sensor systems. For example, it is expected that a surrounding field sensor system of the vehicle and a surrounding field sensor system of the parking lot consists each time of several surrounding field sensor systems 203 so that both a surrounding field system of the vehicle and also a surrounding field sensor system of the car park can capture the instantaneous environment of the vehicle during its manual driving in the car park, to determine the environmental data in the surrounding field thus captured.
    The system 201 comprises, for example, a human-machine interface.
    Figure 3 shows a vehicle (motor vehicle) 301.
    The vehicle 301 comprises a radar sensor 303 installed at the front of the vehicle 301. The vehicle 301 also comprises a video sensor 305 in the form of a video camera installed on the roof (roof) of the vehicle 301. The video camera 305 and the radar sensor 303 captures the environment of the vehicle 301 while it is manually driven into the parking lot. Based on the entered environment, the corresponding surrounding field data is determined. This surrounding field data is provided to a processing facility 307 of the vehicle 301. The processing facility 307 establishes a digital map of the parking lot based on the surrounding field data.
    Thus, the vehicle 301 includes a system 309 for determining the data for driverless driving of the vehicle 301 in the parking lot using one or more surrounding field sensors; the system 309 comprises, as the surrounding field sensor system, the two sensors 303, 305 as well as the processing installation 307.
    FIG. 4 shows the vehicle 301 of FIG. 3 during its manual driving in the parking lot 401. In order not to complicate the drawing, only the sensor 303 of the vehicle 301 of FIG. 3 in FIG. 4 for the system 309 and FIG. also in Figures 5 and 6, but not the other elements 305, 307 of the system 309.
    Parking 401 is a garage with locations having a door 403. In the entrance area 407 of the parking garage 401, there is a video camera 405. The input angle of the video camera 405 is 411. The end of the car park has the reference 409.
    The vehicle 301 is advantageously monitored by means of the video camera 405. The vehicle 301 circulates in manual mode at the parking space 401 and establishes, as indicated previously, the digital map (generally the data for driving without driver or driverless trip of the vehicle) of the car park 401. After the establishment of such a digital map, the vehicle 301 can be advantageously circulated autonomously on the basis of the digital map thus established or by remote control in the parking 401, after the establishment of the digital map. In particular, based on the digital map thus established, the vehicle 301 can perform an automatic storage maneuver in the parking lot 401.
    FIG. 5 shows another possibility of configuring the car park 401. Unlike the configuration shown in FIG. 4, the video camera 405 is not installed in the entry zone 407, but at the end 409 of the car park 401.
    FIG. 6 shows the parking according to the configuration of FIG. 4, but in addition, outside the parking lot 401, another video camera 405 installed on a farmhouse 601 and monitoring the vehicle 301 traveling outside the car park 401. .
    The car park 401 shown in FIGS. 4-6 comprises, according to one embodiment, the system 201 of FIG. 2. The surrounding field sensor system of the car park 401 is composed, for example, of the video camera 405 or of several cameras. 405. This advantageously allows that when a vehicle runs in the parking 401 which does not include the system 201 of Figure 2, to determine, for this vehicle, the data to allow the vehicle to drive without driver in the parking 401. It also means that, according to this embodiment, it is intended to determine the parking data 401 using the system 201.
    According to another development, both with the aid of the system 201 of the vehicle 301 and the system 201 of the car park 401, data with which the vehicle 301 can drive without driver in the car park 401 are determined. These data, which have been determined in FIG. each time by the different systems 201 are then merged to compensate for each other.
    According to another development, both a surrounding field sensor system of the vehicle 201 and also the surrounding field sensor system 405 of the parking lot 401 captures the path of the manually operated vehicle 301 and then determines corresponding surrounding field data with which data is determined for driverless driving of the vehicle 301 based on the surrounding field data. In particular, the invention consists of developing an efficient technical concept based on data that can be efficiently obtained by using one or more surrounding field sensor systems for driverless driving of the vehicle in the parking lot. By way of example, it is provided, according to one embodiment, that based on the data obtained, a digital map of the car park is established. From such a digital map, the vehicle can then advantageously perform an automatic storage maneuver in the parking. The basic idea of the invention is in particular the learning of the trajectories necessary for a maneuver, automatic valet, (AVP maneuver). According to one embodiment, it is thus planned to determine the path between a starting position and a destination position, which is registered based on a determined standard path and recording in the digital map. Then, the vehicle can advantageously circulate itself the standard path.
    If necessary, any obstacles (for example a bicycle) may be detected by the vehicle during subsequent trips using the surrounding field sensor system. According to one embodiment, the vehicle remains automatically immobilized in case of difficulty detection, that is to say it stops automatically.
