DE102019203427A1 - Method and device for driving vehicles in a parking space - Google Patents

Abstract

A method for driving vehicles (F ... F) in a parking space (100), comprising the steps: determining positions of parked vehicles (F ... F) and a sum of parking spaces (x ... x) between the parked vehicles (F ... F) per parking lane (10a ... 10n) in the parking space (100) in relation to a width of the vehicle (F ... F); - re-parking of parked vehicles (F ... F) in the parking space (100) in such a way that a parking space (P ... P) is provided with a width that is defined wider than an arriving vehicle (F ... Fn); and- parking, in particular automated parking, of the arriving vehicle (F ... F) on the parking lot (P ... P) provided in this way.

Description

The invention relates to a method for driving vehicles in a parking space. The invention also relates to a device for driving vehicles in a parking space. The invention also relates to a computer program product.

State of the art

• - Höhere Kosten: Steigende Preise für Baugrund erhöhen Endverbraucherpreise oder drücken auf die Marge
• - Weniger Platz: Der Trend zu größeren Fahrzeugen zwingt die Industrie zu größeren Parkplätzen
• - (Teil-)automatisierung von Fahrzeugen: Bereits heutige Fahrzeuge besitzen Aktuatorik und Sensorik für ein (teil-)automatisiertes Bewegen in definierten Szenarien

Optimizing parking space has long been an issue in the field of construction and mobility. Among other things, three trends are increasing criticality:

• - Higher costs: Rising prices for building land increase consumer prices or reduce margins
• - Less space: The trend towards larger vehicles is forcing the industry to use larger parking spaces
• - (Partial) automation of vehicles: Even today's vehicles have actuators and sensors for (partially) automated movement in defined scenarios

In the parking garage architecture, layouts for standard parking garages are crystallizing, which try to optimize both the use of the area and construction costs. Another approach can be seen with so-called “robot parking garages”, which, similar to a high-bay warehouse, can park as many vehicles as possible in a confined space. These are limited in their flexibility due to their rigid mechanics and standardized container size.

Radically new opportunities arise from automated vehicles. These can be parked next to and behind one another without a driver in order to save space with optimized spaces.

Systems for managing parking areas are, for example, made DE 10 2009 029 117 A1 or off DE 10 2012 222 562 A1 known.

Automated valet parking systems, for example, are off DE 10 2014 221 751 A1 known.

Disclosure of the invention

It is an object of the present invention to provide improved use of parking space.

• - Ermitteln von Positionen geparkter Fahrzeuge und einer Summe von Parklücken zwischen den geparkten Fahrzeugen pro Parkspur im Parkraum in Relation zu einer Breite des Fahrzeugs;
• - Umparken von geparkten Fahrzeugen im Parkraum derart, dass ein Parkplatz mit einer Breite bereitgestellt wird, der definiert breiter ist als ein ankommendes Fahrzeug; und
• - Parken, insbesondere automatisiertes Parken, des ankommenden Fahrzeugs auf dem derart bereitgestellten Parkplatz.

According to a first aspect, the object is achieved with a method for, in particular, the automated driving of vehicles in a parking space, comprising the steps:

• Determination of positions of parked vehicles and a sum of parking spaces between the parked vehicles per parking lane in the parking space in relation to a width of the vehicle;
• - Reversing parked vehicles in the parking space in such a way that a parking space is provided with a width that is defined wider than an arriving vehicle; and
• - Parking, in particular automated parking, of the arriving vehicle on the parking lot provided in this way.

In this way, parking space is advantageously used to the maximum, the parking space being to a certain extent dissolved and no longer having any fixed parking spaces. An efficient and economical operation of parking space is advantageously supported in this way.

• - eine Erfassungseinrichtung zum Erfassen von Positionen geparkter Fahrzeuge und einer Summe von Parklücken zwischen den geparkten Fahrzeugen pro Parkspur im Parkraum in Relation zu einer Breite des Fahrzeugs;
• - eine Umparkeinrichtung zum Umparken von geparkten Fahrzeugen im Parkraum derart, dass ein Parkplatz mit einer Breite bereitgestellt wird, der definiert breiter ist als ein ankommendes Fahrzeug und zum Parken des ankommenden Fahrzeugs auf dem derart bereitgestellten Parkplatz.

