WO2017134228A1 - Procédé d'assistance à un déplacement autonome d'un véhicule automobile, dispositif de commande et système d'aide au stationnement - Google Patents

Procédé d'assistance à un déplacement autonome d'un véhicule automobile, dispositif de commande et système d'aide au stationnement Download PDF

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Publication number
WO2017134228A1
WO2017134228A1 PCT/EP2017/052388 EP2017052388W WO2017134228A1 WO 2017134228 A1 WO2017134228 A1 WO 2017134228A1 EP 2017052388 W EP2017052388 W EP 2017052388W WO 2017134228 A1 WO2017134228 A1 WO 2017134228A1
Authority
WO
WIPO (PCT)
Prior art keywords
parking
motor vehicle
parking area
reference object
side reference
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/EP2017/052388
Other languages
German (de)
English (en)
Inventor
Markus Heimberger
Vsevolod Vovkushevsky
Frank BLINKLE
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.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren 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 Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of WO2017134228A1 publication Critical patent/WO2017134228A1/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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights

Definitions

  • the invention relates to a method for supporting an autonomous drive of a motor vehicle on a parking area, in which one of the parking area in a
  • Parking area reference system describing infrastructure map is provided, wherein a reference position is predetermined on the parking area as a reference point for the parking area reference system.
  • the invention also relates to a control device, a parking assistance system for a motor vehicle with a control device and a management system for a parking area with a control device.
  • Motor vehicle on a parking area for example, for performing a
  • Motor vehicle for position determination for example, a GPS system.
  • DE 10 2010 033 215 A1 shows that a parking system of a
  • Motor vehicle information on the parking garage are provided when entering a parking garage and / or during a stay in the parking garage.
  • Information about the parking garage for example, geometry data of the parking garage
  • Parking garage be This information is first evaluated by the parking system. After evaluating the information, the parking system determines control data for the motor vehicle. Based on this control data, the motor vehicle can then be automatically moved through the parking garage.
  • Parking area so-called infrastructure data or infrastructure information, are usually specified in a parking area reference system. If that is
  • Motor vehicle not at a reference position of the parking area reference system it may happen that the motor vehicle can not evaluate the infrastructure data correctly or to evaluate the information consuming, so as to create the control data for the motor vehicle.
  • Motor vehicle can be supported in a particularly reliable and simple way in an autonomous driving on a parking area.
  • This object is achieved by a method, a control device, a parking assistance system for a motor vehicle and a management system for a
  • An inventive method is used to support an autonomous driving a motor vehicle on a parking area.
  • an infrastructure map describing the parking area in a parking area reference system is provided, wherein a reference position on the parking area is specified as a reference point for the parking area reference system.
  • a position of a motor vehicle side is specified as a reference point for the parking area reference system.
  • parking-side reference object determined by the parking-side reference object and / or the motor vehicle-side reference object of at least one
  • the infrastructure map is transformed from the parking area reference system into a motor vehicle reference system by setting the position of the motor vehicle side reference object as a reference point for the motor vehicle reference system.
  • the parking area can be, for example, an area on a parking area and / or an area in a parking garage and / or an area in a garage, which has at least one parking space for the motor vehicle.
  • the motor vehicle is designed to move autonomously on this parking area, in particular without a driver of the motor vehicle being inside the motor vehicle. This is also known as valet parking.
  • valet parking To provide the autonomous driving of the motor vehicle can
  • Parking assistance system of the motor vehicle in particular a control device of the parking assistance system, for example, engage in a steering of the motor vehicle and in a drive system and a brake system of the motor vehicle to the
  • the infrastructure map is provided by which the parking area is characterized.
  • the infrastructure map can be provided to the parking assistance system of the motor vehicle and / or to a management system of the parking area.
  • the infrastructure map can be provided to the parking assistance system of the motor vehicle and / or to a management system of the parking area.
  • Park assistance system the infrastructure map transmitted by the management system of the parking area, with which the parking assistance system, for example via a
  • Wireless connection can communicate.
  • the infrastructure map is provided in a readable format for the parking assistance system.
  • a code describing the infrastructure map in particular a so-called QR code (QR quick response) can be arranged at an entrance to the parking area. This code can be read, for example, from a vehicle-side camera of the parking assistance system and of the
  • Parking assistance system to be decoded.
  • a connection setup is initiated with a website on which the infrastructure map for downloading or downloading for the parking assistance system is stored.
  • a link or a link to this website may be stored in the QR code.
  • the website is called up so that the parking assistance system retrieves the infrastructure map from the website
  • Parking assistance system of the motor vehicle is that the parking assistance system, for example by means of GPS (Global Positioning System - Global
  • Positioning system an approximate position of the motor vehicle
  • Parking assistance system search the Internet for the infrastructure map, in which, for example, the position of the parking area, for example in the form of GPS coordinates deposited.