    According to a development, the path of the vehicle, including the path of the vehicle in the context of an AVP maneuver is monitored by the driver who, if necessary, can intervene. This means that the driver represents a redundant security function.
    The driver can then, for example, stay in his seat. The driver may also be outside the vehicle, according to one embodiment, and monitor, if necessary stop the operation of his vehicle by a mobile terminal, for example a mobile phone.
    It also means that in order to establish the parking lot digital map, the driver of the vehicle must first drive with his vehicle in the parking lot and train accordingly. Both the manual driving of the vehicle in the parking lot, and also the autonomous remote control of the vehicle in the car park are monitored according to other embodiments. For example, a surveillance system external to the vehicle and which comprises, for example, one or more surrounding field sensors, including video cameras can enter. Thus, for example, the monitoring system (which corresponds to the surrounding field sensor system of the car park) monitors the driving of the vehicle from its entrance in the car park to its parking space and / or in the opposite direction .
    In particular, there are provided several video cameras in the parking lot or several surrounding field sensors to effectively monitor a relatively long journey of the vehicle in the parking.
    The surrounding field sensors of the surveillance system are, for example, surrounding field sensors discussed above and as they are provided in connection with the surrounding field sensor system. According to one embodiment, several paths or paths are determined or generated for different destination positions and in particular for the different possible parking positions.
    According to one embodiment, before the start of an automatic valet AVP maneuver is asked to the driver of the vehicle to select from different possible positions and / or different routes. According to one embodiment, the driver of the vehicle is offered several possibilities of choosing the destination position and / or a path.
    According to another development, one automatically selects a target position and / or a path with different possibilities.
    According to another development, before an AVP maneuver, it is analyzed if the planned course is free of obstacles. This is done in particular with the external monitoring facility to the vehicle. If the race or the trip was not free, the driver is automatically asked to clear the road. For example, you have to move a bike.
    According to another embodiment, when a problem is recognized during the journey of the vehicle, in particular during an AVP maneuver, the vehicle is stopped automatically. This happens, for example, if, by an analysis, it is found that a new object is on the path of the vehicle. According to another development, the driver is notified of a difficulty detected and a stop of the vehicle, for example, by a communication network such as his mobile terminal.
    According to another development, the vehicle is automatically stopped at its destination position and is immobilized. This means in particular that the engine of the vehicle is cut. Immobilized means in particular that other electrical systems of the vehicle are cut. In particular, this means that the doors and the trunk of the vehicle will be closed and locked.
    According to another development, the end of the AVP automatic valet maneuver is communicated to the driver.
    According to another development, the pipes conducted manually and / or automatically from the vehicle in the parking lot are analyzed. If you see, for example, that the vehicle always goes to a certain place very close to an object and that, on the other side, there is a lot of space, that will be taken into account for future journeys. This information is communicated, for example, to the driver, according to one embodiment of the invention. The driver can then advantageously generate a new trajectory, for example, by manual driving.
    According to another development, depending on the trajectories or paths and analyzes a better trajectory is determined and proposed to the driver as another trajectory and / or as a replacement trajectory.
    According to another development, regularly and / or after difficulties, it is verified whether the system, in particular the external system of the vehicle, and in particular the surrounding field sensor systems used, operate correctly, that is to say without defects. This includes checking whether the monitoring system, for example, the surrounding field sensor system, is still detecting objects in the field of view. For this, we ask, for example the driver to stop at certain places in the parking lot, for specific objects with known dimensions. Then we analyze and check if the analysis is still correct. If deviations are detected, the process is prohibited and the system is blocked; the driver is asked to remedy this difficulty.
    For example, the driver is asked to go to the garage. According to another development, the verification consists of traveling with a passenger. The path of the vehicle includes a path between the parking entrance and a storage position and / or reciprocally.
    NOMENCLATURE OF KEY ELEMENTS 101, 103 Data flow method flowchart steps for driverless driving of a vehicle 201 Data system for driverless driving of a vehicle in a parking lot 203 Data sensor system surrounding field 205 Processing plant 301 Vehicle 303 Radar sensor 305 Video sensor 307 Processing plant 309 System for determining data for driverless driving of the vehicle 401 Parking 403 Garage door 405 Video camera 407 Entrance area 409 Parking lot end 411 Angle of capture of the video camera
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    CLAIMS 1 °) Method for determining the data for the driverless conduit of a vehicle (301) in a parking lot (401) using one or more surrounding field sensor systems (203, 303, 305, 405) including the steps the following: capturing (101) the instantaneous environment of the vehicle (301) during a manual driving of the vehicle (301) in the parking (401) using the surrounding field sensor system (s) (203, 303, 305, 405), to determine the surrounding environmental field data, and to determine (103) data for driverless driving of the vehicle (301) in the parking (401) based on the data of surrounding field so that depending on the data obtained, the vehicle (301) can circulate without driver in the parking (401).
