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  • 专利说明
  • 权利要求
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    • 专利摘要:
    TITLE: Method and system for controlling a vehicle in an infrastructure Method for guiding a vehicle (4) in an infrastructure (1) according to which a occupancy map is established on the basis of the measurement data of a sensor system (14) of the infrastructure, according to the occupancy map established, a control unit (16) determines a collisionless traffic area for at least one vehicle (4). Starting from the position determined by the sensor system (14) and the determined circulation range, the circulation release is calculated by the control unit (16) and transmitted to the vehicle (4). The differences between the vehicle (4) and the circulation release are verified by an internal control of the vehicle (20), and in the event of deviation noted by the control (20), the vehicle (4) is put in a secure state .
    公开号:FR3079066A1
    申请号:FR1902434
    申请日:2019-03-11
    公开日:2019-09-20
    发明作者:Andreas Lehn；Andreas Karsten；Matthew Nimmo；Patrick Hackh；Tom-Philipp Schoeffler；Markus Schuetz
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Description
    Title of the invention: Method and system for controlling a vehicle in an infrastructure
    Technical Field [0001] The present invention relates to a method and system for controlling a vehicle in an infrastructure.
    PRIOR ART In the case of the AVP procedure (automatic valet procedure) applied to parking buildings, the information coming from the infrastructure of the parking building is transmitted to the vehicle whose parking maneuver is carried out automated way. In the known AVP process, the infrastructure provides a large part of the system intelligence. The infrastructure monitors the vehicle to be parked and the environment of this vehicle with sensors installed in the parking lot. The sensors can for example be cameras.
    The information provided by the sensors is processed externally to the vehicles and the control signals are transmitted to the vehicles during parking by a wireless communication link. Vehicles to be parked should preferably have as few additional components as possible to execute control orders and to apply the parking procedure. This does not minimize the additional cost of manufacturing AVP-capable vehicles or related processing equipment.
    The vehicle can be in circulation without having its own sensors in a parking building whose infrastructure has been transformed and constantly refer to current information on the parking infrastructure. Due to the lack of an internal security system in the vehicle or the reduced capacity of this system, the AVP system must meet advanced security requirements.
    AIM OF THE INVENTION The purpose of the present invention is to develop a method and a system for safely avoiding collisions between vehicles traveling in automated mode.
    DESCRIPTION AND ADVANTAGES OF THE INVENTION To this end, the invention relates to a method for guiding at least one vehicle in an infrastructure according to which:
    - Establishing an occupancy map based on the measurement data of an infrastructure sensor system, [0010] - depending on the occupation map established, a control unit determines a collision-free circulation zone for the vehicle, [0011] - starting from the position determined by the vehicle sensor system and from the collision-free circulation range, thus determined, the liberation of circulation of the vehicle by the control unit and this information is transmitted by a communication link to the vehicle, [0012] - the vehicle travels in the traffic area without risk of collision from this release of traffic, [0013] - the differences between the vehicle and the release of traffic by an internal control to the vehicle, and - in case of deviation of the vehicle from the release of traffic, noted by the vehicle control, we put the vehicle in a secure state.
    In other words, in a step, an occupancy map is established based on the measurement data supplied by a system of sensors on the infrastructure side and with the occupancy map thus established, a vehicle control unit. , determines a beach or free circulation area.
    Then, starting from the position of the vehicle determined by the sensor system and the neighboring range, without risk of collision, the control unit calculates the release of circulation of the vehicle and transmits it to it by a communication link. The release of traffic can take the form, for example, of an order indication with defined adjustment parameters of the vehicle. The position parameter, defined, will be adapted to a safe and authorized operating range that the vehicle must respect to operate without collision.
    Based on the traffic release transmitted, we travel in the range without risk of collision with the vehicle. During the continuation of the command indication or the release of vehicle traffic, the deviations of the vehicle from the release of traffic are checked using the route control, internal to the vehicle. For a deviation noted by the vehicle path control with respect to the release of traffic, the vehicle is put in a secure state. The route control can be done alternatively or additionally in the form of a monitoring function. Thanks to the internal vehicle monitoring function, the current adjustment parameters are compared with the adjustment parameters transmitted by the release function. In the case of a deviation of a vehicle adjustment parameter from the monitoring function, the vehicle is put in a secure state.