  • the infrastructure map is specified in the parking area reference system.
  • the parking area reference system or the parking area coordinate system is defined by the reference point which describes the reference position on the parking area. In other words, this means that one origin of the parking space Coordinate system corresponds to the reference point.
  • At the reference position is the parking-side reference object.
  • the reference position is preferably located at an entrance to the parking area. In other words, the parking-side reference object is located at the entrance to the parking area. If the parking area is, for example, a delimited area on a parking area, the parking area-side reference object can also be located on a parking area
  • Entrance portal for the demarcated area for the demarcated area.
  • the motor vehicle on a motor vehicle side reference object wherein by a position of the reference object on the parking area, the position of the
  • the vehicle-side reference object may be, for example, a rear axle of the motor vehicle and / or an attachment of the motor vehicle.
  • the position of the vehicle-side reference object is determined in particular as the position of the motor vehicle.
  • Capture motor vehicle wherein the detected environmental data include the parking-side and / or the motor vehicle side reference object.
  • Detection device may include, for example, a vehicle-side detection device and / or a parking-side detection device.
  • the vehicle-mounted detection device detects in particular only the parking area side
  • the parking-side detection device detects at least the vehicle-side reference object. This means that the parking area side
  • Detecting device detects the vehicle-side reference object and can additionally detect the parking-side reference object.
  • In the environment data can, for example, from a vehicle-side and / or a parking-side control device, the parking-side and / or the
  • vehicle-side reference object can be identified.
  • the parking-side and / or the vehicle-side reference object can be extracted from the environment data. As soon as the parking-side and / or the vehicle-side
  • Reference object is identified, the position of the vehicle-side reference object, and thus the position of the motor vehicle, relative to the parking-side
  • Reference object determined That is, the position of the motor vehicle relative to the parking-side reference position is determined. For example, a distance of the motor vehicle and a direction of the motor vehicle to the parking side Reference object determined.
  • the position of the motor vehicle or of the vehicle-side reference object corresponds to a point in the parking area reference system, which is different in particular from the reference point.
  • the specific position of the motor vehicle is determined by the parking-side and / or the motor vehicle-side control device as a new reference point for the motor vehicle reference system or the motor vehicle coordinate system.
  • the reference point thus corresponds to the origin of the motor vehicle coordinate system.
  • the transformed infrastructure card can the
  • Parking assistance system for example, wirelessly transmitted.
  • an adjustment or calibration between the parking area reference system, ie an infrastructure reference system, and the reference system of the motor vehicle is performed.
  • the motor vehicle does not have to determine the infrastructure map itself in a complicated manner, for example based on information about the parking area, but can instead use the already predefined and transformed into the motor vehicle reference system
  • At least one infrastructure information for the autonomous driving of the motor vehicle in the parking area reference system is provided in the infrastructure map.
  • This infrastructure information corresponds to an attribute or a characteristic feature of the parking area, by which in particular a
  • Behavior for the motor vehicle is specified on the parking area.
  • This infrastructure information can be transmitted to the parking assistance system, for example, together with the infrastructure map from the management system of the parking area.
  • the parking assistance system can quickly and easily determine control parameters for the autonomous driving of the motor vehicle over the parking area.
  • a driving instruction and / or a position of an obstacle on the parking area and / or a position of free parking spaces on the parking area and / or a position of an exit of the parking area is specified.
  • a driving instruction can be predetermined, for example, by roadway areas on which the
  • Such a driving instruction comprises a driving direction rule, which is for example by a
  • One-way street on the parking area can be specified. To this
  • One-way street may only move in one direction.
  • walls and boundaries of the parking spaces in particular physical limitations of the parking spaces, and / or positions of free parking spaces and / or evidence of the exit of the parking area over which the motor vehicle can leave the parking area again.
  • These positions are initially predetermined in the parking area reference system.
  • Infrastructure map in the motor vehicle reference system also transformed into the motor vehicle reference system. Based on these in the transformed
  • Infrastructure card provided transformed infrastructure information can then, for example by the parking assistance system, a driving trajectory for the motor vehicle are determined along which the motor vehicle can move on the parking area.
  • the parking assistance system based on the at least one
  • Infrastructure information determine the brakerajektorie starting from the reference point of the motor vehicle reference system and determine as the end point, for example, the transformed into the motor vehicle reference system position of the free parking space.
  • the driving trajectory is determined by the parking assistance system so that the
  • the driving trajectory is also determined so that the direction of travel is observed.
  • the driving trajectory is determined on the basis of the reference point of the motor vehicle reference system and, as the end point, for example, the position of the exit of the parking area transformed into the motor vehicle reference system is determined.
  • a detection device of the parking assistance system can then detect at least one free parking space on the parking area while driving over the parking area along this driving trajectory.