According to a second aspect, the object is achieved with a device for driving vehicles in a parking space, having:

• a detection device for detecting positions of parked vehicles and a sum of parking spaces between the parked vehicles per parking lane in the parking space in relation to a width of the vehicle;
• - A reversing device for reversing parked vehicles in the parking space in such a way that a parking space is provided with a width that is defined wider than an arriving vehicle and for parking the arriving vehicle on the parking space provided in this way.

The dependent claims relate to advantageous developments of the method.

An advantageous further development of the method provides that the parking of the parked vehicles is started with a vehicle that is adjacent to a parking space that is larger than a defined threshold value, with parking changes for the parked vehicles being repeated until the parking space for the incoming vehicle is provided.

Another advantageous development of the method provides that the threshold value is between approximately 0.3 m and approximately 0.5 m, preferably approximately 0.4 m. In this way, threshold values are provided that are optimized for a small number of parking changes, thereby providing a compromise between parking changes, safety and profit.

A further advantageous development of the method provides that after Parking the arriving vehicle, the vehicles are parked in the parking space in such a way that the parking spaces between the vehicles are essentially identical. In this way, an optimal utilization of the parking space is advantageously realized.

Another advantageous development of the method is characterized in that the arriving vehicle is only parked if a vehicle does not have to be repositioned more than a defined number, preferably not more than three times, during its stay in the parking space. In this way, a large number of parking processes is advantageously avoided, and the parameter of the maximum parking changes can advantageously be defined.

A further advantageous development of the method is characterized in that the arriving vehicle is only parked in the parking space if a maximum of a defined number of vehicles, preferably a maximum of three vehicles, have to be reparked in the parking space. In this way, it is advantageously supported that all lanes of the parking space are always sufficiently free.

A further advantageous development of the method is characterized in that more than one parking lane in the parking space is used for reparking the parked vehicles. This advantageously supports a good utilization of the parking space.

Another advantageous embodiment of the method is characterized in that the largest parking space is initially determined for the reversal, starting from which parking spaces adjacent to the largest parking space are used to provide the parking space for the arriving vehicle. In this way, even better utilization of the parking space is supported.

Another advantageous embodiment of the method is characterized in that the largest parking space is first determined for the parking change, starting from which parking spaces with a reduced width are used to provide the parking space for the arriving vehicle, regardless of where the parking spaces are arranged within the parking lane are. In this way, even better utilization of the parking space is supported.

The invention is described in detail below with further features and advantages on the basis of several figures. All of the features described or shown form the subject matter of the invention individually or in any combination, regardless of their summary in the patent claims or their back-reference, and regardless of their formulation or representation in the description or in the figures.

Disclosed method features result analogously from corresponding disclosed device features and vice versa. This means in particular that features, technical advantages and designs relating to the method result in an analogous manner from corresponding designs, features and advantages relating to the device, and vice versa.

• 1 prinzipielle Darstellungen einer konventionellen und einer erfindungsgemäßen Parksituation;
• 2-9 verschiedene prinzipielle Darstellungen mit einer Erläuterung einer Wirkungsweise des vorgeschlagenen Verfahrens;
• 10 und 11 eine Darstellung von Leistungsfähigkeit des vorgeschlagenen Verfahrens;
• 12 ein Blockschaltbild einer vorgeschlagenen Vorrichtung; und
• 13 einen prinzipiellen Ablauf einer Ausführungsform des vorgeschlagenen Verfahrens.

In the figures shows:

• 1 basic representations of a conventional and an inventive parking situation;
• 2-9 various basic representations with an explanation of a mode of operation of the proposed method;
• 10 and 11 an illustration of the performance of the proposed method;
• 12 a block diagram of a proposed device; and
• 13 a basic sequence of an embodiment of the proposed method.

Description of embodiments

A key idea of the invention is, in particular, to make optimal use of an available parking space.

