WO2014146657A2 - Procédé et dispositif pour l'exécution d'une manoeuvre automatique de sortie de stationnement d'un véhicule - Google Patents

Procédé et dispositif pour l'exécution d'une manoeuvre automatique de sortie de stationnement d'un véhicule Download PDF

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Publication number
WO2014146657A2
WO2014146657A2 PCT/DE2014/200075 DE2014200075W WO2014146657A2 WO 2014146657 A2 WO2014146657 A2 WO 2014146657A2 DE 2014200075 W DE2014200075 W DE 2014200075W WO 2014146657 A2 WO2014146657 A2 WO 2014146657A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
authorized person
image data
authorized
automatic
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.)
Ceased
Application number
PCT/DE2014/200075
Other languages
German (de)
English (en)
Other versions
WO2014146657A3 (fr
Inventor
Martin Randler
Ralph GREWE
Marc Fischer
Dirk Ulbricht
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.)
Aumovio Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic 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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Priority to DE112014001568.7T priority Critical patent/DE112014001568A5/de
Publication of WO2014146657A2 publication Critical patent/WO2014146657A2/fr
Publication of WO2014146657A3 publication Critical patent/WO2014146657A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language

Definitions

  • the invention relates to a method and a device for carrying out an automatic parking maneuver of a vehicle, in particular from a parking position into a transfer position to an authorized person.
  • Driver assistance systems that are capable of performing automatic or semi-automatic parking maneuvers of a vehicle. While in a semi-automatic maneuver, which can also be referred to as teilautonomes driving maneuver, the system usually only takes over the steering of the vehicle and the driver must regulate the speed of the vehicle itself is in an automatic maneuver, which is also fully automatic or autonomous Driving maneuver can be called, in addition, the longitudinal guidance of the vehicle taken from the system, so that a fully automated parking on or off the vehicle is completed.
  • a trajectory for the maneuver to be performed can be determined from the environment and relative position detection and the vehicle can be controlled along this trajectory by means of a control device or by means of a suitable actuator. The trajectory can thereby be adjusted taking into account a continuously conducted environment detection.
  • DE 10 2011 080 148 A1 discloses a method for assisting a driver of a motor vehicle in a parking maneuver from a transverse parking space in the backward direction, comprising the following steps: (a) determination of lateral boundary lines of the transverse parking space,
  • Another parking assistance system for fully automatic parking shows the DE 10 2009 057 646 AI, comprising distance sensors for detecting obstacles at least in the longitudinal direction of the motor vehicle and actuators for implementing the Ausparkmanövers, the actuators at least one Drive motor, a vehicle brake, a vehicle steering drive and an automatic transmission, at least one electronic control unit for evaluating the sensor signals and for driving the actuators is provided and the parking or Ausparkvorgang is defined by at least one trajectory, each of which begins with an automatic change of direction through the automatic transmission and terminated by a parking space limiting signal of the distance sensors.
  • a disadvantage of the systems known from the prior art is the fact that the autonomous parking maneuvers must always be initiated by an operator action of an authorized person.
  • the initiation can be done, for example, by operating an operating element inside the vehicle, in particular if the authorized person is in the vehicle during the maneuver, or for example by operating a remote control if the authorized person is outside the vehicle during the maneuver.
  • the remote control can e.g. be integrated in the vehicle key.
  • the invention has for its object to provide a solution with which the ease of use is increased for systems for performing automatic Ausparkmanövern.
  • the method according to the invention serves to carry out an automatic or autonomous parking maneuver of a vehicle, in particular from a parking position into a transfer position to an authorized person.
  • the authorized person may in particular be the vehicle driver, the vehicle owner and / or generally one of several persons authorized to enter and / or drive the vehicle.
  • the parking position is preferably the position of the vehicle, for example on a marked parking area, on which the vehicle driver or a parking assistance system has parked the vehicle.
  • the transfer position is preferably a position of the vehicle in which the guidance of the vehicle is transferred to the driver and / or in which the driver and other persons enter the vehicle.
  • the transfer position is a position in which the vehicle is stationary and no further longitudinal and / or transverse control measures are required to move the vehicle out of the parking position.
  • the transfer position is thus, in particular, a position in which the vehicle is completely uncovered, that is to say has preferably left the marked parking area completely.
  • the automatic parking maneuver is carried out while the corrected person is outside the vehicle.
  • the authorized person and optionally additional persons enter the vehicle, in particular, only upon reaching the transfer position.
  • the authorized person can be informed, for example, by the automatic opening of the driver's door and / or by an optical and / or acoustic signal that the transfer position has been reached and the vehicle is entered can or may.
  • the implementation of the automatic parking maneuver starts according to the invention when the authorized person and / or a defined gesture of the corrected person, in particular in the vehicle environment, is recognized or recognized by means of at least one optical detection device arranged on the vehicle.
  • the method according to the invention may comprise, for example, the following steps:
  • the optical detection device is preferably at least one camera which is arranged on the vehicle such that it detects image data from at least one area of the driving environment.
  • the camera may, for example, a front camera, which is arranged in the vehicle interior behind the windshield with a view through the windshield, to a side camera, which is integrated for example in a vehicle door or a side mirror, or a rear-view camera, for example, on the Tailgate or arranged on the bumper of the vehicle act.
  • a plurality of cameras in particular a plurality of the aforementioned cameras, can also be used as the optical detection device for the method according to the invention.
  • the authorized person and / or the defined gesture of the authorized person is preferably recognized by means of image processing of the image data captured by the one or more cameras.
  • image processing of the image data For example, facial features or other visually recognizable features of persons recognized in the image data can be analyzed and compared with stored features, eg one or more authorized persons stored in a memory.
  • gestures in particular movements of the hands, arms, legs and feet of persons recognized in the image data, in particular of persons who were previously recognized as authorized persons, can be compared with one or more stored gestures. If an authorized person and / or a gesture of a corrected person were recognized by means of image processing of the image data, the execution of the automatic parking maneuver starts according to the invention.
  • the optical detection device may also be a camera system of the vehicle, which comprises a plurality of cameras, and in which image data from various areas of the vehicle surroundings are captured and suitably transformed by means of the plurality of cameras in order to generate an overall image of the vehicle surroundings.
  • these are preferably all-round view illustration and a 360 0 representation of the vehicle environment or to a representation of the vehicle surroundings bird's-eye view, ie, a plan view of the vehicle and its surroundings from a virtual camera perspective above the vehicle.
  • the inventive recognition of the authorized person and / or the defined Gesture of the authorized person can be done in the case by means of image processing of the overall picture. This ensures in particular that the authorized person and / or the gesture is recognized in any case, regardless of which side or direction the authorized person approaches the vehicle.
  • the authorized person can furthermore be identified on the basis of defined classification features, in particular by means of image processing of the image data or of the overall image.
  • one or more classification features in particular attributes such as characteristic facial features, for one or more authorized persons may be stored in a memory.
  • the classification features may in particular be predefinable by the authorized person or trained by authorized persons by the system.
  • images with facial features may be stored in a memory unit and with facial recognition algorithms known in the art, such as pattern recognition or visual recognition algorithms
  • the execution of the automatic parking maneuver starts when the authorized person and / or the defined gesture of the authorized person are recognized within a certain distance to the vehicle.
  • the distance can also be determined from the image data or the overall image and be specified by the vehicle manufacturer and / or by the authorized person. If the execution of the driving maneuver is started as a function of the distance of the authorized person, ie only if the vehicle is not at a minimum distance, unintentional initiations of automatic parking maneuvers can be avoided.
  • the defined gesture of the authorized person is a defined by the authorized person, ie specifiable gesture.
  • the gesture can be trained, for example individually by the system for different authorized persons and stored in a memory. For example, an image sequence of a given movement in the form of a suitable algorithm can be stored in a storage unit.
  • one or more doors of the vehicle are locked at the start of the implementation of the automatic Ausparkmanövers. This ensures that neither authorized nor unauthorized persons enter the vehicle while performing the parking maneuver, which can reduce the risk of vehicle theft or personal injury.
  • the doors of the vehicle preferably remain locked until reaching the transfer position.
  • one or more doors of the vehicle can be unlocked and, for example, opened automatically, in particular to prompt the driver and optionally other people to board and facilitate boarding.
  • the one or more doors of the vehicle, in particular the driver's door can only be opened a gap wide in order to signal the reaching of the transfer position and to ask the driver and optionally other persons to board.
  • the device according to the invention is used for arrangement in a vehicle or is arranged in a vehicle and furthermore serves to implement the method according to the invention according to one of the previously described embodiments.
  • the device comprises at least one optical detection device, in particular at least one camera, which is designed to acquire image data from at least one region of the vehicle surroundings.
  • the device furthermore comprises image processing devices which are designed to recognize authorized persons and / or defined gestures of persons who are correct by means of image processing of the image data captured by the optical detection device.
  • the device further comprises control devices or actuators, which are designed to carry out an automatic parking maneuver of the vehicle from a parking position to a transfer position to an authorized person.
  • the optical detection device comprises a plurality of cameras, by means of which image data from different areas of the vehicle environment can be detected.
  • the image processing devices are preferably designed such that they appropriately transform the image data captured by the plurality of cameras, thereby generating an overall image of the vehicle environment, and processing the overall image of the vehicle environment to identify authorized persons and / or defined gestures of authorized persons ,