  • the motor vehicle can therefore, under Considering the provided infrastructure information, move across the parking area and look for a free parking space during this trip, in which the vehicle can park autonomously.
  • the position of the parking space is defined as the end point for the driving trajectory of the motor vehicle.
  • Embodiment is particularly advantageous if the parking area, for example, does not have a management system or the management system is not designed to detect free parking spaces on the parking area, and thus can not provide information about free parking spaces.
  • the parking area for example, does not have a management system or the management system is not designed to detect free parking spaces on the parking area, and thus can not provide information about free parking spaces.
  • the parking area must therefore not be able to communicate with the motor vehicle in an advantageous manner and / or be equipped with means for detecting free parking spaces. It can therefore be provided to the parking assistance system only once, in particular universal, infrastructure map.
  • Further infrastructure information of the parking area may include a maximum speed which is permitted on the parking area and / or a permitted driving area around the parking area
  • Driving trajectory can be, for example, a driving tube along the driving trajectory, wherein the driving tube is an area on the driving trajectory
  • Characterized parking area which may be passed over or driven over while driving the motor vehicle on the parking area of the motor vehicle.
  • At least one infrastructure information at least one driving trajectory relative to the reference point in the parking area reference system is predetermined, which is determined after the transformation of the parking area reference system in the motor vehicle reference system with respect to the reference point of the motor vehicle reference system .
  • the at least one driving trajectory which is entered in the infrastructure map determined in the parking area reference system, is predetermined in relation to the reference point of the parking area reference system. Points on the at least one driving trajectory are therefore protected by Coordinates are determined or indicated in parking area coordinates.
  • the at least one driving trajectory is predetermined starting from the reference point. This means that the driving trajectory is, for example, predetermined so that the autonomous drive for the motor vehicle starts at the reference position.
  • the driving trajectory for the motor vehicle is thus predefined in the parking area reference system, in particular starting from the entrance on which the motor vehicle usually begins autonomous driving.
  • the infrastructure map and thus also the at least one driving trajectory is transformed or transferred into the motor vehicle reference system. Points on the transformed driving trajectory are therefore specified in motor vehicle coordinates.
  • the at least one driving trajectory can be predefined based on a position of a free parking space on the parking area in the parking area reference system, wherein the position of the free parking space on the parking area serves as an end point for the parking area
  • Driving trajectory is specified in the parking area reference system.
  • the management system of the parking area is configured to recognize whether a parking space is free on the parking area.
  • occupancy sensors for detecting an occupancy of the parking spaces can be provided on the parking area.
  • the free parking space is located by the parking area management system, whose position is determined as the end point in the parking area reference system, and based thereon, determines the travel trajectory, for example, from the reference point to the end point in the parking area reference system.
  • the management system can monitor the parking area and dynamically update the infrastructure map by detecting a vacant or vacant parking space and from the management system the travel trajectory to that parking space in the parking space
  • Infrastructure card is entered.
  • the infrastructure map with this elbowrajektorie to the free parking space, the parking assistance system, in particular of the
  • the parking assistance system can transform the transmittedeaux silica to the free parking space in the motor vehicle reference system by transforming the infrastructure map. Based on the leading to the free parking space, transformed into the motor vehicle reference system
  • the parking assistance system can determine the driving parameters or control data for the autonomous driving of the motor vehicle, whereupon the Motor vehicle drives autonomously to the free parking space.
  • control data may be, for example, steering angle data and / or acceleration data, based on which the motor vehicle can move along the transformed driving trajectory.
  • a barrier and / or a signal light and / or a post and / or a lane marking is provided as the parking-area-side reference object.
  • a barrier may for example be attached to the entrance of the parking area.
  • the post may for example be a retractable post in the ground, which may also be located at the entrance of the parking area. Also, the
  • Signal light which emits a light signal, for example, and / or the
  • Road mark on the roadway of the motor vehicle can be specified. Since at least one of these objects is usually already present on parking areas, parking areas do not have to be complex with parking-side reference objects
  • a parking assistance system of the motor vehicle is provided with at least information about the parking space-side reference object at the reference position on the parking area and the parking space-side reference object of a
  • Detecting means of the parking assistance system based on the at least one provided information on the parking-side reference object detected. For example, a characteristic feature of the parking-side reference object is provided to the parking assist system as the at least one information about the parking-side reference object, on the basis of which the vehicle-side detection device can recognize the parking-side reference object. On the basis of at least one piece of information, the parking-space-side reference object, for example of the
  • Control device of the parking assistance system in the from the vehicle side
  • Detection device detected environmental data are identified or extracted from the environmental data.
  • the information about the parking-side reference object may be provided to the parking assistance system in the same way as the infrastructure map.
  • the infrastructure map and the at least one piece of information for example, be transmitted wirelessly from the management system of the parking area to the parking assistance system and / or stored in the readable for the parking assistance system code, such as the QR code.
