• 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:
    Device (300) for communication between a vehicle (100) and an automatic parking system (200) comprising: - a first communication device (110) fitted to the vehicle (100) and at least one transmission facility (121, 131) ) for transmitting a first data signal over a wireless communication link (320), and - a second communication device (210) associated with the automatic parking system (200) and a reception facility (222) for receiving the first data signal via the wireless communication link (320). The transmission facility (121, 131) of the first communication device (110) is the transmitter of a surrounding acoustic, electromagnetic or optical field sensor (120, 130) fitted to the vehicle (100).
    公开号:FR3046978A1
    申请号:FR1750592
    申请日:2017-01-25
    公开日:2017-07-28
    发明作者:Felix Hess
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The present invention relates to a communication device between a vehicle and an automatic parking system.
    State of the art
    Automatic valet parking systems are automatic parking systems in which the vehicle is automatically stowed in a parking space. For this, the vehicle deposited by the driver at a removal station is taken in hand by the automatic parking system (automatic parking system) to be taken to a free parking space, assigned to the vehicle. For its recovery in the automatic parking system, the vehicle is driven from its parking position to the removal station. To control the driving operation, the vehicle is connected via a radio communication link, for example, WLAN, Bluetooth, GSM, LTE, UMTS or other radio technology, with the automatic parking system. To monitor the position and movement of the vehicle, the automatic parking system uses a camera system, usually consisting of several cameras distributed in the parking lot. Unlike an automatic driver for which the driver remains in the vehicle, in the case of the automatic valet, the vehicle runs without the driver. For this reason, the safety of the system is a crucial point, because it is necessary to avoid damaging the vehicle, another vehicle or the infrastructure of the car park. To avoid system failure in the event of a fault or disturbance of the WLAN communication link, the vehicle and the automatic parking system must have redundant communication capability.
    Purpose of the invention
    The present invention aims to develop a redundant communication possibility with respect to the radio communication link between the vehicle and the automatic parking system.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION The subject of the invention is a communication device between a vehicle and an automatic parking system comprising a first communication device fitted to the vehicle and at least one transmission facility for transmitting a first data signal. by a wireless communication link and a second communication device associated with the automatic parking system and a reception facility for receiving the first data signal by the wireless communication link, the transmission facility of the first communication device in the form of the emitter of a surrounding acoustic or electromagnetic acoustic field sensor equipping the vehicle. The use of a vehicle-specific surrounding field sensor as a transmission facility enables the vehicle to transmit data to the automatic parking system with the on-board means and without the need for an additional transmission facility. This reduces the costs of achieving such a communication link, vehicle side.
    According to one development, the second communication device further comprises a transmission facility for transmitting a second data signal over the wireless communication link, the first communication device having a reception facility for receiving the second data signal by the wireless communication link and the reception facility of the first communication device being the receiver of an acoustic, electromagnetic or optical environment sensor of the vehicle.
    This makes it possible to establish a bidirectional communication link between the vehicle and the automatic parking system with the infrastructure available in the vehicle, so that the vehicle can receive data and control signals from the automatic parking system via the link redundant communication.
    According to another development, the transmission installation of the first communication device is in the form of a transmitter of an ultrasonic sensor, a radar sensor or a lidar sensor.
    These sensors make it possible to achieve in a particularly simple way the bidirectional communication links between the vehicle and the automatic parking system. Ultrasonic sensors are particularly suitable for establishing short-distance communication links, even if there is no direct visual contact. On the other hand, radar sensors or lidar sensors enable particularly fast communication links, even over long distances.
    According to another development, the vehicle and the automatic parking system communicate via an encrypted radio communication link and the vehicle transmits, via the wireless communication link, secret information for the establishment of the encrypted radio communication link to the automatic parking system.
    Since some of the information necessary for establishing a secure radio communication link is exchanged over the redundant communication link, this significantly improves the security of the encrypted communication. In particular, it is possible to prevent third parties from being able to listen to the exchange of information by radio communication and be able to attach themselves secretly to the communication link in order, for example, to take control of the vehicle.
    According to another development, the vehicle and the automatic parking system communicate via a radio communication link, and the vehicle, in the event of a disturbance of the radio communication link, continues to communicate with the automatic parking system via the communication link. wireless.
    Such a redundant wireless communication link guarantees the control and monitoring of the vehicle, even in the event of radio network failure. This increases the safety of the automatic parking system and the vehicles concerned.
    According to another development the vehicle emits, with the aid of the optical transmission installation, information to the automatic parking system in the form of light pulses of different duration and / or different chronological sequences and / or under the form of different combinations of light pulses by at least two light devices of the vehicle.
