EP2235562A1 - Système et procédé pour mesurer un créneau de stationnement - Google Patents

Système et procédé pour mesurer un créneau de stationnement

Info

Publication number
EP2235562A1
EP2235562A1 EP08870696A EP08870696A EP2235562A1 EP 2235562 A1 EP2235562 A1 EP 2235562A1 EP 08870696 A EP08870696 A EP 08870696A EP 08870696 A EP08870696 A EP 08870696A EP 2235562 A1 EP2235562 A1 EP 2235562A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
parking space
line scan
depth
measuring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08870696A
Other languages
German (de)
English (en)
Inventor
Michael Scherl
Uwe Zimmermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2235562A1 publication Critical patent/EP2235562A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/934—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the depth, i.e. width, not length, of the parking space
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Definitions

  • the invention is based on a device or a method according to the preamble of the independent claims.
  • EP 1 467 225 A1 it is known to record three-dimensional environmental images of a vehicle with an optical three-dimensional system, for example an SD camera.
  • the device according to the invention and the method according to the invention with the features of the independent claims have the advantage that a cost-effective one-dimensional sensor, namely a depth-measuring line scan camera, is provided for detecting the 3D information necessary for the detection and measurement of a parking space. From a plurality of successive shots of the depth-resolving one-dimensional sensor obtained in the movement of the vehicle, a three-dimensional image of the surroundings of the vehicle can be composed.
  • Line scan cameras are available with a high pixel count, so that a particularly high resolution can be achieved. Because the data captured by the line scan camera already contain spatially resolved depth information, an accurate spatial measurement of the objects in the surroundings of the vehicle is possible. Thus, in particular the size, shape and position of a parking space can be determined with particular high accuracy, as well as shapes and dimensions of the boundaries of a parking space or any obtrusive objects in the parking space. As a result, a reliable classification and assessment of the relevance of the objects in question is possible, for example, an accurate determination of the height of the curb or a safe distinction between traversable and non-drivable objects, as well as between objects that do not drive over, but can be surmounted by a body part such as a low curb, and objects that can not. In addition, optical limitations, such as shadows cast in unfavorable sunlight or contrast weakness between foreground and background, play no role in depth-measuring line sensors. The detected by the line camera simultaneously with the depth information
  • the line scan camera is in this case arranged with a horizontal viewing direction, ie, on a vehicle in order to detect the environment relevant for the detection and measurement of parking spaces. In particular, parked vehicles and objects located near the road surface should be reliably detected.
  • the viewing direction of the line scan camera is preferably perpendicular to the longitudinal direction of the vehicle, but can also be aligned obliquely forward or backward.
  • the one-dimensional image of the environment taken by the line scan camera consists of pixels, which are preferably arranged in the vertical direction; but the camera line can also be aligned obliquely to the vertical.
  • the intensity or brightness information obtained with the line scan camera can also be evaluated. By increasing the redundancy, for example, these can permit statements about the usability of the depth information, for example with a weak signal or with errors of the line scan camera. Likewise, for example, reflexes can be detected, which also allow statements about the shape of the detected objects. In addition, by evaluating the reflectance or gray value data, the security and accuracy of the object classification can be improved.
  • At least one evaluation device is provided which can be integrated separately from the line scan camera or also into it.
  • the evaluation device can also be designed as part of a higher-level system.
  • the evaluation device may be associated with storage means which may contain data of the vehicle, such as the dimensions, the positions of the wheels to the corners of the vehicle, or even the maximum height of objects that can still be run over or surmounted.
  • the storage means may also serve to store images of the line scan camera.
  • the evaluated data on the parking space may be available for the information of the driver, for example, whether the parking space is sufficient for parking the vehicle at all, or also serve for the calculation of actions of a parking assistance system. It is also possible to provide several line scan cameras for detecting different areas, for increasing accuracy, for avoiding shadowing or for detecting different types of parking spaces.
  • a line scan camera can be arranged on the right side of the vehicle for measuring
  • a line scan camera can be arranged in the front region of the vehicle and a further in the rear region, in order to be able to determine the data of the parking space at any time at the earliest possible time, irrespective of the direction of passing; when driving forwards, one of the line scan cameras is in operation in this case, while the reverse is the other. Both line scan cameras can also be used simultaneously to achieve optimum coverage of the parking space or a redundant measurement under all conditions.