    The method guarantees, for example, that an AVP vehicle will not cause any collision either with a static object, or with a moving object or obstacles while the vehicle is traveling in the infrastructure. This infrastructure is, for example, a parking lot, a collection area, a drop-off area, a loading station or a similar location.
    For autonomous or partially autonomous vehicles, safety is a decisive element. Since vehicles to be parked with an AVP system circulate without a driver and with a minimum of sensors in the parking lot, such vehicles can present a risk of accident or injury. The built-in monitoring function in the vehicle allows the use of an efficient monitoring and control facility which ensures that the vehicle will be brought into a safe state in time to meet higher safety requirements. Above all, this avoids injuring people or at least minimizes such risks. As a variant or in addition, the vehicle to be parked can be guided or ordered to a destination without the intention of parking. For example, the vehicle can be a carrier vehicle which reaches different destination positions in the infrastructure.
    The method makes it possible to generate occupancy cards on the infrastructure side or on the parking side. The occupation cards are for example cards with grids in which the obstacles are recorded. The unmarked gate can be used without risk of potential collision. Obstacles and the occupation map are determined on the basis of the measurement data from the infrastructure system and may preferably be valid only for a given period.
    The sensor system can consist of a large number of sensors such as cameras, radar sensors, lidar sensors, light barriers, ultrasonic sensors or such sensors. The sensors are coupled directly or through interfaces to the infrastructure control unit. The sensor system can also include its own control device to generate occupancy maps and to predict future routes of dynamic objects. Alternatively, the measurement data provided by the sensor system can be fully exploited by the control unit.
    From the grid (free), that is to say not occupied by obstacles, it is possible to generate traffic releases for different vehicles and then transmit them to the vehicles via a radio link.
    Vehicles can interpret the release of traffic by the vehicle side path control and these indications can be transformed into a direct or indirect control of the actuators for the movement of the vehicle. This operation of establishing the occupancy card until the generation and transmission of the order indications to the vehicles can be repeated at defined intervals.
    Traffic releases can be issued to at least one vehicle via a wireless communication link. This wireless communication link is preferably provided in an encrypted or protected manner to reduce the risk of third party intervention. The wireless communication link can use WLAN, UMTS, LTE, GSM or wireless communication standards of this type.
    From the simple construction of the process chain of action, it is possible to prove mathematically and practically guarantee the components relating to safety, in a simple manner because the process behaves in a deterministic manner. All it takes is a simple vehicle-side monitoring logic that is easily installed in the integrated control unit. The actual route control (automated vehicle guidance) can be decoupled by the monitoring logic and be applied.
    If the monitoring logic finds a gap between a vehicle and the release of traffic, the vehicle will be directly put in a secure state. Such deviations are for example deflections or speeds exceeding the threshold of release. In addition, the difference may be that of the validity as a function of the time of the order order before a new order order is sent by the control unit to the vehicle. In addition, the components of the control chain for the automated guidance of the vehicle both in the infrastructure or the parking lot but also vehicles can be decoupled or independently of the safety monitoring chain. The method can thus be developed independently of the architecture for regulating the movement of a vehicle from different manufacturers.
    The complex calculations to generate the release of traffic including the adjustment parameters relating to the security operation remain on the parking side and can preferably be carried out by a control unit produced in the form of a server having a capacity high computational cost. The traffic release signals or guidance indications represent the degree of physical freedom of the vehicle. The range that can potentially be traversed is thus clearly defined at all times.
    The vehicle is for example a passenger vehicle, a utility vehicle, a forklift, a transport robot or a vehicle of this type. The process is not limited to parking buildings, parking lots and parking lots, but can be applied analogously to automated halls or automated grounds such as, for example, corporate areas.