    The redundant communication link is an additional means of communication with temporal and finite behavior. This makes it possible to determine the offset between the internal clocks of the two communication partners and to better synchronize the data signals that are exchanged only for the communication link operating with variable packet times.
    According to another feature, the vehicle and the automatic parking system transmit data signals in amplitude modulation, phase modulation, frequency modulation and / or pulse width modulation by the wireless communication link.
    Appropriate modulation makes it possible to generate data signals which are sufficiently different from the signals typically used by the surrounding field sensors to ensure any unwanted confusion between normal operation and communication operation of the surrounding field sensor.
    According to another development, the vehicle has an exterior lighting with at least one lighting device serving as the first communication device as an optical transmission facility for transmitting the first data signal and the automatic parking system has at least one camera which serves as a second communication device as an optical reception facility for receiving the first data signal sent by the optical transmission facility of the vehicle. The use of a light device or exterior lighting device of the vehicle makes it possible to establish another redundant communication link with the exchange of data from the vehicle to the automatic parking system. As the existing components, those of the lighting system of the vehicle and those of the camera system installed in the car park, the realization of the communication link is particularly economical.
    According to another development, the vehicle transmits, with the aid of the optical transmission installation, information to the automatic parking system in the form of light pulses of different duration and / or different chronological sequences and / or in the form of different combinations of light pulses by at least two light devices of the vehicle. The use of light pulses of different duration and in a different chronological sequence allows a robust data transmission, even in the case where the camera system does not directly capture the light devices of the vehicle. On the other hand, the use of combined light signals from several lighting devices significantly increases the speed of data transmission.
    According to another characteristic, the first communication device comprises at least two optical transmission installations for transmitting the first data signals, these installations being realized in the form of a respective flashing light of the vehicle and to each of the two indicators is associated a value different bit. Thus, each of the vehicle's indicators is associated with a different bit level. The use of the two vehicle turn signals combined for the transmission of data makes it possible to establish a redundant communication link between the vehicle and the automatic parking system which, even for relatively large distances between the transmitting vehicle and the receiving camera, unequivocally separates the two bit levels thereby achieving robust communication between the vehicle and the automatic parking system.
    drawings
    The present invention will be described hereinafter in more detail with the aid of examples of communication devices between a vehicle and an automatic parking system shown in the accompanying drawings in which: FIG. 1 is a diagram of the device consisting of a vehicle and an automatic parking system equipping a parking lot, Figure 2 is a schematic representation of a vehicle with several transmission and reception facilities for establishing a redundant communication link, and the figure 3 is a top view of a vehicle explaining the communication of the vehicle by light signals emitted by different lighting devices of the vehicle.
    Description of embodiments
    Figure 1 shows a device 300 according to the invention, consisting of a vehicle 100 and an automatic parking system 200 installed in a building of garages or more simply a parking lot 260. The automatic parking system 200 operates according to the principle of the automatic valet with a removal station 261 to receive the vehicle 100 and drive it to a free parking space 262 or in the opposite direction, to recover it. The control and monitoring of this driving maneuver is via an encrypted radio communication link, for example WLAN between the vehicle 100 and the automatic parking system 200. The vehicle 100 comprises for this purpose a communication device 110 with an installation WLAN transmission / reception 150. Similarly, the automatic parking system 200 has a communication device 210 with a corresponding WLAN transmission / reception facility 240. To ensure safe operation in the event of failure or disruption of the WLAN communication link 310, the invention provides at least one other wireless communication link 320, 330 between the vehicle 100 and the automatic parking system 200. This is preferably done using at least one surrounding field sensor 120 installed in the vehicle 100 and at least one lighting device 141 forming part of the lighting system of the vehicle. As shown in FIG. 1, the surrounding field sensor 120 of the vehicle which is, for example, in the form of a radar sensor, an ultrasonic sensor or a lidar sensor, functions both as an installation transmission 121 for transmitting signals and also as reception facility 122 for receiving signals. This makes it possible to establish a bidirectional communication link 320 with the automatic parking system 200. In a similar way, the communication device 210 of the automatic parking system 200 has at least one reception facility 222 for receiving the signals transmitted by the automatic parking system 200. transmission facility 121 of the surrounding field sensor 120 of the vehicle and at least one transmission facility 221 for transmitting corresponding signals to the receiving facility 122 of the surrounding field sensor 120 of the vehicle.