For this purpose, it is proposed to arrange or guide vehicles in the parking space in such a way that optimum use of space is achieved. On the one hand, the parking garage architecture is used as efficiently as possible and, on the other hand, the individual width of all vehicles is taken into account. Due to the dense arrangement of vehicles, it may be necessary to repark vehicles while they are in the parking garage.

According to the invention, times are determined at which parking is necessary. Three exemplary variants of the method are proposed, which are described in 8th and 9 are shown in principle, and the rules stipulate which vehicles have to be parked and which new parking space is assigned to them.

The invention proposes a method that is preferably carried out using exclusively automated vehicles. However, it is also conceivable to carry out the method according to the invention with a defined proportion of manually controlled vehicles however minimal parking spaces x ₁ ... x _n To be provided correspondingly larger so that the driver's doors of the manually controlled vehicles can still be opened.

Parking space can be saved with the aid of the invention. Either more vehicles can be accommodated in the same parking space, which can result in an economic increase in income. At the same time, less parking space is used for a defined number of vehicles, which represents an improved use of space and which is particularly advantageous in cost-intensive urban areas.

In the following, a “parking lane” is understood to mean an arrangement of contiguous parking spaces in which vehicles can be parked and / or are parked.

1 shows a plan view of a parking space 100 . In a first parking lane 10a of the parking space 100 vehicles are arranged conventionally. You can see that within the first parking lane 10a the width of parking lots P1 ... P8 is constant, leaving a larger space or larger parking spaces in addition to narrower vehicles. Opposite are in a second parking lane 10b of the parking space 100 to recognize vehicles arranged according to the invention. You can see that in the second parking lane 10b the distances or the parking spaces between the vehicles are constant, which advantageously results in that in the parking space 100 an additional parking space P9 is won.

2 shows a typical situation in a parking garage in which vehicles are parked wasting space. 2 shows a possible initial configuration for two parking lanes 10a , 10b , which each have a length of 30 m and are each arranged on the left and right of a lane. Due to the poorly used parking space 100 fewer vehicles can be parked in the multi-storey car park and therefore fewer time units are charged. The shorter the parking lane, the worse the result 10a , 10b is.

A more detailed analysis shows that this is caused by parking spaces that result from parking vehicles of different widths. The parking configurations that arise in the course of a day can, for example, look like the initial configuration 2 be designed. This shows distances or parking spaces between the vehicles with different widths. Looking at the parking space x ₁ between the beginning of the first parking lane 10a and the first vehicle F ₁ the first parking lane 10a shows that this parking space is too narrow to park another vehicle. This disadvantageously corresponds to an effectively reduced first parking lane 10a . This space can conventionally only be used when the vehicle F ₁ leaves the parking garage. The same applies to the parking spaces x ₂ , x ₃ the first parking lane 10a .

3 shows a basic mode of operation of a first embodiment of the proposed method, the first parking lane 10a is shown from top to bottom in three consecutive times. It should be the vehicle F ₈ in the first parking lane 10a be parked. The total free space (i.e. the sum of all parking spaces x ₁ ... x ₆ ) in the entire first parking lane 10a is larger than the width of the newly arriving vehicle F ₈ . Due to the fact that the free spaces on several parking spaces x1 ... x6 is for the vehicle F ₈ initially no parking space available, whereby a parking change process according to the invention is initiated. A vehicle is also in the first parking lane 10a parked in which the distance to the previous vehicle is greater than the threshold value of a parking space xs, i.e. where: $${\text{x}}_{\text{i}}>{\text{x}}_{\text{S.}},\text{i}\in \left\{\mathrm{1,.....,}\text{n}\right\}$$

In the example 3 is the parking space x ₁ less than the parking space threshold xs. Therefore, because x ₂ > x _s , the vehicle becomes first F ₃ parked to the left.