  • the plurality of line scan cameras can be designed or arranged differently, for example, with viewing directions in different obliquity to the longitudinal direction in order to reduce shadowing.
  • the deep-resolution line scan camera may be a PMD (Photon Mixing Device) sensor or range imager.
  • PMD Photon Mixing Device
  • range imager Such a sensor is available at low cost. The active lighting allows use even under bad
  • Illumination conditions eg. At night. It is particularly preferred when the sensor is operating in the NIR range, since it is invisible to the human eye, but the sensor and receiver technology is mature, robust and readily available.
  • Resolution and angle range of the depth-measuring line scan camera be designed by a suitable optics, for example by toroidal lenses with different focal lengths in different planes.
  • Such measures can be provided both for the design of the beam range of the transmitter as well as the sensitivity range of the receiver.
  • This allows the desired beam or sensitivity profiles, for example oval profiles, to be achieved for each pixel. So it may be particularly advantageous in the horizontal and in the vertical direction to have different width beamprojections, which are optimally adapted to the respective required resolution in the horizontal and in the vertical direction.
  • Line scan camera is adjusted horizontally and vertically different or view-dependent of the required accuracy.
  • the detection range of each pixel may be lower in the vertical direction than in the horizontal direction. This can be achieved with a given sensitivity of the pixels a particularly high resolution and accuracy in the vertical direction, for example, to determine the height of a curb as accurately as possible in order to classify these as überragbar or not überragbar.
  • the resolution of the line scan camera in a line of sight in which objects are found in frequently occurring driving situations, the height of which must be precisely measured, can be higher than in other areas. This can be achieved for example by a different pixel pitch or by using multiple sensors or line scan cameras with different resolution.
  • vehicle-mounted or vehicle-independent systems can be used.
  • vehicle-mounted or vehicle-independent systems can be used.
  • Embodiment are used for this odometry sensors.
  • This has the advantage of a simple, inexpensive design.
  • such sensors are often already present in vehicles as part of other systems, such as ABS or ASR;
  • ABS or ASR ABS or ASR
  • the use of these sensors has the particular advantage that there are no additional costs for the sensors.
  • the detection of the movement of the vehicle allows, in particular, the determination of the distance increment by which the vehicle has moved from one shot of the line scan camera to the next, and thus, possibly with the help of further data on the orientation of the line scan camera or rotational movements of the vehicle Composition of successive shots to a complete picture of the environment of the vehicle.
  • a sequence of frames of an environment of the vehicle (1) is taken in a horizontal direction transverse to a longitudinal direction (x) of the vehicle, with the frames in a further transverse direction
  • the vehicle's longitudinal movement (x) is resolved, the movement of the vehicle as it passes the parking space is detected, and from this the path increment is calculated from one to a subsequent single image shot; In this case, other movements than the movement of the vehicle in the longitudinal direction can be detected for later evaluation.
  • the recording of the individual images takes place according to the invention with a depth-measuring line scan camera, so that the individual images contain one-dimensionally resolved brightness and depth information in the further direction. From the sequence of one-dimensional images with depth information, the limitations of the parking space can be detected with high accuracy and the usable dimensions of the parking space can be determined.
  • the method according to claim 8 in contrast, has the further advantage that with a low computing and storage capacity and therefore inexpensive and fast secure evaluation of the data supplied by the line scan camera is possible.
  • the beginning and the depth of the parking space can be determined.
  • Figure 1 shows a situation when passing on a parking space from a bird's eye view
  • Figure 2 shows the function of a device according to the invention in cross section of the scene of Figure 1;
  • FIG. 3 shows a side view of the scene from FIG. 1 with a schematically represented single image of a line scan camera
  • FIG. 4 shows a synthesized image of the line scan camera as it passes by the parking space of FIG. 1;
  • FIG. 5 shows in schematic form a method according to the invention for determining the parameters of a parking space
  • FIG. 6 shows the part of the single image from FIG. 3 which is essential for carrying out the method according to the invention
  • Fig. 7 shows in schematic form the depth information contained in the image of Fig. 4;
  • Embodiments of the invention A situation in which the device according to the invention and the method according to the invention can be used advantageously is shown in plan view (from a bird's-eye view) in FIG.
  • the parking space 4 is further limited by the curb 5.
  • the parking space may also be limited by other objects, such as trees, bollards, parked bicycles, etc.
