DE102022111280A1 - Method, computer program product, parking assistance system and parking facility - Google Patents

Abstract

A method for operating a parking assistance system (100) is proposed. The parking assistance system is set up for autonomously controlling a remotely controllable vehicle in a predetermined area (101), the parking assistance system (100) having a number of sensors (110A - 110I) arranged in an infrastructure of the predetermined area (101) with a respective detection area (112A - 112I), wherein the respective sensor (110A - 110I) is set up to detect objects (210, 212, 214, 216) present in the respective detection area (112A - 112I) and to output a corresponding sensor signal. Positions and movement properties of objects located in the predetermined area are determined. The existence of a dangerous situation is then determined depending on the determined position (P210) and the determined movement properties (V210) of the first object (210) as well as the determined position (P212) and the determined movement properties (V212, V214, V216) of the further object (212 , 214, 216). If a dangerous situation exists, a warning signal is issued.

Description

The present invention relates to a method for operating a parking assistance system, a computer program product, a parking assistance system and a parking facility with a parking assistance system.

Vehicles are known which have an automated parking function, which is set up in particular for automatically parking the vehicle in a suitable parking garage or on a suitable parking space. Such systems are referred to, for example, as automated valet parking systems (AVP). A distinction is made between two types. In a first type, the vehicle controls itself, with the parking garage having, for example, suitable features that are recorded by a system of the vehicle and serve to orientate the vehicle, such as ARUCO codes. In a second type, the vehicle can be controlled remotely, with the parking garage having, for example, sensors and path planning means to control the vehicle. There can be various intermediate levels between these two types, where the functions are distributed differently between the vehicle and the parking garage.

A parking garage with an automated valet parking system can be operated in a so-called mixed operation. This means that both vehicles controlled autonomously by the parking assistance system and vehicles controlled manually use the parking garage. Even if the parking garage or a specific area of the parking garage is not operated in mixed operation but in exclusive AVP operation, an area in which the autonomously controlled vehicles move may be accessible to other road users, such as pedestrians or cyclists. This results in an increased potential for danger, since on the one hand the parking system, in particular an AVP type 2 system, does not know how the other road users are behaving, and on the other hand, the other road users cannot guess how the respective vehicle controlled by the parking system is behaving becomes.

US 2020/0211400 A1 discloses an infrastructure with a parking assistance system, with handover areas being provided in which a driver hands over his vehicle to the parking assistance system or receives it. The parking assistance system takes control of a handed over vehicle and autonomously steers it to a parking space and parks it there. When a request from the driver is received by the parking assistance system, the parking assistance system activates the vehicle and autonomously steers it to the handover area, where the driver receives the vehicle and takes control.

Against this background, an object of the present invention is to improve the operation of a parking assistance system.

• Empfangen des von dem jeweiligen Sensor ausgegebenen Sensorsignals,
• Erfassen eines sich bewegenden ersten Objekts in dem jeweiligen Erfassungsbereich und Ermitteln einer Position und einer Anzahl von Bewegungseigenschaften des ersten Objekts in Abhängigkeit des jeweiligen empfangenen Sensorsignals,
• Erfassen eines weiteren Objekts in dem jeweiligen Erfassungsbereich und Ermitteln einer Position und einer Anzahl von Bewegungseigenschaften des weiteren Objekts in Abhängigkeit des jeweiligen empfangenen Sensorsignals,
• Ermitteln eines Vorliegens einer Gefahrensituation in Abhängigkeit der ermittelten Position und den ermittelten Bewegungseigenschaften des ersten Objekts sowie der ermittelten Position und den ermittelten Bewegungseigenschaften des weiteren Objekts, und
• Ausgeben eines Warnsignals, falls die Gefahrensituation vorliegt.

According to a first aspect, a method for operating a parking assistance system is proposed. The parking assistance system is set up to autonomously control a remotely controllable vehicle in a predetermined area. The parking assistance system comprises a number of sensors arranged in an infrastructure of the area with a respective detection area, the respective sensor being set up to detect objects present in the respective detection area and to output a corresponding sensor signal. The procedure includes the steps:

• Receiving the sensor signal output by the respective sensor,
• Detecting a moving first object in the respective detection area and determining a position and a number of movement properties of the first object depending on the respective sensor signal received,
• Detecting a further object in the respective detection area and determining a position and a number of movement properties of the further object depending on the respective sensor signal received,
• Determining the existence of a dangerous situation depending on the determined position and the determined movement properties of the first object as well as the determined position and the determined movement properties of the further object, and
• Issuing a warning signal if the dangerous situation exists.

This method has the advantage that objects such as road users who are not controlled by the parking assistance system can be warned if a dangerous situation is imminent. Such a dangerous situation can occur particularly in confusing areas, such as intersections or curves, where obstacles obscure a clear view. Depending on the positions determined and the movement characteristics, it can advantageously be determined whether a dangerous situation exists or not. This means that the general output of a warning signal when a road user moves freely in the predetermined area of the parking assistance system can be dispensed with, but rather the warning signal issued as needed. This contributes to an overall increase in safety, as the attention of the respective road users is drawn to what is happening on the road in dangerous situations. Furthermore, it is avoided that road users become “dulled” by a warning signal that is not issued according to needs, as in the present case, but rather generally, and that they do not pay increased attention to what is happening on the road despite a warning signal.