  • the detection device of the parking assistance system can detect or detect the reference object on the parking space side. Due to the at least one piece of information, the parking assistance system is thus informed which object in the environment area is defined as the parking-side reference object.
  • the parking assistance system of the motor vehicle must advantageously only receive or provide information about these objects on the parking side, so that the parking assistance system can identify the reference object based on the data acquired by the detection device.
  • the parking assistance system as the at least one information on the parking-side reference object, a shape and / or color and / or
  • Parking-side reference object in the form of a barrier can the
  • Parking assistance system as the at least one piece of information, for example
  • the parking assistance system can identify the parking-side reference object in the data acquired by the vehicle-side detection device.
  • Signal light can be provided to the parking assistance system, the color of the signal emitted by the signal light signal as the at least one information, wherein the parking assistance system extracts the parking area-side reference object based on the color from the detected data from the vehicle-mounted detection device.
  • the parking assistance system is thus by the color and / or the shape and / or the
  • Geometry data of the parking-side reference object transmitted at least one feature of the parking-side reference object, based on which the
  • Parking assistance system can identify the parking-side reference object.
  • the parking-area-side reference object is detected by means of at least one camera of the vehicle-side detection device and / or by means of at least one distance sensor of the vehicle-side detection device.
  • the parking-side reference object is identified, for example, on the basis of camera images which have been detected by the at least one camera of the detection device of the parking assistance system.
  • the parking assistance system, the at least one, the parking area side reference object characterizing information, for example, in the form of a the
  • the parking assistance system can then reference the parking area-side reference object in the camera images acquired by the at least one camera, for example on the basis of a Identify the comparison with the reference image. Based on the images, the parking assistance system can also determine the position of the motor vehicle or of the vehicle-side reference object with respect to the parking-side reference object, for example by means of stereo algorithms. Also, the camera may be formed as an SD camera so that the position is determined from a three-dimensional image showing the parking-side reference object.
  • the at least one distance sensor for example a laser scanner and / or an ultrasound sensor and / or a radar sensor,
  • Parkside-side objects detected in the surrounding area determines geometry data or dimensions of the parking space-side objects. On the basis of the detected dimensions of the parking-side objects that can be
  • Park-side object can be determined as a parking-side reference object whose dimensions correspond to the provided as the at least one information dimensions of the parking-side reference object.
  • the at least one distance sensor can determine a position of the motor vehicle relative to the parking-side reference object in a particularly accurate manner.
  • Detection device detects at least the vehicle-side reference object and determined by a parking-side control device, the position of the vehicle-side reference object relative to the parking-side reference object.
  • the motor vehicle-side reference object is preferably a license plate and / or an exterior mirror of the motor vehicle. According to this embodiment, therefore, the vehicle-side reference object is detected by the parking-side detection device.
  • the parking-area-side detection device can be, for example, a camera arranged on the parking area, which detects the parking area.
  • the environmental data acquired by the parking-side detection device in particular also include the motor vehicle itself and thus the motor vehicle side
  • the management system of the parking area In particular a control device of the
  • the information about the vehicle-side reference object be provided.
  • the information can be stored, for example, in a parking-space-side storage device.
  • the parking-area detection device can, for example, on the
  • the parking-side detection means be arranged on the parking-side reference object, so that based on the detected by the parking-side detection means environmental data, which include the vehicle-side reference object, only the position of the parking-side detection means.
  • the parking-area-side detection device is arranged at a location different from the parking-side reference object on the parking area.
  • Ambient data for example camera images
  • Ambient data then comprise in particular the parking space side and the motor vehicle side reference object.
  • the storage device of the management system additionally information about the parking-side reference object and / or a position of the parking-side
  • Reference object to be deposited relative to the parking-side detection device On the basis of the environment data, in particular with the aid of the information about the position of the parking-side reference object relative to the parking-side detection device, then the relative position of the two reference objects to each other can be determined and the transformation of the infrastructure map are performed.
  • parking-side detection means may be performed alternatively or in addition to the detection of the parking-side reference object by the motor vehicle-side detection device. If only the motor vehicle side
  • Detecting means detects the parking-side reference object and only the motor vehicle side control device performs the determination of the position of the motor vehicle, so the motor vehicle-side reference object relative to the parking-side reference object, so the parking area in particular need not be specially converted and provided for example with a detection device and a control device. If only the parking-side detection device at least the reference vehicle-side object, in particular the parking area side
  • the method is particularly simple, since the parking assistance system no information on the parking-side reference object must be transmitted.
  • the motor vehicle-side detection device the parking-side
  • Detected reference object and the motor vehicle side control device performs the determination of the position of the motor vehicle, ie the motor vehicle side reference object relative to the parking side reference object, and additionally detects the parking area side detection device at least the motor vehicle side reference object and the parking area side control device determining the position of
  • Vehicle-side reference object performs relative to the parking-side reference object, so a comparison between the position determined by the vehicle-mounted control device and the determined by the parking-side control device position of the motor vehicle relative to the parking-side reference object can be performed.
