• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Method and system for driverless driving assistance of a vehicle in a parking facility A method of monitoring (101) the occupancy status of the locations to determine free parking locations, determining (103) a location by based on occupancy status monitoring to determine a first path between the vehicle drop zone (307) and the location, transmit (107) to the vehicle the remote control commands of the determined path to remotely at least partially control the vehicle between the drop zone and the parking space so that the vehicle can behave in part autonomously. [Figure 1]
    公开号:FR3076652A1
    申请号:FR1872654
    申请日:2018-12-11
    公开日:2019-07-12
    发明作者:Stefan Nordbruch
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Description
    Title of the invention: Method and system for driverless driving assistance of a vehicle in a parking installation
    Technical Field [0001] The present invention relates to a method and to a system for assisting driverless driving of a vehicle in a parking installation comprising several parking spaces.
    The invention also relates to a parking installation for vehicles and to a computer program.
    Prior art [0003] The document DE 10 2013 213 379 A1 describes a device and a method for assisting the driver for the maneuvers of storing and clearing the vehicle from a parking space in a parking installation.
    GOAL OF THE INVENTION
    The present invention aims to develop effective assistance means for the driverless driving of a vehicle in a parking installation comprising several parking spaces.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION
    To this end, the invention relates to a driverless driving assistance method for a vehicle in a parking installation comprising several parking spaces, method consisting in monitoring the respective state of occupation of the spaces to determine free parking spaces, determine a parking space for the vehicle based on monitoring the respective occupancy status of the parking spaces so that, depending on the monitoring of the state of occupancy of the parking spaces, a first route is determined between the vehicle drop-off area from the parking installation to the determined parking location, transmit by remote communication network to the vehicle, the remote control orders corresponding to the first route determined to at least partially remote control the v between the vehicle drop-off area and the specified parking location and / or transmitting the first determined route by the wireless communication network to the vehicle so that, based on the first determined route, the vehicle can be driven in part autonomously between the vehicle drop-off area to the determined parking location.
    The invention also relates to an assistance system for the driverless driving of a vehicle to a parking space of a parking installation comprising several parking spaces, this system comprising a monitoring installation for monitoring the respective occupancy status of the parking spaces to determine the free parking spaces, a processor facility for determining a parking location for the vehicle based on monitoring the respective occupancy status of the parking spaces , the processor installation being carried out so that, as a function of monitoring the respective occupancy status of the parking spaces, a first route is determined in a vehicle drop-off area of the parking installation, for the specified parking location, a communication interface p or transmit via a wireless communication network to the vehicle, the remote control orders corresponding to the first determined route, to at least partially remote control the vehicle between the drop-off area to the determined parking location and / or transmit the first route determined by the wireless communication network to the vehicle so that, depending on the first route determined, the vehicle can travel at least in part autonomously, between the vehicle drop-off area and the parking location determined.
    The invention also relates to a parking installation for vehicles comprising the system defined above.
    According to another development, the invention relates to a computer program with a program code for executing the method according to the invention when the program is applied by a computer, for example a processor installation equipping the system parking as defined above.
    According to the invention, the above problem can be solved in that the first journey between the vehicle drop-off area and one or more parking spaces is determined according to the monitoring of the state of Respective occupancy of the parking spaces or of several parking spaces.
    This results in particular in the technical advantage of being able to effectively determine the first path. Thus, advantageously, directly by transmitting remote control orders or by determining the first route, transmitted by the wireless communication network to the vehicle, the vehicle is effectively assisted in its driverless driving inside the parking facility.
    A vehicle drop-off area according to the present description is an area in a parking installation which is provided to allow a driver of a vehicle to drop off his vehicle for an automatic storage operation in the parking lot.
    An automatic storage operation in a parking lot is also designated by the expression "automatic valet parking", abbreviated as AVP.
    The determined parking space is according to one embodiment, a parking space currently free or a parking space currently occupied or reserved but which will be free when the vehicle arrives at this location. The time of arrival will, for example, be assessed or determined provisionally.
    According to one development, the parking facility is a parking lot and / or a parking building and / or an underground garage.
    According to another development, the first journey will be determined before or at the time of the arrival of the vehicle in the drop-off area or after this arrival.
    This results, for example, in the technical advantage of being able to determine the first path at different times. In particular, if the first route is determined before the vehicle arrives in the vehicle drop-off area, there will for example be the technical advantage that the first route will be fixed already before the vehicle arrives in the drop-off area. This means, for example, that according to this embodiment, the first route will be determined while the vehicle is traveling towards the parking facility. This notably results in the technical advantage that this AVP operation can be carried out without delay as soon as the vehicle arrives in the vehicle drop-off area.