This is the first parking lane in the middle illustration 10a from 3 shown in which the parked vehicle F ₃ is marked. By reparking the vehicle F ₃ becomes the parking space x ₃ greater than the parking space threshold value xs and the vehicle becomes F ₄ reparked. That’s the parking space x ₄ between vehicles F ₄ and F ₅ big enough to accommodate the incoming vehicle F ₈ in the first parking lane 10a to park what is in the bottom representation of the first parking lane 10a from 3 is shown. As a result, the vehicle can also be parked two times by changing parking spaces F ₈ in the first parking lane 10a be parked.

In an optional variant of the method explained above, it is provided that when parking a new vehicle a large number of parking changes is avoided.

An example of such an initial situation is shown 4th . In this configuration, the first parking lane is at the beginning (far left in the view shown) and at the end (far right in the view shown) 10a free space in the form of parking spaces x ₁ , x ₂ available. Both parking spaces x ₁ , x ₂ in and of themselves, however, are not sufficient for parking a newly arriving vehicle (not shown). In order to create a sufficiently large gap for an arriving vehicle, all must Vehicles in the first parking lane 10a either in the direction of the beginning (to the left) or in the direction of the end (to the right) of the first parking lane 10a be moved. As a consequence, in this example, seven vehicles would have to be reparked in order to be able to park a newly arriving vehicle, whereby this number can be significantly higher for long parking lanes.

In order to avoid such situations, a maximum number of parking changes per vehicle entering is limited to a defined number, for example six.

In order to achieve this, it is conceivable that vehicles from several or all of the parking lanes are used in the aforementioned parking changes 10a ... 10n of the parking space 100 be included. By including parked vehicles in several or all parking lanes 10a ... 10n a further reduction in the number of parking changes required can be achieved. There will be vehicles with a sufficiently wide parking space x ₁ ... x _n have next to you to park a newly entering vehicle, parked in a different parking lane, if there is enough space there. In this way, narrower vehicles create space for a new, wider vehicle with just one parking maneuver.

An example of the scenario explained above is shown 5 . The newly arriving vehicle F ₈ will not find a parking space here because the parking space x ₁ the second parking lane 10b is too narrow. However, like in 5 indicated the narrow vehicle F ₄ from the first parking lane 10a into the second parking lane 10b , is in the first parking lane 10a there is enough space to accommodate the newly arriving vehicle F ₈ to park there.

The above-explained variants for changing parking spaces can, however, lead to an undesirably high number of parking maneuvers in different situations. This occurs especially when there are many small parking spaces at the beginning of the parking lane. An example of this is in 6th shown. Here is a sum of the parking spaces x ₁ to x ₄ between the vehicles is greater than the defined threshold value x _s . Therefore, as in the illustration below, the first parking lane 10a from 6th shown, four vehicles F ₂ , F ₃ , F ₄ and F ₅ parked, so that there is enough space for the new vehicle to be parked F ₈ is created.

A significantly lower number of parking maneuvers can be achieved if large parking spaces in the parking lane are used, as in principle in 7th shown. If you combine the in 7th the three largest parking spaces shown x ₄ , x ₅ and x ₆ , is the place for the newly arriving vehicle F ₈ big enough. Therefore only need the two vehicles F ₅ and F ₆ to the three largest parking spaces mentioned x ₄ , x ₅ and x ₆ adjoin, be relocated, whereby a number of required rearrangement maneuvers can be reduced to two.

The variants explained above show a high number of parking changes with many narrow parking spaces x ₁ ... x _n between the vehicles.

An example of this is in 8th shown. Here is the parking space x ₂ together with the parking space x ₄ big enough to accommodate the newly arriving vehicle F ₈ to park. Hence it is used for parking the vehicle F8 into the first parking lane 10a , the one in the top representation of the first parking lane 10a from 8th is not shown, sufficient to move two vehicles.

At the in 8th shown middle view of the first parking lane 10a ("Variant 1") are the parking spaces x ₁ , x ₂ and x ₃ used to the newly arriving vehicle F ₈ into the thus enlarged parking space x ₄ to park. It is necessary to re-park the vehicles F ₂ , F ₃ and F ₄ .

At the in 8th illustrated lower view of the first parking lane 10a ("Option 2") are the parking spaces x ₂ , x ₃ and x ₄ to enlarge the parking space x ₅ used, for which a parking of the vehicles F ₃ , F ₄ and F ₅ is required and carried out.