The parking assistance system is designed in particular as an automatic valet parking assistance system according to type 2. This means that the parking assistance system is arranged in the infrastructure and includes all sensors and data processing logic to detect, locate and safely control a vehicle in the predetermined area. The predetermined area is given in particular by a monitoring area of the parking assistance system. The monitoring area includes the area in which the parking assistance system is set up to detect vehicles. For example, the monitoring area results from the overlay of all detection areas of the sensors of the parking assistance system.

In terms of automatic control capability, the parking assistance system has, in particular, Level 4 according to the SAE classification system. The SAE classification system was published in 2014 by SAE International, an automotive standards organization, as J3016, “Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems.” Level 4 means here that the parking assistance system is set up for fully autonomous control of the vehicle in the predetermined area without a user of the vehicle or an operator of the parking assistance system monitoring the system.

The parking assistance system includes a number of sensors arranged in the infrastructure of the area, such as radar sensors, lidar sensors, ultrasonic sensors, optical image sensors and the like. The sensors can be arranged in a stationary manner, but they can also be movably arranged sensors. For example, a respective sensor can be arranged on a carriage or a rail and can be moved into different positions. Furthermore, a respective sensor can be pivotable so that it can assume different orientations (viewing angles). The detection range of a movably arranged sensor depends in particular on the current position and orientation.

The autonomous control function of the parking assistance system is limited in particular to the predetermined area. The predetermined area can be a single, contiguous area, or it can include several, separate areas, such as several parking decks.

To remotely control a respective vehicle, the parking assistance system includes, for example, corresponding communication means in order to establish a wireless communication connection with the respective vehicle, via which the remote control signals can be transmitted to the respective vehicle. This includes, for example, a mobile network or a WLAN and the like.

A respective sensor in particular has a limited detection range. The detection area can be limited, for example, by obstacles, in particular structural structures such as walls or walls, and/or the detection area is limited by the system, for example by a maximum angular resolution of a respective sensor.

Therefore, in particular, several sensors are provided in order to detect the entire predetermined area at any time. The sensors can also be arranged in such a way that partially overlapping detection areas result. This can be advantageous, particularly in areas where several vehicles are regularly present at the same time during operation, in order to avoid partial shading of a sub-area by a mobile obstacle, such as a remote-controlled or manual vehicle.

The sensors include, for example, cameras, radar sensors, lidar sensors and/or ultrasonic sensors. Cameras can in particular include an extended spectral range, which covers, for example, a visual and an infrared spectral range.

The parking assistance system is designed in particular for use in AVP Type 2 parking facilities that are operated in mixed operation and/or where road users who are not controlled by the parking assistance system have access to the predetermined area.

Receiving the respective sensor signal from the respective sensor can take place via a wired communication connection or wirelessly. For example, the respective sensor provides the current sensor signal at a given time to the parking assistance system, for example in the form of a push message. In particular, this takes place “live”, i.e. without a time delay or with only a slight one time delay of less than a few seconds, preferably less than a second, more preferably less than about 200 ms. A wireless transmission takes place, for example, via a WLAN network, a mobile network (3G, 4G, 5G or even according to a future standard) or the like.

Detecting a moving first object in the respective detection area and determining a position and a number of movement properties of the first object depending on the respective received sensor signal includes in particular analyzing or evaluating the respective sensor signal. The first object is in particular a road user, such as a pedestrian, cyclist or a manually controlled vehicle, who moves in the predetermined area. The fact that the object is detected in the respective detection area depending on the respective sensor signal is to be understood as meaning that the object is in the detection area of the respective sensor and is detected by the sensor, so that the sensor signal is indicative of the object.

A respective object can be detected by several sensors at the same time, provided their detection areas overlap and the object is in the overlapping area.

Determining the position of the object relates in particular to a position in a coordinate system of the parking assistance system. Determining the number of movement characteristics can be done depending on the respective sensor technology on the basis of a sensor signal detected at a single point in time, and/or on the basis of several sensor signals detected in time sequence. The number of motion characteristics includes at least one motion characteristic and may include multiple motion characteristics. Examples of motion characteristics include speed, direction, acceleration, path curvature, and the like.

In embodiments, the detection of the object and/or the determination of the position and the number of movement characteristics can already be carried out by a unit integrated in the respective sensor, such as a microcontroller, an ASIC (application specific integrated circuit), an FPGA (English). “field programmable gate array”), a PLC (“programmable logic controller”) or the like. In this case, the sensor would directly transmit the corresponding data.

Detecting a further object in the respective detection area and determining a position and a number of movement properties of the further object depending on the respective received sensor signal takes place as described above for the first object.