    According to another development, the determination of the parking location consists of providing the respective arrival time of the vehicle at the various parking locations by checking whether the corresponding parking location will be free at the time of estimated arrival, this vehicle parking space being selected from the parking spaces provided as being free at the time of arrival of the vehicle.
    This notably results in the technical advantage of being able to efficiently determine the parking location.
    According to another development, the determined parking space will be marked as reserved in the digital map of the state of occupancy of the parking installation.
    This results, for example, in the technical advantage that the determined parking location can no longer be provided for the parking of another vehicle.
    According to one development, it is reported that the determined parking space is reserved.
    This offers for example the technical advantage of effectively communicating to participants in the traffic in the parking facility that the determined parking space has been reserved.
    Reporting this location is for example to report it visually and / or acoustically.
    Signaling the location consists for example of transmitting information via the wireless communication network and / or by wire that the determined parking location has been reserved.
    Signaling consists in particular of blocking the determined parking space using a physical object, for example using a barrier.
    According to another development, the invention relates to a parking installation comprising several vehicle recovery zones, the state of occupancy of which is monitored, the method further comprising the following steps consisting in: determining a zone of vehicle recovery for the vehicle based on monitoring the respective occupancy status of the vehicle recovery areas so that, depending on the monitoring of the respective occupancy status of the various vehicle recovery areas, a second route is determined between the determined parking location and the determined vehicle pick-up zone, transmit by a wireless communication network to the vehicle the remote control orders corresponding to the second determined route, to at least partially remote control the vehicle between the specified parking location and the specified pick-up zone of the vehicle and / or transmits be the second route determined by the wireless communication network to the vehicle so that, as a function of the first determined route, the vehicle can drive at least in part autonomously between the determined parking location and the recovery zone vehicle thus determined.
    This results in the advantage that the second path can be determined effectively. In particular, it is planned to determine the second route based on monitoring the respective occupancy status of several vehicle recovery areas. This therefore has the advantage of ensuring that the vehicle will be driven to a recovery area which will be free.
    A determined vehicle recovery area is according to a development, the currently free area for vehicle recovery or a vehicle recovery area which is certainly currently occupied or reserved but which will be free at the time of arrival of the vehicle in this recovery area. The instant of arrival is for example evaluated or obtained by forecast.
    According to another embodiment, the second route is determined at the same time or at the time of the arrival of the vehicle in the vehicle drop-off area or after its arrival or at the end of the parking phase.
    This results, for example, in the technical advantage of determining the second path at different times. Insofar as the second journey is for example determined before or at the time of the arrival of the vehicle in the vehicle drop-off area or after this arrival, that is to say still before the parking phase, there is by example the technical advantage that at the end of the parking phase, the vehicle can be driven to the recovery area thus determined without any delay.
    According to another development, determining the vehicle recovery area consists of providing the respective arrival time of the vehicle at the various recovery areas and checking whether the corresponding vehicle recovery area will be free at the moment. arrival time, the vehicle pick-up area being chosen from the free pick-up areas at the respective forecast time.
    This results, for example, in the technical advantage of effectively determining the recovery area of the vehicle.
    According to another development, the vehicle recovery area is marked as being reserved in the digital occupancy state map of the parking installation.
    This results, for example, in the technical advantage that the vehicle recovery area thus determined cannot be used for another vehicle.
    According to another development, it is reported that the vehicle recovery area thus determined is reserved.
    This results in the advantage that, for example, the participants in the traffic in the parking facility will be effectively informed of the reservation of the vehicle recovery area thus determined.
    Reporting consists, for example, of making visual and / or acoustic signaling. Signaling consists, for example, in transmitting information or a message via the wireless and / or wired communication network indicating that the vehicle recovery area transmitted is reserved.
    Signaling consists in particular in blocking the vehicle recovery area thus determined using a physical object, for example using a barrier.
    A vehicle recovery area within the meaning of this description characterizes for example an area in the parking facility where the vehicle will be recovered at the end of an AVP operation (automatic valet operation).
    According to one development, the vehicle drop-off area is located in the entrance area of the parking facility.
    According to one development, the vehicle drop-off area is part of a vehicle recovery area.
    According to one development, the second determined route is adapted in the event of a change in the occupancy state of the vehicle recovery area, determined, to drive the vehicle to another, free recovery area.
    This results in the technical advantage of being able to react effectively to a change in the state of occupancy of the vehicle recovery area, determined.
    According to another development, the second route is determined in that the vehicle arrives at one or more intermediate stations where one can perform one or more services on the vehicle and / or the vehicle can make an intermediate stop.