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Theoretical Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Social Psychology (AREA)
  • Psychiatry (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé et un dispositif pour l'exécution d'une sortie de stationnement automatique d'un véhicule, en particulier d'une position de stationnement à une position de remise à une personne autorisée, la personne autorisée ne montant dans le véhicule qu'une fois qu'il se trouve dans la position de remise.
PCT/DE2014/200075 2013-03-22 2014-02-19 Procédé et dispositif pour l'exécution d'une manoeuvre automatique de sortie de stationnement d'un véhicule Ceased WO2014146657A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112014001568.7T DE112014001568A5 (de) 2013-03-22 2014-02-19 Verfahren und Vorrichtung zur Durchführung eines automatischen Ausparkmanövers eines Fahrzeugs

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201310102952 DE102013102952A1 (de) 2013-03-22 2013-03-22 Verfahren und Vorrichtung zur Durchführung eines automatischen Ausparkmanövers eines Fahrzeugs
DE102013102952.3 2013-03-22

Publications (2)

Publication Number Publication Date
WO2014146657A2 true WO2014146657A2 (fr) 2014-09-25
WO2014146657A3 WO2014146657A3 (fr) 2014-11-13

Family

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PCT/DE2014/200075 Ceased WO2014146657A2 (fr) 2013-03-22 2014-02-19 Procédé et dispositif pour l'exécution d'une manoeuvre automatique de sortie de stationnement d'un véhicule

Country Status (2)

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DE (2) DE102013102952A1 (fr)
WO (1) WO2014146657A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114374791A (zh) * 2021-11-25 2022-04-19 慧之安信息技术股份有限公司 一种基于手势识别的摄像头调节方法和系统
US20230331259A1 (en) * 2020-12-25 2023-10-19 Huawei Technologies Co., Ltd. Vehicle summoning method, intelligent vehicle, and device

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DE102015226697B4 (de) 2015-12-23 2018-02-22 Volkswagen Aktiengesellschaft Anordnung, Fortbewegungsmittel und Verfahren zur Komfortverbesserung eines Einstiegs in ein Fortbewegungsmittel
DE102016001121A1 (de) * 2016-02-02 2017-08-03 Audi Ag Verfahren zum Betrieb eines Fahrerassistenzsystems eines Kraftfahrzeugs und Kraftfahrzeug
DE102018200770A1 (de) 2017-04-20 2018-10-25 Ford Global Technologies, Llc Verfahren zur Übergabe der Fahrzeugkontrolle an einen Fahrer im Anschluss an einen ferngesteuerten Ausparkvorgang
KR102406511B1 (ko) * 2017-07-04 2022-06-10 현대자동차주식회사 차량 시스템 및 그 제어 방법
CN110659543B (zh) * 2018-06-29 2023-07-14 比亚迪股份有限公司 基于手势识别的车辆控制方法、系统及车辆

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DE102009057646A1 (de) 2009-12-09 2011-06-16 Bayerische Motoren Werke Aktiengesellschaft Parkassistenzsystem
DE102011080148A1 (de) 2011-07-29 2013-01-31 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Kraftfahrzeugs bei einem Ausparkmanöver

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DE60105684T2 (de) * 2000-04-05 2005-02-10 Matsushita Electric Industrial Co., Ltd., Kadoma System und Verfahren zur Fahrerunterstützung
US6498970B2 (en) * 2001-04-17 2002-12-24 Koninklijke Phillips Electronics N.V. Automatic access to an automobile via biometrics
JP4458284B2 (ja) * 2005-10-31 2010-04-28 株式会社エクォス・リサーチ 遠隔操作装置
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DE102009057646A1 (de) 2009-12-09 2011-06-16 Bayerische Motoren Werke Aktiengesellschaft Parkassistenzsystem
DE102011080148A1 (de) 2011-07-29 2013-01-31 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Kraftfahrzeugs bei einem Ausparkmanöver

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230331259A1 (en) * 2020-12-25 2023-10-19 Huawei Technologies Co., Ltd. Vehicle summoning method, intelligent vehicle, and device
CN114374791A (zh) * 2021-11-25 2022-04-19 慧之安信息技术股份有限公司 一种基于手势识别的摄像头调节方法和系统
CN114374791B (zh) * 2021-11-25 2022-09-13 慧之安信息技术股份有限公司 一种基于手势识别的摄像头调节方法和系统

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DE102013102952A1 (de) 2014-09-25
WO2014146657A3 (fr) 2014-11-13
DE112014001568A5 (de) 2015-12-10

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