    The vehicle-side communication device 110 shown by way of example in FIG. 1 is furthermore composed of at least one optical transmission installation in the form of a lighting device 141 forming part of the external lighting system. of the vehicle. The optical transmission facility 141 transmits light signals to an appropriately designed optical reception system 230 forming part of the automatic parking system 200. Thus, a unidirectional communication link 330 based on light signals can be established. allows the vehicle 100 to transmit information to the automatic parking system 200. As an optical reception system 230 a camera is installed in the parking 260 and part of the automatic parking system 200. Depending on the size of the garage or parking lot 260 parking, there will be several such optical reception facilities distributed in parking lot 260.
    To control the communication, on the side of the vehicle 100, for example a separate control facility 160, which is part of the communication device 110, provides control of the communication. On the side of the automatic parking system 200, the control and monitoring of the communication is ensured under the responsibility, for example, of a control device 250 to which the transmission and reception facilities 221, 222, 230, are connected. 240. The control facility 250 monitors and controls the wireless communication links 310, 320, 330 and controls the maneuvers of the vehicle 100 during its transfer between the dispense station 261 and the parking space 262. Preferably, the WLAN communication link 310 for the data exchange between the vehicle 100 and the automatic parking system 200. The communication links 320, 330 made by the field sensors 120, 220 and the illumination 141 and In this case, the camera 230 can be used as a redundant communication path protecting the WLAN communication. By way of example, one of the additional wireless communication links 320, 330 can be used, similarly to the TAN method, for online banking and also as a second communication path, for the time of the establishing the communication, transmitting the encrypted WLAN combination link between the vehicle 100 and the automatic parking system 200 in the common secret form.
    In addition, the wireless communication links 320, 330 make it possible to establish a redundant communication path by which, in the event of failure or disruption of the WLAN communication link 310, the transmission of data between the vehicle 100 can be carried out. and the automatic parking system 200.
    Due to the defined chronological behavior, the surrounding field sensors and the lighting system make it possible to establish communication links 320, 330 also to determine the offset between the internal clocks of the vehicle 100 and the automatic parking system 200. makes it possible to better synchronize the transmission of data via the WLAN communication link 310 operating with variable packet travel times.
    Surrounding field sensors typically installed in a vehicle to measure distances and detect obstacles, such as, for example, ultrasonic sensors, radar sensors or lidar sensors, transmit and receive signals for use with modulation. suitable for communicating and exchanging data with the automatic parking system 200. The information units may be, for example, in the form of signal pulses of different durations and / or different chronological sequences. The transmission and reception systems 121, 122, 131, 132, 221, 222 of the vehicle 100 and the automatic parking system 200 may however also be implemented to transmit coded information in amplitude, frequency or phase modulation. since the surrounding field sensors 120, 130, 220 each have both transmit and receive facilities 121, 221, 122, 222 enabling bidirectional communication, this allows data to be exchanged both from the vehicle 100 to the automatic parking system 200 and in reverse.
    Alternatively, with respect to surrounding field sensors, the vehicle lighting system can also be used to communicate with the automatic parking system 200. For this, the communication device 110 of the vehicle uses at least one parking device. lighting 141 of the exterior lighting system 140 of the vehicle as an optical transmission installation. The transmission of data is preferably by light pulses with light pulses whose duration and / or temporal succession are varied. A video camera serving as an optical reception system 230 installed in the parking lot 260 and forming part of the parking-side communication device 210 receives the coded light signals emitted by the vehicle 100. Because of this, the two-dimensional resolution of the video camera allows also to simultaneously use several lighting devices outside the vehicle to transmit data. The data to be transmitted may for example be coded as combinations of light signals emitted by different lighting devices. In the simplest case, different bit levels are associated with the different lighting devices of the vehicle so that, for example, the light signal of the left lighting device represents a bit level equal to "1" and the light signal of the lighting device on the right represents a bit level "0" and vice versa. The use of the external lighting device of the vehicle for transmitting data makes it possible, of course, to have a relatively low bit rate. The communication link can however be realized without requiring particular transformations of the vehicle 100 and the garage or parking lot 260.
    In principle, it is also possible to use surrounding field sensors, different and different lighting devices of the vehicle 100 to communicate with the automatic parking system 200. For this purpose, Figure 2 shows a vehicle 100 equipped with a device 110 which further comprises a WLAN transmission / reception facility 150 also two surrounding field sensors 120, 130 and a plurality of lighting devices 141, 143 forming part of the exterior lighting system of the vehicle. The surrounding field sensors 120, 130 are, for example, radar sensors installed at the front of the vehicle as well as ultrasonic sensors installed in the rear area of the vehicle. The communication device 100 may also include surrounding field sensors (not shown here) installed on the sides of the vehicle 100. The communication device 110, on the vehicle side, may also include, as an optical transmission device, lighting the vehicle 141, 143 both at the front and rear and also on the sides of the vehicle 110. The optical emission installation can thus use in principle any lighting device outside the vehicle such as headlamps, fog lamps, turn lights, turn signals, taillights, fog lights, reversing lights or brake lights. Depending on the application, it is thus possible to use separate lighting devices or several lighting devices simultaneously to communicate with the automatic parking system.