    According to one embodiment of the method, during the transfer of the vehicle in a secure state, an emergency braking maneuver is applied to the vehicle. The immobilized vehicle can then be defined as a secure state of an AVP system. The state and transfer to a secure state can be called "safety stop".
    Preferably, the triggering of the secure state is done by the path command. The route control is thus a circuit component or a program component integrated into the vehicle control unit or separate from it. Freeing up traffic is associated with transmitting the limit values or the operating framework to the vehicle which the vehicle must respect in order to remain within the traffic range without risk of collision. The continuous comparison between the operations or movements of actuators actually executed by the vehicle, and the operational framework of the freeing of circulation makes it possible to control the total braking in the event of an overshoot up or down of a value, such as for example a turning or a speed.
    The vehicle traffic mission and vehicle guidance or vehicle release are preferably carried out, in functional mode and / or in space, separately and independently. The vehicle thus reacts to the traffic authorization or the freedom of movement established on the infrastructure side and it internally ensures the path control chain. Thus vehicles without a highly automated driving license can be guided in a secure and precise way through the infrastructure thanks to precise infrastructure sensors.
    According to the other development of the method, the release of traffic corresponds to a range of steering angles, at a speed which the vehicle must respect at the minimum and to an indication of time. The traffic release may contain a reduced number of information and be quickly transferred securely to a narrow band. For example, it is possible to transmit a maximum authorized turning in one direction, a maximum authorized turning in the opposite direction, a speed and an indication of time or a maximum validity of the order in the form of a traffic entry towards at minus one vehicle. The maximum deflections can be developed in the form of authorized ranges of curvature to generate freedom of movement using the occupancy card. The range of guide angle or steering angle and the corresponding freedom of movement may preferably take into account both guidance by the front axle and by the rear axle.
    This type of development of the method, the release of circulation corresponds to a range of toothed wheel races or a range of rotation of a steering motor and of a number of wheel revolutions or of a path. Alternatively, traffic clearance can be based on physical vehicle models which are stored in the control unit and which influence or define the action, direct, actuator or odometer quantities. This allows the vehicle path to be controlled more precisely or remotely controlled by the control unit.
    According to another embodiment of the method, the release of circulation comprises a range of radii of curvature. This makes it possible to define the range of release from the point of view of the infrastructure, in an abstract and unambiguous way to define the limits then of a setting of the steering angle or steering angle. The vehicle can thus convert the maximum or minimum curvature range internally to the vehicle into a corresponding maximum and minimum turning angle so that the infrastructure will not have to know the model of the conversion mechanism specific to the vehicle model.
    According to another embodiment of the method, the vehicle circulation range is calculated on the basis of a vehicle model registered in the control unit. The vehicle model is for example a simplified physical model of vehicle or a vehicle model uniquely identified by the sensor system. Using the vehicle model, it will be possible to calculate the operating limits or the regulation limits for the vehicle entry so that the vehicle can circulate without risk of collision based on this entry.
    According to another embodiment of the method, the vehicle entrances and / or the traffic range without risk of collision have a validity limited in time. From the occupancy card or the occupancy grid, it will be possible to calculate the range of movement without risk of collision, authorized for the vehicle within the defined time range. The occupation map is a simple or extended occupation map of the meeting of dynamic objects. The time range can vary from one to several seconds or less than a second. If a traffic range without risk of collision of the vehicle is found by the algorithm of the sensor system or the control unit, it will thus be applied to a release of circulation limited in time and this information will be transmitted to the vehicle by a wireless link. Otherwise there will be no clearance for movement. The vehicle commands full braking in the event of a traffic release entry fault and remains in this safe release state.
    According to another development of the method, before the end of the time-limited validity, the sensor system, infrastructure side, establishes a new occupation map and determines by the control unit, the circulation range without risk of collision based on this new occupation map. Depending on the frequency of repetition of the process, new updated occupation maps will be established at determined time intervals with correspondingly adapted freedom of movement entries on the infrastructure side and will be transmitted to the vehicle in the appropriate form. freedom of movement. Thus the vehicle can be guided step by step to the destination by the infrastructure. Each stage represents a time segment or a segment of a path defined in a defined manner, with a defined direction and a possible deviation from direction, defined.