Therefore need for the two variants 1 , 2 from 8th A total of three vehicles are reparked each time, which disadvantageously means a high number of reparking processes.

Another variant can avoid this disadvantage. Starting from the widest parking space, a search is made for the next largest parking space in both directions. This information is used to evaluate whether the use of one, two or three parking spaces, in addition to the widest parking space, results in the lowest number of parking changes. This is for the one already mentioned, in the top illustration of the first parking lane 10a from 8th scenario shown in a scenario of 9 shown ("Variant 3"). Starting from the parking space x ₄ becomes the second largest parking space x ₂ found that together for parking the new vehicle F ₈ sufficient. If the two parking spaces x ₄ , x ₂ would not be sufficient, the third largest parking space would be the parking space x ₅ can also be used.

10 shows relative profits (eg in the form of billable parking time units) of all prior to the 8th , 9 explained three variants in comparison to a constant parking space width. The three different three variants 1, 2, 3 are broken down into five different designs (1st design: 6 x 10m, 2nd design: 3 x 20m, 3rd design: 1 x 60m, 4th design: 10 x 30m, 5th design: 5 x 60m) of the parking space 100 . In all three variants presented, a significant increase in profit can be observed compared to a constant parking space width. The concept for short parking lanes shows little profit. For larger parking garages (ie parking garages with parking lanes with lengths of 30m or 60m), however, an increase in profits of around 6% can be achieved through the compression of the parking space. This results in the variants 1 and 3 similar profit prospects. Winning variant 2 is about 2% lower in all cases.

The ones with those in the 8th and 9 Variants 1, 2, 3 shown, the necessary parking changes are in 11 for five different sizes of parking spaces 100 (with different numbers and different lengths of parking lanes) shown as a percentage. These move for all of the parking spaces mentioned 100 in the range between about 18% to about 32%. In other words, this means that, on average, every third to fifth vehicle during its stay in the parking space 100 has to be parked.

It has been found that the profit can best be realized if there is a proportion of automated vehicles within the parking space 100 is at least 70%.

It has proven to be particularly advantageous that with the proposed method only approx. 25% of the arriving vehicles have to be reparked once.

12 shows a basic block diagram of a device 200 for driving vehicles F ₁ ... F _n in a parking lot 100 .

A detection device is shown 210 (e.g. in the form of lidar sensors, cameras, radar sensors, etc.) for recording the positions of parked vehicles F ₁ ... F _n and an amount of a sum of parking spaces between the parked vehicles per parking lane 10a ... 10n in the parking lot 100 in relation to a width of the vehicle.

Functionally connected to the acquisition device 210 is a parking facility 220 for changing parked vehicles F ₁ ... F _n in the parking lot 100 , whereby by means of the Umparkeinrichtung 220 a parking lot P ₁ ... P _n is provided with a width that is defined wider than an oncoming vehicle F ₁ ... Fn and for parking the arriving vehicle on the parking lot thus provided P ₁ ... P _n .

13 shows a basic sequence of a method for the method for driving vehicles F ₁ ... F _n in a parking lot 100 .

In one step 300 becomes a determination of positions of parked vehicles F ₁ ... F _n and an amount of a sum of parking spaces between the parked vehicles F ₁ ... F _n per parking lane 10a ... 10n in the parking lot 100 in relation to a width of the vehicle F ₁ ... F _n determined.

In one step 310 Parked vehicles will be changed F ₁ ... F _n in the parking lot 100 carried out so that a parking lot P ₁ ... P _n is provided with a width that is defined wider than an oncoming vehicle F ₁ ... F _n .

In one step 330 parking, in particular automated parking, of the arriving vehicle F ₁ ... F _n on the parking lot provided in this way P ₁ ... P _n carried out.

The method according to the invention can advantageously be implemented as software, for example on the device 200 expires. A simple adaptability of the method is supported in this way.