  • a comparison between the position determined by the vehicle-mounted control device and the determined by the parking-side control device position of the motor vehicle relative to the parking-side reference object can be performed.
  • measurement errors of the detection devices can be compensated.
  • the method is designed to be particularly secure, since the relative position of the two reference objects is determined redundantly to one another.
  • Parking-side auxiliary objects for example, three signal lights are provided on the parking area, which are located at different positions on the parking area.
  • a first signal light as the parking-area-side reference object emit a light signal in a first color.
  • Two additional signal lights as the parking area-side auxiliary objects can each emit a light signal in at least one other color.
  • the colors of the signal lights can the
  • Parking assistance system for example, as information about the parking-side reference object and the auxiliary objects are transmitted.
  • the three parking-area-side objects are detected, identified and in each case a distance of the motor vehicle side
  • Parking-side reference object a second distance between the motor vehicle and a first of the parking-side auxiliary objects and a third distance between the motor vehicle and a second of the parking-side auxiliary objects is determined. Based on these three distances, using trilateration or Lateration the position of the motor vehicle can be determined particularly accurately and reliably.
  • Reference object is detected at at least one other reference position on the parking area during the autonomous driving of the motor vehicle on the parking area, a position of the vehicle side reference object relative to the at least one other parking side reference object is determined and a deviation between the position of the vehicle side reference object and the at least one other Reference position is determined.
  • the motor vehicle can be localized again while driving on the parking area by determining the position of the motor vehicle relative to the at least one further parking area-side reference object detected by the detection device.
  • it can be estimated whether the motor vehicle the parking area taking into account the at least one
  • Infrastructure information travels, so for example, whether the motor vehicle actually along the predetermined and transformed and / or self-determined
  • Driving trajectory drives. If the deviation between the position of the motor vehicle and the at least one further position exceeds, for example, a predetermined threshold value, then this error can be corrected by the parking assistance system, for example, by correcting the control data or driving parameters for the motor vehicle.
  • an obstacle detected on the parking area during the autonomous driving of the motor vehicle is classified and, depending on the classification of the obstacle, the motor vehicle is stopped by a parking assistance system of the motor vehicle or the obstacle is bypassed by the motor vehicle.
  • the obstacle can be detected by the at least one distance sensor of the motor vehicle, for example an ultrasonic sensor. If, for example, the obstacle on the driving trajectory has been detected by the at least one distance sensor of the detection device, along which the obstacle
  • the obstacle is characterized by the parking assistance system. If the obstacle is a static or stationary obstacle, for example a post or a wall, the parking assistance system prescribes that the static obstacle is bypassed. This can do that
  • Parking assistance system for example, correct the driving trajectory. If from the Parking assistance system, the obstacle was determined as a dynamic obstacle, such as another motor vehicle, so the parking assistance system can
  • the invention also relates to a control device for assisting an autonomous drive of a motor vehicle on a parking area, which is designed to receive an infrastructure map describing the parking area in a parking area reference system, a reference position being predetermined on the parking area as a reference point for the parking area reference system ,
  • the controller is configured to determine a position of a vehicle-side reference object relative to a reference-side parking-side reference object and the infrastructure map from the parking-area reference system to a motor vehicle reference system by setting the position of the vehicle-side reference object as a reference point for the motor vehicle reference system to transform.
  • the invention relates to a management system for a parking area with a
  • Detection device for detecting a motor vehicle-side reference object and with a control device according to the invention.
  • Detection device can additionally detect the parking area-side reference object.
  • the detection device may be, for example, a camera.
  • An inventive parking assistance system for a motor vehicle comprises a
  • Detection device for detecting a parking-side reference object and a control device according to the invention.
  • the control device may be configured to determine control data for the autonomous drive of the motor vehicle based on the infrastructure map provided.
  • the detection device can, for example, have at least one camera and / or at least one distance sensor, for example an ultrasound sensor and / or laser scanner and / or radar sensor.
  • the invention also relates to a motor vehicle with an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • Embodiments and their advantages apply correspondingly to the control device according to the invention, the parking assistance system according to the invention, the management system according to the invention as well as for the motor vehicle according to the invention.
  • Fig. 1 is a schematic representation of a motor vehicle with a
  • Fig. 2 is a schematic representation of an embodiment of a parking area on which a motor vehicle according to the invention can move autonomously.
  • 1 shows a motor vehicle 1 according to an embodiment of the present invention
  • the motor vehicle 1 is designed here as a passenger car.
  • the motor vehicle 1 comprises a parking assistance system 2, which is designed to provide or carry out an autonomous drive, in particular an autonomous parking operation, for the motor vehicle 1.