    According to another embodiment of the method, after the end of the validity, the vehicle will be put in a secure state. This prevents the vehicle from causing damage in the event of a faulty communication link between the vehicle and the infrastructure or the car park. Without an updated traffic release entry, the vehicle will remain in a secure state.
    According to another embodiment of the method, the movements of dynamic obstacles will be taken into account by the sensor system by evaluating or performing a simulation for the establishment of the occupation map. When establishing occupancy cards, this allows you to take account of both static obstacles or objects and also dynamic or mobile objects such as other vehicles or people.
    When transmitting to the parking server or to the control unit, only static objects at the intensity tO will be transmitted to the occupancy card. The range of possible movements of dynamic obstacles for a period t such as, for example, ls, will preferably be calculated and transmitted to the occupancy card or else will be taken into account there to determine the range of circulation without risk of collision. Dynamic obstacles can for example be enlarged in a defined direction or in several directions and thus other cells or grids of the occupation map can be marked as "occupied".
    According to another embodiment of the method, the circulation range without risk of collision will be delimited at least on two sides by radii of curvature or clothoids, identical or of different shapes. Depending on the speed of the vehicle to be controlled, it will not be possible to enlarge or reduce the radii of curvature from the center of the vehicle or from the vehicle's steering axis. On a straight path, the radii of curvature will be oriented in the direction opposite to the maximum defined deflection of the vehicle. To travel around bends, the radii of curvature can be oriented in the same direction and preferably according to the course of the curve. The use of clothoids as traffic ranges without risk of collision, valid for a limited time or even as a "safety zone" allows a more precise physical involvement of these zones.
    According to another embodiment of the method, the shape of the spokes or clothoids of the circulation range is adjusted without risk of collision as a function of the speed or of the path traveled during the validity of the order of order of the vehicle . This makes it possible to determine the traffic ranges without risk of collision, optimally adapted to the route layout and the vehicle speed and degenerate into the form of free traffic.
    Alternatively or in addition, the traffic releases are in the form of conditions to be met in place of the traffic release. This makes it possible to send corrections and braking orders to the vehicle from the infrastructure side. In addition, several control or release indications could be sent to the vehicle to execute defined control operations such as steering movements or braking operations in a precise manner and with a continuous staggering.
    According to one development, the invention relates to a vehicle guidance system based on the infrastructure. The system includes an infrastructure with a sensor system for observing and measuring the environment in the infrastructure and making occupation maps of the infrastructure environment. A system control unit is used to calculate vehicle-specific collision-free traffic ranges and to establish vehicle-specific traffic releases. The system includes at least one communication device for establishing a wireless communication link to at least one vehicle and for transmitting command indications to the vehicle. The system further includes at least one vehicle with a route control for receiving and respecting traffic releases.
    Thus a system for guiding a vehicle along a free traffic range to at least one destination can be applied, which performs on the infrastructure side, all the planning missions requiring a lot of calculations and the calculation missions. to provide vehicles with the minimum amount of information needed. This information can be verified quickly and simply by a vehicle side trip command and in the event of a negative verification, the vehicle will be put in a secure state.
    BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be described below in more detail with the aid of an exemplary embodiment shown in the accompanying drawings in which:
    [Fig.l] is a schematic representation of a parking lot equipped with a system according to an embodiment of the invention, [0048] [fig.2a] [0049] [fig.2b] [0050] [fig.2c] is a schematic representation of different security zones corresponding to embodiments of the invention, [fig.3] is a schematic representation of the system according to one embodiment of the invention.
    DESCRIPTION OF AN EMBODIMENT FIG. 1 schematically shows the representation of a parking lot 1 or of a level of a parking building 1 as infrastructure 1 with a system 2 according to an embodiment of the invention. In particular, the infrastructure 1 is shown in combination with an occupancy card B to allow the object of the invention to be presented.