The person skilled in the art will modify the features of the invention in a suitable manner and / or combine them with one another without deviating from the essence of the invention.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102009029117 A1 [0005]
• DE 102012222562 A1 [0005]
• DE 102014221751 A1 [0006]

Claims (11)

A method for the, in particular automated, driving of vehicles (F ₁ ... F _n ) in a parking space (100), comprising the steps: - Determination of positions of parked vehicles (F ₁ ... F _n ) and a sum of parking spaces ( x ₁ ... x _n ) between the parked vehicles (F ₁ ... F _n ) per parking lane (10a ... 10n) in the parking space (100) in relation to a width of the vehicle (F ₁ ... F _n ); - Reversing parked vehicles (F ₁ ... F _n ) in the parking space (100) in such a way that a parking space (P ₁ ... P _n ) is provided with a width that is defined wider than an arriving vehicle (F ₁ ... Fn); and - parking, in particular automated parking, of the arriving vehicle (F ₁ ... F _n ) on the parking lot (P ₁ ... P _n ) provided in this way. Procedure according to Claim 1 , the reversing of the parked vehicles (F ₁ ... F _n ) is started with a vehicle (F ₁ ... F _n ) which is adjacent to a parking space (x ₁ ... x _n ) that is larger than a defined threshold value (xs), with reversing processes for the parked vehicles (F ₁ ... F _n ) being repeated until the parking space (P ₁ ... P _n ) for the arriving vehicle (F ₁ ... F _n ) is provided. Procedure according to Claim 2 , the threshold value (xs) being between approximately 0.3 m and approximately 0.5 m, preferably approximately 0.4 m. Method according to one of the preceding claims, wherein after the arriving vehicle (F ₁ ... F _n ) has been parked, the vehicles (F ₁ ... F _n ) are parked in the parking space (100) in such a way that the parking spaces (x ₁ . ..x _n ) are essentially identical between the vehicles (F ₁ ... F _n ). Method according to one of the preceding claims, wherein the arriving vehicle (F ₁ ... F _n ) is only parked if a vehicle (F ₁ ... F _n ) does not exceed a defined number of times during its stay in the parking space (100) Number, preferably not more than three times. Method according to one of the preceding claims, wherein the arriving vehicle (F ₁ ... F _n ) is only parked in the parking space (100) if at most a defined number of vehicles (F ₁ ... F _n ) in the parking space (100) , preferably a maximum of three vehicles (F ₁ ... F _n ) have to be moved. Method according to one of the preceding claims, wherein more than one parking lane (10a ... 10n) of the parking space (100) is used for reversing the parked vehicles (F ₁ ... F _n ). Method according to one of the preceding claims, wherein the largest parking space (x ₁ ... x _n ) is first determined for the reversal, starting from the largest parking space for the parking space for the arriving vehicle (F ₁ ... F _n ) Parking space (x ₁ ... x _n ) adjacent parking spaces (x ₁ ... x _n ) can be used. Method according to one of the Claims 1 to 7th Wherein for the first umparken the largest parking space (x ₁ ... x _n) is determined, from the starting to provide the parking space for the arriving vehicle (F ₁ ... F _n) of parking spaces (x ₁ ... x _n ) can be used with a reduced width, regardless of where the parking spaces (x ₁ ... x _n ) are located within the parking lane. Device (200) for driving vehicles (F ₁ ... F _n ) in a parking space (100), comprising: a detection device (210) for detecting positions of parked vehicles (F ₁ ... F _n ) and a sum of parking spaces (x ₁ ... x _n ) between the parked vehicles per parking lane (10a ... 10n) in the parking space (100) in relation to a width of the vehicle; - A reversing device (220) for reversing parked vehicles (F ₁ ... F _n ) in the parking space (100) such that a parking space (P ₁ ... P _n ) is provided with a width that is defined wider than an arriving vehicle (F ₁ ... Fn) and for parking the arriving vehicle on the parking space provided in this way (P ₁ ... P _n ). Computer program product with program code means for performing the method according to one of the Claims 1 to 9 when it runs on an electronic device (100) for guiding an arriving vehicle in a parking space (100) or is stored on a computer-readable data carrier.

Images