    This results, for example, in the technical advantage that the vehicle will be efficiently driven inside the parking facility.
    According to another development, the first determined route will be adapted in the event of modification of the state of occupancy of the determined parking space, to drive the vehicle to another free parking space.
    This results, for example, in the technical advantage of reacting effectively to a change in the state of occupancy of the parking space thus determined.
    According to another development, the first journey is determined in that the vehicle is driven to one or more intermediate stations where one or more services are performed on the vehicle and / or the vehicle can make an intermediate stop.
    This results in the advantage that the vehicle will be efficiently driven inside the parking facility.
    According to another development, the invention relates to a parking system designed to implement the method as defined above.
    According to one development, the method according to the invention is carried out using a system according to the invention.
    The technical functionalities of the process follow analogously from the technical functionalities of the system and vice versa.
    This means in particular that the characteristics of the system derive from the characteristics of the process and vice versa.
    According to another development, the invention relates to a wireless communication network chosen from the group of the following wireless communication networks: WLAN network, mobile phone network and LoRa network.
    According to one development, the monitoring installation includes one or more environmental sensors.
    An environment sensor within the meaning of this description is for example one of the following environment sensors: video sensor, radar sensor, ultrasonic sensor, Lidar sensor, light barrier sensor, pressure sensor, sensor magnetic and infrared sensor.
    Different environmental sensors are for example distributed in the space of the parking installation.
    According to one development, the monitoring installation monitors the state of occupancy of several vehicle recovery areas.
    An intermediate station within the meaning of the present invention is for example a parking space with a charging station for recharging the electric accumulator of a vehicle.
    An intermediate station within the meaning of the present invention is for example also a washing installation for washing a vehicle.
    An intermediate station within the meaning of this description is for example a workshop to perform repair and / or maintenance work on a vehicle.
    An intermediate station within the meaning of this description is distinguished, for example, from an area in the parking installation which is used to temporarily store a vehicle. Such a temporary parking space within the meaning of the present invention is not a usual parking space. Such a temporary parking space will for example only be used if the usual parking spaces are occupied.
    An intermediate station within the meaning of the description is for example an emergency stop location or an emergency stop bay or a temporary bay in which a vehicle can be placed for an emergency stop or to clear the passage . Such an intermediate station is advantageously used to store the vehicle or to allow better circulation in the parking installation.
    The vehicle can for example be temporarily placed in such a parking bay or emergency bay until after the passage of traffic in the opposite direction.
    The monitoring of the occupancy state according to one embodiment consists in determining or evaluating the corresponding occupancy state using historical data of the occupancy state.
    According to one embodiment, the occupancy states are real-time occupancy states.
    An occupied state is one of the following states: free state, occupied state or reserved state.
    According to one embodiment, determining the path, that is to say for example the first path and / or the second path, is done according to one or more criteria such as for example the length of the path , the likely duration of the journey.
    This results in the advantage of being able to determine the route efficiently.
    The probable duration of the journey is determined for example by relying on historical data.
    According to one embodiment, the parking installation comprises several vehicle drop-off areas. According to one embodiment, the occupancy state of several vehicle drop-off areas is monitored, for example using the monitoring installation. One embodiment includes the following steps: determining a vehicle drop-off area for a vehicle based on monitoring the respective occupancy status of multiple vehicle drop-off areas to select the drop-off area where to start the first trip.
    BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be described below in more detail with the aid of embodiments shown in the accompanying drawings in which: [0076] [Figure 1] shows a flowchart of a assistance method for driverless driving of a vehicle in a parking facility comprising several parking spaces, [Figure 2] shows an assistance system for driverless driving of a vehicle in a facility car park with several parking spaces, and [Figure 3] shows a vehicle parking facility.
    DESCRIPTION OF EMBODIMENTS
    According to [Figure 1], there is a flowchart of a method of assisting in the driverless driving of a vehicle to one of the parking spaces of the parking facilities having several locations. This method comprises the following steps: monitoring 101 the respective occupancy status of several locations to determine the free locations, determining 103 a parking location for the vehicle based on monitoring the status occupancy of the parking spaces to determine 105 as a function of monitoring the respective occupancy status of the parking spaces, a first journey from a vehicle drop-off zone from the parking installation to the space determined parking, transmitting 107 by a wireless communication network to the vehicle, the remote control orders corresponding to a first determined route to at least partially remote control the vehicle from the drop-off zone to the determined parking location, and / or transmit 109 the first path defined by the wireless communication network to the v vehicle so that, based on the first determined route, the vehicle can move at least partially independently of the removal zone to the parking space determined.