    [0002]
    Method according to Claim 1, characterized in that, depending on the surrounding field data, it is checked whether the environment corresponding to the surrounding field data is to be re-entered using the one or more control systems. surrounding field sensors (203, 303, 305, 405) and if the verification has shown that the environment must be re-entered using the surrounding field sensor system (s) (203, 303, 305, 405), a driving indication is transmitted to the driver of the vehicle (301) so that during a journey of the vehicle (301) corresponding to the driving indication, the environment is again entered using of the surrounding field sensor system (s) (203, 303, 305, 405) and communicating to the driver of the vehicle (301) the driving indication via a man-machine interface.
    [0003]
    Method according to claim 1 or 2, characterized in that the determination comprises entering data indicating that the captured field data has been analyzed to determine possible parking positions for the vehicle (301) so that the determined data include the possible parking positions found by the vehicle (301).
    [0004]
    4) Method according to claim 3, characterized in that the analysis consists in determining an order of magnitude of a parking space and comparing it with the size of the vehicle (301), the parking position being determined then as possible parking position for the vehicle (301) that if the comparison has shown that, due to its dimensions, the vehicle (301) can be stored in the parking space.
    [0005]
    Method according to Claim 3 or 4, characterized in that the analysis consists in analyzing a parking space to determine whether the vehicle (301) can be parked without a driver in the parking space and / or disengaged without driver of the parking space, the parking space being considered as a possible parking space for the vehicle (301) only if the analysis has shown that the vehicle (301) could be parked without a driver in the parking space and get away without a driver.
    [0006]
    Method according to one of Claims 1 to 5, characterized in that at least one path traversed by the vehicle (301) is recorded between a predefined starting position and a predefined destination position. based on at least one recorded path, determining at least one standard path between the start position and the destination position, the determined data including the determined standard path.
    [0007]
    Method according to Claim 6, characterized in that the predefined starting position is the parking entrance (401) and the predefined destination position is a possible parking space for the vehicle (301) and / or the position predefined departure point is a possible parking location for the vehicle and the predefined destination position is the exit of the car park (401).
    [0008]
    8 °) Method according to any one of claims 1 to 7, characterized in that using a human-machine interface, the driver of the vehicle (301) is asked to detect an object of known size in the parking (401) so that when the object is grasped by means of the surrounding field sensor system (s) (203, 303, 305, 405), during the circulation of the vehicle (301) in the parking ( 401), the dimensions of the object are determined based on the input and compared to the known dimensions and, based on the comparison, it is determined whether the surrounding field sensor system (s) (203, 303, 305, 405) are working properly.
    [0009]
    Method according to one of claims 1 to 8, characterized in that determining the data consists in updating the existing data for a driverless driving of the vehicle (301) in the parking (401) on the basis of the data of the environment.
    [0010]
    Method according to one of claims 1 to 9, characterized in that the surrounding field sensor system or systems (203, 303, 305, 405) comprises a surrounding field sensor system of the vehicle (301) and or a field sensor system surrounding the parking lot (401).
    [0011]
    11 °) Method according to one of claims 1 to 10, characterized in that the determination of the data consists in establishing a digital map of the parking and / or in determining trajectory setpoint data of a trajectory that the vehicle (301 ) must drive through the parking lot (401).
    [0012]
    12) System (201, 309) for determining data for driverless driving of the vehicle (301) in the parking (401) using one or more surrounding field sensor systems (203, 303, 305, 405) comprising one or more surrounding field sensor systems (203, 303, 305, 405) for grasping (101) the instant environment of the vehicle (301) during manual driving of the vehicle (301) in the parking (401), for determining the surrounding field data corresponding to the entered environment, and a processing facility (205, 307) for determining (103) the driverless driving data of the vehicle (301) in the parking lot (401) based on on the surrounding field data so that the vehicle (301) can travel in the driverless parking slot (401) based on the determined data.