  • the parking assistance system 2 comprises a control device 3, which may be formed for example by a vehicle-side control unit.
  • a driver 12 see FIG. 2
  • the control device 3 can be used to drive and brake the motor vehicle 1 in a vehicle
  • the parking assistance system 2 comprises a vehicle-side
  • Detection device 4 which may have, for example, at least one camera 5 and / or at least one distance sensor 6.
  • the distance sensors 6 may be formed, for example, as ultrasonic sensors and / or laser scanners and / or radar sensors.
  • a surrounding area 7 of the motor vehicle 1 can be monitored.
  • the environmental data acquired by the detection device 4, for example the camera images captured by the at least one camera 5 and / or the distance data acquired by the distance sensors 6, can be provided to the control device 3 of the parking assistance system 2.
  • FIG. 2 a parking area 8 for the motor vehicle 1 according to FIG. 1 is shown.
  • Parking area 8 may be, for example, an area in a parking garage. On the parking area 8 is a plurality of parking spaces 9, wherein some of the parking spaces 9 may be occupied, for example, by other vehicles 10. Parking spaces 9, which are not occupied by other motor vehicles 10, are free parking spaces 9, im
  • the motor vehicle 1 can, for example for parking in the free parking space 1 1 on the parking area 8, move autonomously over the parking area 8, so perform a so-called valet parking.
  • the driver 12 of the motor vehicle 1 can be located outside the motor vehicle 1 and start the autonomous parking operation by means of a mobile terminal 13, for example by means of a smartphone.
  • the mobile terminal 13, for example via a wireless connection communicate with the parking assistance system 2 of the motor vehicle 1.
  • the motor vehicle 1 is located here at an entrance 14 or an entrance to the parking area 8.
  • the parking area 8 can have a management system 15 which can communicate with the control unit 3 of the parking assistance system 2 of the motor vehicle 1, for example via a wireless connection 16.
  • Management system 15 may also have a parking-side detection device 34 and a parking-side control device 35.
  • the parking-area-side detection device 34 can be designed, for example, as a camera and detect the parking area 8 and the motor vehicle 1 located at the entrance 14 of the parking area 8.
  • Control device 3 an infrastructure card can be provided, which the
  • Parking area 8 in a parking area reference system 17 describes.
  • the parking-space-side control device 34 of the motor vehicle-side control device 3 can transmit the infrastructure map, for example via the wireless connection 16
  • a QR code comprising the infrastructure card is attached, which the parking assistance system 2 can read in and decode.
  • the QR code can also be used to initiate the calling up of a specific Internet page, to which the parking assistance system 2 is directed after reading in the QR code and from which the parking assistance system 2 can download the infrastructure map.
  • the infrastructure card can be linked in the QR code.
  • the parking assistance system 2 can also locate the motor vehicle 1, for example by means of a GPS module of the motor vehicle 1, and determine a position of the motor vehicle 1, for example in GPS coordinates.
  • the parking assistance system 2 can record, for example, a connection to the Internet and search the Internet based on the determined GPS coordinates for the infrastructure map, which may have, for example, the GPS coordinates of the parking area 8.
  • the infrastructure map can also already be stored in a memory unit of the parking assistance system 2 and called up as soon as the motor vehicle 1 moves onto the parking area 8. This is particularly advantageous if the parking area 8, for example, has no management system 15.
  • the infrastructure map is described in the parking area reference system 17 based on parking area coordinates x, y.
  • the parking area reference system 17 is defined by a reference point 20.
  • the reference point 20 thus corresponds to the origin of the
  • the reference point 20 of the parking area reference system 17 describes a predetermined reference position 21 on the parking area 8, on which a parking-side reference object 25 is arranged.
  • the parking-side reference object 25 may be, for example, a post and / or a barrier and / or a signal light.
  • the parking-side reference object 25 is arranged in particular at the entrance 14 of the parking area 8.
  • the infrastructure map defined in the parking area reference system 17 is now to be transformed by the parking area reference system 17 into a motor vehicle reference system 23, so that the infrastructure map is described in motor vehicle coordinates a, b.
  • the motor vehicle reference system 23 is determined from a reference point 24, which here by a
  • the motor vehicle-side reference object 38 is defined.
  • the motor vehicle-side reference object 38 may, for example, a license plate and / or an exterior mirror of
  • the reference point 24 may for example also lie centrally on a rear axle of the motor vehicle 1.
  • Parking area reference system 17 are determined.
  • a position 27 of the motor vehicle-side reference object 38 or the motor vehicle 1 relative to the reference position 21 is determined on the parking area 8, wherein the reference point 24 of the motor vehicle reference system 23 of the position 27 of the motor vehicle side
  • Reference object 38 corresponds.
  • the parking-side reference object 25 and / or the motor vehicle-side reference object 38 can be detected by at least one of the detection devices 4, 34.