    According to FIG. 2, the transmission and reception installations 121, 122, 131, 132, 141, 143 of the communication devices 110 of the vehicle are preferably connected to a common control facility 160 which manages the communication of the vehicle 100 with the automatic parking system 200. This control installation 160 can, as is the case in the present example, be connected to the main control 170 which manages the vehicle 100. As a variant, the control installation 160 can also be part of integral integral of the main control device 170. During the autonomous driving maneuver of the vehicle 100 in the garage or parking lot 260, the control installation 160 communicates through the reception facilities 122, 132, 150 which receive the data from the control system. automatic parking 200 to transmit them to the main control 170 of the vehicle; it then maneuvers the vehicle according to the instructions of the automatic parking system 200 in the parking lot 260.
    FIG. 3 explains the use of the lighting device forming part of the exterior lighting system of the vehicle 140 to communicate with the automatic parking system 200. In the present example, the two front turn signals and the two rear turn signals are thus used. 141, 142, 143, 144, each in pairs, as optical transmission facilities for transmitting data. The bit level "1" is, for example, associated with the left turn signal before 141 and the left turn signal back 144 while the bit level "0" is associated with the front and back turn signal 142, 143. In principle, it is also possible to consider other coding methods, for example, duration and / or chronological sequence in the form of variable light pulses.
    The described possibilities can be used to protect the communication between the automatic parking system 200 and the vehicle 100. Thus, when a new WLAN link is built for the automatic parking system 200, it is possible to send via a redundant communication path, a random number to the automatic parking system 200. The automatic parking system sends in response information deduced or encrypted by the WLAN to the vehicle 100 in response. The vehicle 100 receives the encrypted information and checks the automatic parking system 200 by comparing the encrypted information received and a calculated value. If, however, the vehicle 100 receives a false or unintended response, it may cut the communication. In this case, it can be assumed that the WLAN link has been connected to a false WLAN network which has, for example, been established by a hacker.
    In the case where the WLAN link between the vehicle 100 and the automatic parking system 200 abruptly breaks during a driving maneuver, the vehicle 100 must pass to a secure state, which generally results in the immediate stoppage. of the vehicle 100. It may no longer be possible to drive the vehicle 100 in the parking lot in which the WLAN link must be restored with the automatic parking system 200. To solve this situation, the vehicle 100 and the system automatic parking 200 can communicate via an alternative link path. The vehicle 100 may, for example, indicate to the automatic parking system 200 that it has stopped because the WLAN link has been cut off.
    To guarantee the safety of operation, it is necessary that the global system formed by the vehicle 100 and the parking system 200, knows the offset of the internal clocks. For this, the vehicle 100 communicates to the automatic parking system 200 by WLAN that, according to its internal clock, for example, at the instant X, there is emission of a radar signal, an ultrasound signal or a light signal. Since these signals have a defined travel time which, for the radar or the lighting device, is even negligible, the automatic parking system 200 can determine the instant of reception Y of the announced signal by relying on its internal clock. and thus determine the time offset XY between its internal clock and the internal clock of the vehicle 100.
    Although the described embodiments are based on a WLAN communication link as a radio communication link between the vehicle and the automatic parking system, this radio communication link can, in principle also, be realized with any other appropriate radio technology such as Bluetooth, GSM, LTED, UMTS.
    NOMENCLATURE OF MAIN ELEMENTS 100 Vehicle 120, 130, 220 Surrounding field sensors 121 Emission system 122 Reception system 121, 122, 131, Vehicle transmitting and receiving systems 132, 221, 222 140 Exterior lighting system 141, 142, 143, 144 Vehicle Illumination Devices / Front and Rear Turn Signals
    150 WLAN transmission / reception system 170 Master control 200 Automatic parking system 210 Wireless communication link 221 Transmitting installation 221, 222, 230, 240 Transmitting and receiving installation 230 Reception installation 230 Installation of optical reception 250 Control unit 260 Garage / parking lot
    260 WLAN transmit / receive system 261 Drop station 262 Parking space 300 Device
    310 WLAN communication link 320 Two-way communication link 330 One-way communication link 320, 330 Other wireless communication links
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    CLAIMS 1 °) Device (300) for communication between a vehicle (100) and an automatic parking system (200) comprising: a first communication device (110) equipping the vehicle (100) and at least one transmission facility ( 121, 131) for transmitting a first data signal over a wireless communication link (320), and a second communication device (210) associated with the automatic parking system (200) and a receiving facility (222) for receiving the first data signal by the wireless communication link (320), the transmission facility (121, 131) of the first communication device (110) being in the form of a transmitter of a communication sensor, surrounding field (120, 130) acoustic, electromagnetic or optical equipping the vehicle (100).