    [0013]
    The system (201, 309) according to claim 12, characterized in that the processing facility (205, 307) verifies on the basis of the surrounding field data whether the environment corresponding to these surrounding field data is to again be captured using the surrounding field sensor system (s) (203, 303, 305, 405) and the processing facility (205, 307) determines a driving indication for the driver of the vehicle (301). ) so that, during a journey of the vehicle (301) corresponding to the driving indication, the environment is, once again, captured by means of the surrounding field sensor system (s) (203, 303, 305, 405) if the verification has shown that the environment corresponding to the surrounding field data has to be entered again with the aid of the surrounding field sensor system (s) (203, 303, 305, 405), processing plant (205, 307) providing the driving indication determined at a man-machine interface so that this interface can provide the driving indication to the driver of the vehicle (301).
    [0014]
    System (201, 309) according to claim 12 or 13, characterized in that the processing facility (205, 307) analyzes the surrounding field data as to the possible parking positions of the vehicle (301) to determine the data so that the data thus obtained includes the possible parking positions found for the vehicle (301).
    [0015]
    System (201, 309) according to claim 14, characterized in that the processing facility (205, 307) analyzes the data to determine the dimensions of the parking space and to compare these dimensions with those of the vehicle. (301), the treatment facility (205, 307) considering the parking space as a possible location for the vehicle (301) only if the comparison showed that the dimensions allowed the vehicle (301) to fit into the parking space. System (201, 309) according to claim 12, characterized in that the treatment unit (205, 307) analyzes the parking space to determine whether the vehicle (301) can be stored without a driver in the parking area. parking space and / or driverless clearance from the parking space and the treatment facility (205, 307) considers the parking space as a possible parking space for the vehicle (301) only if the analysis showed that the vehicle (301) could be parked without a driver in the parking space and / or disengaged without driver from this parking space. 17 °) System (201, 309) according to one of claims 12 to 16, characterized in that it comprises a recording installation for recording at least one path traveled by the vehicle (301) between a predefined starting position and a predefined destination position, the processing facility (205, 307) determining from the data based on at least one recorded path at least one standard path between the starting position and the destination position so that the determined data comprise the determined standard path. System (201, 309) according to claim 17, characterized in that the predefined starting position is the parking entrance (401) and the predefined destination position is the possible parking space of the vehicle (301). and / or the predefined starting position is a possible parking location for the vehicle and the predefined destination position is the exit of the car park (401). 19 °) System (201, 309) according to one of claims 12 to 18, characterized in that the treatment facility (205, 307) establishes a request to have an object of given dimensions in the parking (401) and to provide a man-machine interface so that, with the aid of this man-machine interface, the driver of the vehicle (301) can be asked to find an object of known dimensions in the parking (401), the installation processing (205, 307) for gripping the object with one or more surrounding field sensor systems (203, 303, 305, 405) during vehicle traffic (301) in the parking lot ( 401), determines the size of the object based on the input of the object and compares it with the known dimension and determines, based on this comparison, whether the surrounding field sensor system or systems (203, 303 , 305, 405) works correctly. 20 °) System (201, 309) according to one of claims 12 to 19, characterized in that the processing facility (205, 307), for determining the data, updates the existing data for driverless driving of the vehicle (301) in the car park (401) based on the surrounding field data. 21 °) System (201, 309) according to one of claims 12 to 20, characterized in that the surrounding field sensor system or systems (203, 303, 305, 405) comprise a system of field sensors surrounding the vehicle (301) and / or a surrounding field sensor system of the car park (401). 22 °) System (201, 309) according to one of claims 12 to 21, characterized in that the processing facility (205, 307) determines the data of a digital map of the parking (401) to determine and / or the set path data that the vehicle (301) is to travel in the parking lot (401). 23 °) Vehicle (301) comprising a system (201, 309) according to one of claims 12 to 22. 24 °) Parking (401) for vehicles (301) having a system (201, 309) according to one Claims 12 to 22. 25 °) Computer program comprising a program code for executing the method according to one of Claims 1 to 11 when the computer program is run in a computer.
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    同族专利:
    公开号 | 公开日
    FR3046977B1|2020-09-18|
    DE102016200792A1|2017-07-27|
    US10474156B2|2019-11-12|
    DE102016200792B4|2022-02-24|
    CN107097782A|2017-08-29|
    US20170212519A1|2017-07-27|
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    法律状态:
    2018-01-24| PLFP| Fee payment|Year of fee payment: 2 |
    2019-02-15| PLSC| Publication of the preliminary search report|Effective date: 20190215 |
    2020-01-23| PLFP| Fee payment|Year of fee payment: 4 |
    2021-01-20| PLFP| Fee payment|Year of fee payment: 5 |
    2022-01-18| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016200792.0A|DE102016200792B4|2016-01-21|2016-01-21|Method and system for determining data for driving a motor vehicle without a driver|
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