  • the vehicle-side detection device 4 can detect the parking-side reference object 25, whereupon the vehicle-side control device 3 can identify the parking-side reference object 25. This is the
  • Parking assistance system 2 of the motor vehicle 1 in particular at least one piece of information about the provided at the reference position 21 parking-side reference object 25 transmitted.
  • the parking assistance system 2 can have, for example, a shape and / or a color and / or geometric data of the
  • Parking-side reference object 25 are provided. Based on the at least one provided information which is transmitted to the parking assistance system 2, for example, by the management system 15 and / or the
  • Parking assistance system 2 is provided based on the QR code, the
  • Parking assistance system 2 identify the parking-side reference object 25 based on the data detected by the vehicle-mounted detection device 4. This can do that Parking-side reference object 25, for example, by the control device 3, are detected in the captured by the at least one camera 5 images.
  • the parking assist system 2 may determine the position 27 of the vehicle-side reference object 38 relative to the parking-side reference object 25.
  • the vehicle-side reference object 38 may be, for example, a rear axle of the motor vehicle 1. This particular position 27 is thus referred to as the reference point 24 for the
  • Motor vehicle reference system 23 set. Then, the infrastructure map predetermined in the parking area reference system 17 is transformed into the motor vehicle reference system 23.
  • parking-side detection device 34 at least the motor vehicle side
  • the vehicle-side reference object 38 is in particular a license plate of the motor vehicle 1 and / or an exterior mirror of the motor vehicle 1, which is from the parking-side
  • Detection device 34 can be detected.
  • the parking-space-side control device 35 can be notified, for example, that the number-plate and / or the exterior mirror of the vehicle-side reference object 38 are respectively
  • Parking area 8 entering motor vehicles 1 is to be detected.
  • the parking-side detection device 34 also detects the parking-side reference object 25.
  • the relative position between the two reference objects 25, 38 can then be determined by the parking-side control device 35, and thus the position 27 of the motor vehicle-side reference object 38 to the parking-side reference object 25 can be determined. This particular position 27 of the motor vehicle side
  • Reference object 38 is then, in particular from the parking side
  • Control device 35 as the reference point 24 for the motor vehicle reference system 23 set. Subsequently, the predetermined in the parking area reference system 17 infrastructure map is transformed by the parking-side control device 35 in the motor vehicle reference system 23 and the parking assistance system 2 of the motor vehicle 1 is provided or transmitted.
  • At least one infrastructure information is stored in the infrastructure map specified in the parking area reference system 17.
  • a driving trajectory 18 is predefined or determined starting from the reference point 20 and stored as the at least one infrastructure information in the infrastructure map.
  • the driving trajectory 18 is described on the basis of the parking area coordinates x, y of the parking area reference system 17.
  • the driving trajectory 18 can, for example be a parking trajectory, which directs the motor vehicle 1 to the free parking space 1 1.
  • the free parking space 1 1 can be detected for example by the management system 15 and a position 32 of the free parking space 1 1 as an end point 33 for the
  • Driving trajectory 18 are determined in the parking area reference system 17.
  • the leading to the free parking space 1 1 driving trajectory 18 can be entered in the infrastructure map.
  • this current infrastructure map can be transmitted to the parking assistance system 2 together with the driving trajectory 18 leading to the free parking space 1 1, so that the parking assistance system 2 transforms the infrastructure map and thus the driving trajectory 18 from the parking area reference system 17 into the parking space reference system 17
  • Motor vehicle reference system 23 makes.
  • Park assist system 2 transmit.
  • the driving trajectory 18 is thereby transformed so that it ends, starting from the position 27 of the motor vehicle 1 at the position 32 of the free parking space 1 1, ie in the transformed infrastructure map, starting from the reference point 24 to the endpoint transformed into the motor vehicle reference frame 23 33 leads.
  • a driving instruction 22 and / or a parking regulation 28 and / or a position of an obstacle 36 and / or a position of an exit 37 of the parking area 8 and / or a position 32 of the free parking space 1 1 can be specified and in the Parking area reference system 17 in the
  • Infrastructure map deposited These positions as the infrastructure information may then also be transformed into the motor vehicle reference system 23 by transforming the infrastructure map into the motor vehicle reference system 23. Based on this infrastructure information, ie the transformed positions, a driving trajectory 19 can be determined, for example by the parking assistance system 2, which guides the motor vehicle 1, in particular taking into account the driving regulations 22, over the parking area 8 and, for example, to exit 37 of the parking area 8 leads.
  • the driving regulations 22 are here in the form of
  • the motor vehicle 1 seen from the input 14 may turn based on the driving instruction 22 only left.
  • the driving trajectory 19 is determined from the input 14 to the left leading.
  • the parking rule 28 here here indicates a disabled parking space, which the motor vehicle 1 only under certain
  • Approach conditions may.