    According to [Figure 2], there is a system 201 for driverless driving assistance of a motor vehicle in a parking installation comprising several parking spaces and comprising: a monitoring installation 203 for monitoring the respective occupancy status of several parking spaces and determining free parking spaces, a processor installation 205 for determining a parking location for the vehicle based on monitoring the occupancy state respective of several parking spaces, the processor installation 205 is carried out to determine, as a function of the monitoring of the respective state of occupation of the parking spaces, a first journey between the vehicle drop-off area the installation of the parking lot towards the determined parking location, a communication interface 207 for transmit by a wireless communication network to the vehicle, the remote control orders corresponding to the first determined route, to at least partially remote control the vehicle between the drop-off area and the determined parking location and / or transmit the first route determined by the wireless communication network to the vehicle so that, as a function of the first determined route, the vehicle can travel at least in part autonomously from the drop-off zone to the determined parking location.
    [Figure 3] shows a parking facility 301 for vehicles.
    The parking facility 301 includes the system 201 of Figure 2; for reasons of simplification, the system 201 is shown diagrammatically by a rectangle.
    The parking facility 301 has an inlet 303 and an outlet 305.
    Directly after entry 303, there is a vehicle drop-off area 307.
    Directly in front of exit 305, there are two vehicle recovery zones 309, 311. The parking facility 301 has several parking spaces 313 for vehicles.
    The respective occupancy status of the parking spaces (several parking spaces) 313 of the vehicle drop-off zone 307 as well as of the two vehicle recovery zones 309, 311, will be determined using the surveillance system 203.
    In the context of an AVP operation (automatic valet operation), it is for example provided that the driver deposits his vehicle in the vehicle drop-off area 307. According to one embodiment, the vehicle will then be driven without driver on a first determined route to one of the parking spaces 313. At the end of the parking phase, according to another embodiment, the vehicle will be driven without a driver on a second determined route, to one of the two vehicle recovery zones 309, 311. The driver then resumes his vehicle, either in the vehicle recovery zone 309, or in the vehicle recovery zone 311.
    The first path and the second path are determined, for example according to the embodiments described above and / or below.
    According to one embodiment, the vehicle is driven from the drop-off area to a parking space and at the end of the parking phase, it is driven to the vehicle recovery area.
    According to one embodiment, there are one or more intermediate stations.
    For example, the vehicle can travel the following path in the parking installation: [0101] vehicle drop-off zone - parking space comprising a charging station - parking space - vehicle recovery zone, [0102] vehicle drop-off area - location with a loading station - location - vehicle recovery area, [0103] vehicle removal area - parking location, parking location with a charging station, [0104] recovery area vehicle, vehicle drop-off area - temporary intermediate area (for example because all the parking spaces are occupied and / or the traffic in the parking lot is too high and / or reverse traffic has priority) - location of parking - vehicle recovery area.
    This also means in particular that the first or second path includes, for example, intermediate stations.
    权利要求:
    Claims (1)
    [1" id="c-fr-0001]
    Claims [Claim 1] Method for driverless driving assistance of a vehicle in a parking installation comprising several parking spaces (313), method consisting in: monitoring (101) the respective occupancy status of the parking spaces (313) to determine free parking spaces (313), determining (103) a parking space (313) for the vehicle based on monitoring the respective occupancy status of the parking spaces (313) of so that, as a function of monitoring the respective occupancy status of the parking spaces (313), a first path is determined between the drop-off zone of the parking installation vehicle (307) towards the determined parking space (313): transmit (107) via a wireless communication network to the vehicle, the remote control orders corresponding to the first determined route to remotely control the vehicle at least partially between the vehicle drop-off area (307) and the determined parking location (313) and / or transmit (109) the first route determined by the wireless communication network to the vehicle so that based on the first determined route, the vehicle can drive in part autonomously between the vehicle drop zone (307) to the determined parking location (313). [Claim 2] Method according to claim 1, according to which the first journey is determined before or after the arrival of the vehicle in the drop-off area (307). [Claim 3] Method according to claim 1 or 2, characterized in that determining (103) the parking location (313) consists in providing the respective arrival time of the vehicle at the various parking locations (313) by checking if the corresponding parking space (313) will be free at the respective predicted arrival time, the parking space (313) for the vehicle is selected from the free parking spaces (313) at the respective predicted arrival time. [Claim 4] Method according to one of the preceding claims, characterized in that the determined parking space (313) is marked as being reserved on a digital occupation map of the parking installation. [Claim 5] Method according to claim 4, characterized in that it is indicated that the determined parking location (313) is reserved. [Claim 6] Method according to one of the