  • the use of the device according to the invention may also be useful if the parking space is open to more than one side, for example, if no curb or even a single stationary vehicle 3 is present.
  • the device according to the invention generates data which serve as a basis for information to the driver or possibly further actions, such as the planning and execution of a partially or completely independent parking operation, to a superordinate driver information or control system.
  • a depth-measuring line camera 10 is provided according to embodiment, the viewing direction is directed perpendicular to the longitudinal direction x of the vehicle. As shown in FIG. 2, the receiving aperture of the depth-measuring line camera 10 biases a fan-shaped area 11 in the vertical direction, which detects the objects located in the vicinity of the vehicle 1.
  • Each pixel of the line scan camera is assigned a line of sight 12, 13 in a specific spatial direction. For those pixels whose visual rays 12 do not strike any object, there is no depth information and possibly also no brightness information.
  • FIG. 3 shows an example of the inverse brightness distribution in a single image 40 of the line scan camera in a side view of the scene from FIG. If the vehicle 1 with the line camera 10 located thereon now moves past the stationary vehicles 2, 3 in the longitudinal direction x, a complete image of the scene can be synthesized from the successive individual images of the line camera (FIG. 4). A column 41 of the synthesized image corresponds to a single image of the line scan camera.
  • each column corresponds to the Weginkrement that has covered the vehicle 1 from one to the next shot of the line scan camera.
  • a second sensor for example an odometry sensor 20, is provided, which determines the speed of the vehicle from the wheel movement, from which the path increment can be calculated with the time interval of the individual shots of the camera. The time interval of the
  • Individual shots depend on the speed of the vehicle 1 and the desired resolution in the x-direction.
  • a method according to the invention is shown schematically in FIG.
  • the vehicle (1) passes by at the parking space, a plurality of individual images are recorded by the depth-resolving line scan camera, as a result of which depth information is available for each pixel in addition to the brightness information from which distance information is determined.
  • the data can be smoothed or even several pixels with similar depth or distance information summarized and erroneous values that are unusable, for example, due to sensor defects, reflections or the like, are eliminated.
  • determines the contiguous area corresponding to distance information, each representing environment objects. This is shown schematically in FIG. 6 for a column 42 of the synthesized image of the surroundings of the vehicle.
  • the minimum and maximum vertical values Z m1n and z max are determined, which characterizes the dimensions of the object in question, with possibly those measured values representing the road surface being eliminated.
  • z max is important for determining the traversability of objects and for classifying objects in those that can be run over, such as a lowered curb, those that can be run over, for example, with the rear, but not with a wheel, such as a Curb below a predetermined maximum height, and those that are not run over can, such as a parked vehicle, a bollard or a wall.
  • the line scan camera 10 and the odometry sensor 20 are connected to an evaluation device 30, which determines the information from the data supplied by the sensors and, if appropriate, makes this available to a higher-level system.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne un système destiné à mesurer un créneau de stationnement (4), lorsqu'un véhicule (1) passe devant le créneau de stationnement, ledit système comportant une caméra linéaire se déplaçant avec le véhicule (1) afin de saisir des images individuelles de l'environnement du véhicule (1) transversalement à une direction longitudinale (x) du véhicule, des moyens pour saisir le mouvement du véhicule (1) et un dispositif d'évaluation (30), la caméra linéaire étant une caméra linéaire mesurant la profondeur de sorte que les images individuelles de l'environnement du véhicule (1) contiennent des informations de profondeur résolubles dans une direction verticale (z). Cela rend possible la mesure peu coûteuse, précise et sûre de créneaux de stationnement. L'invention concerne également un procédé pour mesurer un créneau de stationnement.
EP08870696A 2008-01-16 2008-11-11 Système et procédé pour mesurer un créneau de stationnement Withdrawn EP2235562A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008004632A DE102008004632A1 (de) 2008-01-16 2008-01-16 Vorrichtung und Verfahren zur Vermessung einer Parklücke
PCT/EP2008/065275 WO2009089938A1 (fr) 2008-01-16 2008-11-11 Système et procédé pour mesurer un créneau de stationnement

Publications (1)

Publication Number Publication Date
EP2235562A1 true EP2235562A1 (fr) 2010-10-06

Family

ID=40427254

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Application Number Title Priority Date Filing Date
EP08870696A Withdrawn EP2235562A1 (fr) 2008-01-16 2008-11-11 Système et procédé pour mesurer un créneau de stationnement

Country Status (4)

Country Link
US (1) US8422737B2 (fr)
EP (1) EP2235562A1 (fr)
DE (1) DE102008004632A1 (fr)
WO (1) WO2009089938A1 (fr)

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Publication number Publication date
US8422737B2 (en) 2013-04-16
WO2009089938A1 (fr) 2009-07-23
US20110013201A1 (en) 2011-01-20
DE102008004632A1 (de) 2009-07-23

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