  • These in particular universal Infrastructure information which usually does not change dynamically, can be provided to the parking assistance system 2 at the entrance 14, for example by means of the QR code.
  • the motor vehicle 1 can here while driving on the QR code.
  • Parking area 8 even search or detect the free parking space 1 1 and then reschedule or change the originallyrajektorie 19 so that it includes the end 32 of the position 32 of the free parking space 1 1, wherein the end point 33 by the parking assistance system 2 in motor vehicle coordinates a , b is specified.
  • Further driving instructions 22 may, for example, a predetermined
  • the detection device 4 of the motor vehicle 1 and / or the detection device 34 of the management system 15 can detect these parking-side reference objects 29.
  • Motor vehicle 1 and the motor vehicle-side reference object 38 to determine the parking-side reference objects 29.
  • the motor vehicle 1 can be located again during the autonomous driving on the parking area 8 and it can be determined whether the motor vehicle 1 actually moves along the travel trajectory 18, 19.
  • the vehicle-side detection device 4 may be configured to detect an obstacle 31, 36 on the parking area 8, wherein the parking assistance system 2 may characterize the detected obstacle 31, 36.
  • the obstacle 36 is a static, in particular immovable, obstacle on the parking area 8, for example, a fixed post or a wall.
  • the obstacle 31 is a dynamic, in particular movable, obstacle,
  • the obstacle 31 can be bypassed by the motor vehicle 1, for example, the parking assistance system 2, the driving trajectory 18, 19 for driving around of the obstacle 31 corrected. If that from the vehicle side
  • Detection device 4 detected obstacle 31, 36 as a dynamic obstacle 31st has been classified, the motor vehicle 1 can be stopped by the parking assistance system 2 and wait until the dynamic obstacle 31 leaves the originallyrajektorie 18, 19. Thereafter, the autonomous driving of the motor vehicle 1 can be continued via the parking area 8.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Security & Cryptography (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé d'assistance à un déplacement autonome d'un véhicule automobile (1) sur une aire de stationnement (8), selon lequel une carte d'infrastructure décrivant l'aire de stationnement (8) dans un système de référence (17) d'aire de stationnement est établie, un emplacement de référence (21) sur l'aire de stationnement (8) est prédéfini en tant que point de référence (20) pour le système de référence (17) d'aire de stationnement, un emplacement (27) d'un objet de référence (38) côté véhicule automobile par rapport à un objet de référence (25) côté aire de stationnement se trouvant à l'emplacement de référence (21) est déterminé, l'objet de référence (25) côté aire de stationnement et/ou l'objet de référence (38) côté véhicule automobile étant détectés par au moins un dispositif de détection (4, 34), et la carte d'infrastructure est transformée du système de référence (17) d'aire de stationnement en un système de référence (23) de véhicule automobile en définissant l'emplacement (27) de l'objet de référence (38) côté véhicule automobile en tant que point de référence (24) pour le système de référence (23) de véhicule automobile. L'invention concerne par ailleurs un dispositif de commande (3, 35), un système de gestion (15) d'une aire de stationnement (8), et un système d'aide au stationnement (2) d'un véhicule automobile (1).
PCT/EP2017/052388 2016-02-05 2017-02-03 Procédé d'assistance à un déplacement autonome d'un véhicule automobile, dispositif de commande et système d'aide au stationnement Ceased WO2017134228A1 (fr)

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DE102016102065.6A DE102016102065A1 (de) 2016-02-05 2016-02-05 Verfahren zum Unterstützen einer autonomen Fahrt eines Kraftfahrzeugs, Steuereinrichtung sowie Parkassistenzsystem
DE102016102065.6 2016-02-05

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DE102018127154A1 (de) * 2018-10-31 2020-04-30 Bayerische Motoren Werke Aktiengesellschaft Unterstützung eines Parkvorgangs eines Kraftfahrzeugs
KR102705149B1 (ko) * 2018-12-06 2024-09-12 현대자동차주식회사 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량
DE102021120911A1 (de) 2021-08-11 2023-02-16 Valeo Schalter Und Sensoren Gmbh Verfahren zum betreiben eines parkassistenzsystems, computerprogrammprodukt, parkassistenzsystem, fahrzeug und parkeinrichtung
DE102021212244A1 (de) 2021-10-29 2023-05-04 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur sicheren Übertragung von Daten in ein hochautomatisiertes Fahrzeug durch verschlüsselte QR-Codes
DE102022200077A1 (de) 2022-01-05 2023-07-06 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren für das automatisierte Fahren eines Kraftfahrzeugs in einer Umgebung
DE102022200076A1 (de) 2022-01-05 2023-07-06 Robert Bosch Gesellschaft mit beschränkter Haftung Anpassung eines automatisierten Kraftfahrzeugs an eine Umgebung

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