    [0002]
    2) Device (300) according to claim 1, characterized in that the second communication device (210) further comprises a transmission facility (221) for transmitting a second data signal by the wireless communication link ( 320), * the first communication device (110) having a reception facility (122, 132) for receiving the second data signal via the wireless communication link (320), and * the reception facility (122, 132) of the first communication device (110) being in the form of the receiver of an electromagnetic or optical acoustic environment sensor (120, 130) of the vehicle (100).
    [0003]
    3) Device (300) according to one of claims 1 or 2, characterized in that the transmission facility (121, 131) of the first communication device (110) being in the form of the transmitter of an ultrasonic sensor, a radar sensor or a lidar sensor.
    [0004]
    4) Device (300) according to one of claims 1 to 3, characterized in that the vehicle (100) and the automatic parking system (200) communicate via an encrypted radio communication link (310), and the vehicle (100) transmits, via the wireless communication link (320), secret information for establishing the encrypted radio communication link (310) to the automatic parking system (200).
    [0005]
    Device (300) according to one of Claims 1 to 4, characterized in that the vehicle (100) and the automatic parking system (200) communicate via a radio communication link (310) and the vehicle ( 100), in the event of a disturbance of the radio communication link (310), continues communication with the automatic parking system (200) via the wireless communication link (320).
    [0006]
    Device (300) according to one of claims 1 to 5, characterized in that the vehicle (100) and the automatic parking system (200) exchange data signals via the wireless communication link (320). for synchronization, by a radio communication link (310) between the vehicle (100) and the automatic parking system (200).
    [0007]
    Arrangement (300) according to one of Claims 1 to 6, characterized in that the vehicle (100) and the automatic parking system (200) transmit data signals in amplitude modulation, phase modulation, frequency modulation and / or pulse width modulation by the wireless communication link (320).
    [0008]
    Device (300) according to one of Claims 1 to 7, characterized in that the vehicle (100) has an external illumination (140) with at least one lighting device (141, 142, 143, 144). serving as first communication device (110) as an optical transmission facility for transmitting the first data signal, and the automatic parking system (200) has at least one camera (230) serving as a second communication device (210) as an optical reception facility for receiving the first data signal sent by the optical transmission facility (151, 152, 153, 154) of the vehicle (100).
    [0009]
    Arrangement (300) according to claim 8, characterized in that the vehicle (100) transmits, with the aid of the optical transmission facility (151, 152, 153, 154), information to the control system. automatic parking (200) in the form of light pulses of different duration and / or different chronological sequences and / or in the form of different combinations of light pulses by at least two light devices of the vehicle (100).
    [0010]
    Device (100) according to claim 9, characterized in that the first communication device (110) comprises at least two optical transmission facilities (151, 152, 153, 154) for transmitting the first data signals, these installations being carried out in the form of a respective flashing of the vehicle (100) and to each of the two turn signals (151, 152, 153, 154) is associated with a different bit value.
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    同族专利:
    公开号 | 公开日
    FR3046978B1|2019-09-20|
    DE102016201067A1|2017-07-27|
    引用文献:
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    DE102018010072A1|2018-12-20|2019-06-27|Daimler Ag|Method for controlling at least one at least partially autonomous vehicle function of a motor vehicle|
    DE102020200125A1|2020-01-08|2021-07-08|Volkswagen Aktiengesellschaft|Method, device and computer program for a vehicle for sending a sound-modulated warning signal to a road user, and for a mobile device of a road user for receiving a sound-modulated warning signal from a vehicle|
    法律状态:
    2018-01-24| PLFP| Fee payment|Year of fee payment: 2 |
    2019-01-22| PLFP| Fee payment|Year of fee payment: 3 |
    2019-01-25| PLSC| Publication of the preliminary search report|Effective date: 20190125 |
    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
    DE102016201067.0A|DE102016201067A1|2016-01-26|2016-01-26|Arrangement for communication between a vehicle and an automated parking system|
    DE102016201067.0|2016-01-26|
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