    The path T is shown followed by a vehicle 4 which parks. A safety zone 6 or collision-free circulation zone 6 is also shown. Vehicle 4 travels there according to a curve. The walls or limitations of the parking space 1 as well as the parked vehicles represent static obstacles 8 and are correspondingly indicated in the occupation map B presented in the form of a network of occupation grids 8, 10. Behind the curve, the system of sensors referenced in FIG. 3 determines a dynamic obstacle 10 in the form of a vehicle which emerges from its parking lot and it evaluates the predicted trajectory of the dynamic obstacle 10 in the parking system . Based on this, we provided occupancy card B with other occupation grids 8, 10.
    Figures 2a-2c are schematic representations of different security zones 6 of embodiments of the invention. The different safety zones 6 or traffic zones without risk of collision 6 are delimited laterally by radii of curvature 11, 12 from a point on the vehicle 4. The two radii of curvature 11, 12 define the maximum deflections of the vehicle 4, transmitted by traffic entrances. The radii of curvature 11, 12 which lengthen with increasing speed or validity over time, of the release of circulation or of the range of circulation without risk of collision have been indicated 6. The walls are presented for example under the form of static obstacles 8. FIG. 2a shows the safety zones 6, calculated for a straight-line journey of the vehicle 4 over distances of 2.77m, 5m and 15m during the validity as a function of the time of the release of traffic. . FIG. 2b explains the safety zones 6 in the context of a trajectory correction; FIG. 2c calculates the possible safety zones 6 in a regular curved path.
    Figure 3 is a schematic representation of the system 2 according to an embodiment of the invention. This figure shows in particular the safety-related components. The system 2 has an infrastructure 1 with a sensor system 14 and a control unit 16 connected in the direction of data transmission to the sensor system 14.
    The sensor system 14 allows, for example, to observe and measure characteristic parts of the infrastructure 1 such as traffic areas and routes. Preferably, the sensor system 14 has a large number of distributed sensors, such as for example radar sensors, lidar sensors or cameras. Thus, the sensor system 14 of the vehicle 4 will be able to detect static obstacles 8 and dynamic obstacles 10 to take them into account in the context of the generation of the occupation map B.
    The occupancy card B thus established is transmitted to the control unit 16. The control unit 16 is based on the unoccupied grid of the establishment card B to establish a release of circulation and the transmit by WLAN link, secured as wireless communication link 18.
    The vehicle 4 interprets the control indication from the vehicle control 20 and applies it to the actuator controls. The limits defined in the traffic clearance, which are based on the traffic zones 6 without risk of collision, are continuously monitored. When the vehicle 4 leaves a safety zone 6 or exceeds it, the vehicle control 20 controls the emergency braking which puts the vehicle 4 in its secure state.
    NOMENCLATURE OF MAIN ELEMENTS [0061] 1 Parking [0062] 2 System [0063] B occupancy card [0064] 4 Vehicle to park [0065] 6 Safety zone / range of traffic without risk of collision / range of security [8] Grid [0067] 9 Grid [0068] 10 Grid / Obstacle [0069] 11 Bending radius [0070] 12 Bending radius [0071] 14 Sensor system [0072] 16 Control unit [0073] 18 Communication link [20] Vehicle control
    权利要求:
    Claims (1)
    [1" id="c-fr-0001]
    [Claim 1] [Claim 2] [Claim 3] [Claim 4] [Claim 5]
    claims
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to which
    - we establish an occupation map (B) based on the measurement data of a system of sensors (14) of the infrastructure,
    - according to the occupation map (B) established, a control unit (16) determines a traffic zone (6) without collision for at least one vehicle (4),
    - starting from the position determined by the sensor system (14) of at least one vehicle (4) and the traffic range (6) without risk of collision, thus determined, the traffic release of at least a vehicle (4) by the control unit (16) and that this information is transmitted by a communication link (18) to the vehicle (4),
    - the vehicle (4) travels in the traffic area without risk of collision (6) from this release of traffic,
    the gaps between the vehicle (4) and the release of traffic are checked by an internal control to the vehicle (20), and
    - in case of deviation of the vehicle from the traffic release, this difference being noted by the vehicle control (20), the vehicle (4) is put in a secure state.