preceding claims, characterized in that the parking installation comprises several vehicle recovery zones (309, 311) of which the state of occupancy is monitored, the method further comprising the following steps consisting in: determining (103) a vehicle recovery zone (309, 311) based on the monitoring of the respective occupancy status of the vehicle recovery zones (309, 311) so that in function monitoring the respective occupancy status of the various vehicle recovery zones (309, 311), a second route is determined between the determined parking location (313) and the determined vehicle recovery zone (309,311) , transmit (107) via a wireless communication network to the vehicle, the remote control orders corresponding to the second determined route, to at least partially remote control the vehicle between the location of determined parking (313) and the determined recovery area of the vehicle (309, 311) and / or transmit the second determined route by the wireless communication network to the vehicle so that, depending on the first determined route, the vehicle can behave at least in part autonomously between the determined parking location (313) and the vehicle recovery area (309, 311) thus determined. [Claim 7] Method according to claim 6, characterized in that the second journey is determined before or at the time or after the arrival of the vehicle in the vehicle drop-off area (307) or at the end of the parking phase . [Claim 8] Method according to claim 6 or 7, characterized in that the vehicle recovery zone (309, 311) is determined (103) consists in: predicting the respective time of arrival of the vehicle in several zones of vehicle recovery (309, 311), checking whether the corresponding vehicle recovery zone (309, 311) will be free at the forecast arrival time, the vehicle recovery zone (309, 311) being selected for the vehicle among the vehicle recovery areas (309, 311) free at the forecast arrival time. [Claim 9] Method according to one of claims 6 to 8, characterized in that the determined vehicle recovery area (309, 311) is marked as being reserved in a digital occupation status card of the installation parking lot. [Claim 10] Method according to claim 9, characterized in that it is indicated that the vehicle recovery area (309, 311) thus determined is reserved. [Claim 11] Method according to one of claims 6 to 10, characterized in that the second determined route is adapted to a change in the state of occupation of the vehicle recovery area (309, 311) determined, to drive the vehicle to another free vehicle recovery area (309, 311). [Claim 12] Method according to one of claims 6 to 11, characterized in that the second route is determined so that the vehicle arrives at one or more intermediate stations or one where several services can be performed on the vehicle and / or the vehicle makes an intermediate stop at one or more intermediate stations. [Claim 13] Method according to one of the preceding claims, characterized in that the first determined route is adapted to a modification of the occupancy state of the determined parking space (313) to drive the vehicle to another free parking space (313). [Claim 14] Method according to one of the preceding claims, characterized in that the first journey is determined so that the vehicle arrives at one or more intermediate stations where one or more services can be carried out on the vehicle and / or the vehicle can make an intermediate stop. [Claim 15] Method according to one of the preceding claims, characterized in that the route is determined according to one or more criteria, for example the probable duration along the route. [Claim 16] Assistance system (201) for the driverless driving of a vehicle to a parking space of a parking installation comprising several parking spaces (313), this system comprising: a monitoring installation (203 ) to monitor the respective occupancy status of the parking spaces (313) to determine the free parking spaces (313), a processor facility (205) to determine a parking space (313) for the vehicle based on monitoring the respective occupancy status of the parking spaces (313), the processor installation (205) being carried out so that, as a function of monitoring the respective occupancy status of the parking spaces (313), a first route is determined in a vehicle drop-off zone (307) for the parking installation for the parking space (313) det erminate, a communication interface (207) for transmitting by a wireless communication network to the vehicle, the remote control orders corresponding to the first determined route, to at least partially remote control the vehicle between the drop-off area (307) until the determined parking location (313) and / or transmitting the first determined route by the wireless communication network to the vehicle so that, depending on the first determined route, the vehicle can travel at least in part autonomously between the vehicle drop-off area (307) to the determined parking location (313). [Claim 17] Parking facility (301) for vehicles comprising the system (201) according to claim 16. [Claim 18] Computer program comprising a program code for executing the method according to one of claims 1 to 15, when the computer program is applied by a computer.
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    同族专利:
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    DE102017222658A1|2019-06-13|
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    法律状态:
    2019-12-19| PLFP| Fee payment|Year of fee payment: 2 |
    2020-08-28| PLSC| Publication of the preliminary search report|Effective date: 20200828 |
    2020-12-17| PLFP| Fee payment|Year of fee payment: 3 |
    2021-12-15| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102017222658.7|2017-12-13|
    DE102017222658.7A|DE102017222658A1|2017-12-13|2017-12-13|A method and system for assisting driverless driving of a motor vehicle in a parking facility comprising multiple parking spaces|
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