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to claim 1, according to which, during the transfer of the vehicle (4) in a secure state, an emergency braking maneuver of the vehicle is carried out ( 4). Method for guiding at least one vehicle (4) in an infrastructure (1) according to claim 1 or 2, according to which the release of traffic corresponds to a range of steering angle, a speed to be respected by the vehicle (4 ) and an indication of time.
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to claim 1 or 2, according to which the release of circulation defines a range of movement of pinions or a range of rotation of a steering motor and a wheel rotation speed or a path.
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to one of claims 1 to 3, according to which the release of traffic comprises a range of rays [Claim 6] [Claim 7] [Claim 8 ] [Claim 9] [Claim 10] [Claim 11] [Claim 12] [Claim 13] curvature.
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to one of claims 1 to 5, according to which the range (6) without risk of collision for the vehicle (4) is calculated on the basis on a vehicle model registered in the control unit (16).
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to one of claims 1 to 6 according to which the release of traffic and / or the traffic range without risk of collision (6) are valid limited in time.
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to claim 7, according to which, before the end of validity limited in time, a new occupation card (B) is established by the system of infrastructure side sensors (14) and the control unit (16) determines a range (6) of traffic without risk of collision on the basis of the new occupation map (B).
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to claim 7 or 8, according to which after the end of the validity period, the vehicle (4) is put in a secure state.
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to one of claims 1 to 9, according to which account is taken of the movements of dynamic obstacles (10) by the sensor system (14) by the evaluation or the execution of a simulation for the establishment of the occupation map (B). Method for guiding at least one vehicle (4) in an infrastructure (1) according to one of claims 1 to 10, according to which the traffic range (6) is delimited without risk of collision on at least two sides by radii of curvature (11, 12) of equal or different shape or by clothoids.
    Method for guiding at least one vehicle (4) in an infrastructure (1) according to claim 11, according to which the shape of the radii of curvature (11, 12) or of the clothoids of the circulation range is adjusted without risk of collision (6) depending on the speed or the distance covered during the validity of the order to order the vehicle (4).
    System (2) for guidance based on the infrastructure of at least one vehicle (4) and for applying the method according to one of the preceding claims comprising:
    - an infrastructure (1) with a sensor system (14) for observing and measuring the environment of the infrastructure and for establishing occupation maps (B) of the environment of the infrastructure,
    - the control unit (16) calculates the traffic ranges without risk of collision (6) specifically for the vehicle and to establish release data specific to the vehicles,
    - at least one communication device establishes a wireless communication link (18) to the vehicle (4) and transmits traffic releases to the vehicle (4), and
    - the vehicle (4) has a vehicle control (20) for receiving and retaining traffic releases.
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    同族专利:
    公开号 | 公开日
    FR3079066B1|2021-05-07|
    JP2019194844A|2019-11-07|
    CN110271540A|2019-09-24|
    DE102018204006A1|2019-09-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102014224075A1|2014-11-26|2016-06-02|Robert Bosch Gmbh|Method and device for assisted driving of a vehicle|
    DE102014224077A1|2014-11-26|2016-06-02|Robert Bosch Gmbh|Method and device for assisted driving of a vehicle|
    DE102015201204A1|2015-01-26|2016-07-28|Robert Bosch Gmbh|Valet parking system|
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    DE102020205549A1|2020-04-30|2021-11-04|Volkswagen Aktiengesellschaft|Method for operating a means of transport assistance or control system|
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    法律状态:
    2020-03-25| PLFP| Fee payment|Year of fee payment: 2 |
    2020-10-23| PLSC| Publication of the preliminary search report|Effective date: 20201023 |
    2021-03-22| PLFP| Fee payment|Year of fee payment: 3 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102018204006.0A|DE102018204006A1|2018-03-15|2018-03-15|Method and system for the secure collision avoidance of vehicles monitored on the infrastructure side|
    DE102018204006.0|2018-03-15|
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