The other object can stand still or it can also move. The first object and the further object are different objects. The further object can in particular be a road user, such as a pedestrian, cyclist or a manually controlled vehicle, as well as a vehicle controlled autonomously by the parking assistance system.

The next step is to determine whether a dangerous situation exists. This takes place depending on the determined position and the determined movement properties of the first object as well as the determined position and the determined movement properties of the further object.

A dangerous situation is, for example, a situation that is surprising to road users, that they did not expect and/or in which the probability of a collision is increased. In such situations, a road user must have particularly good reflexes and be experienced, i.e. be able to make the right decisions quickly in order to avoid a collision or the like. One can also say that a dangerous situation is a situation in which sudden changes of direction and/or high accelerations occur and/or are necessary to avoid a collision.

By warning the respective road user, on the one hand his attention is drawn to the traffic situation and on the other hand the road user can take appropriate measures at an early stage, such as slowing down his speed, in order to defuse the dangerous situation.

An example of a dangerous situation is when a road user drives through a parking garage with an e-scooter under manual control and approaches an intersection with a junction from the right, whereby the junction is only visible late, for example due to a wall, and at the same time a vehicle approaches the intersection from the right. For example, the road user and the vehicle are on a collision course. The vehicle can be controlled manually or autonomously.

The existence of the dangerous situation can be determined based on the positions and the movement properties of the first object and the further object be determined. The determination can be carried out in particular on the basis of certain rules, as will become clear below. The determination can also be carried out by a trained machine learning algorithm. Simulation data from a traffic simulation, for example, can be used as training data.

If the dangerous situation exists, a warning signal is issued. This is done in particular in a targeted and local manner, for example in such a way that essentially the road user or participants for whom the dangerous situation has been determined are warned. The warning signal is preferably issued acoustically and/or visually, with appropriate devices such as loudspeakers, sirens, warning lights and/or traffic lights being provided for this purpose.

According to one embodiment of the method, the determined movement properties of the first and/or the further object include a speed and a direction of movement.

One can also say that the motion properties are given by a motion vector that is current at a given point in time.

• Vergleichen der ermittelten Position des ersten Objekts und des weiteren Objekts mit einer vorbestimmten Anzahl an Gefahrenbereichen, wobei ein jeweiliger Gefahrenbereich ein Teilbereich des vorbestimmten Bereichs ist, wobei eine Bedingung für das Vorliegen der Gefahrensituation ist, dass die jeweilige Position des ersten Objekts und des weiteren Objekts in dem gleichen Gefahrenbereich liegen.

According to one embodiment of the method, determining the existence of the dangerous situation includes:

• Comparing the determined position of the first object and the further object with a predetermined number of danger areas, a respective danger area being a sub-area of the predetermined area, a condition for the existence of the danger situation being that the respective position of the first object and the further object are in the same danger zone.

A danger area is, for example, an intersection. The predetermined area includes in particular several, separate danger areas. The danger areas are defined, for example, by an operator of the parking assistance system or the parking facility in which the parking assistance system is installed and are therefore predetermined.

If the first object or the further object is not in a danger area, then there is no danger situation with regard to these two objects. If the two objects are in different, spatially separated danger areas, then there is no dangerous situation either, since a collision between the two is unlikely due to the spatial separation.

• Ermitteln eines Abstands von dem ersten Objekt zu dem weiteren Objekt,
• Vergleichen des ermittelten Abstands mit einem Abstands-Schwellwert, wobei eine Bedingung für das Vorliegen der Gefahrensituation ist, dass der ermittelte Abstand kleiner als der Abstands-Schwellwert ist.

According to a further embodiment of the method, determining the existence of the dangerous situation includes:

• Determining a distance from the first object to the further object,
• Comparing the determined distance with a distance threshold value, whereby a condition for the existence of the dangerous situation is that the determined distance is smaller than the distance threshold value.

If the determined distance is greater than the distance threshold value, then the first and the further object are far away from each other and there is no dangerous situation (yet), at least at this point in time.

The distance can refer to a shortest, direct connection ignoring obstacles (“airline”), or it can refer to the length of a trajectory that connects the two objects along a passable surface. In particular, it is the shortest trajectory that can be formed accordingly.

The distance threshold is, for example, 10 meters, 15 meters or even 20 meters. The distance threshold value can also be adaptively adjusted depending on the movement characteristics determined. In particular, the distance threshold value increases as the objects' own velocities increase or the objects' relative velocities increase.

For example, the distance threshold value is determined depending on the determined speed on the basis of an estimated stopping distance at the determined speed. The stopping distance is in particular the sum of the braking distance and the reaction distance. Provision can be made to set the distance threshold value to 12 meters if the determined speed is 20 km/h, from which a reaction distance of 6 meters and a braking distance of 4 meters, and thus a stopping distance of 10 meters, can be estimated.

• Ermitteln, dass sich das erste Objekt und das weitere Objekt aufeinander zubewegen in Abhängigkeit der jeweiligen ermittelten Position und Bewegungseigenschaften,
• Ermitteln einer Annäherungsgeschwindigkeit für das erste Objekt und das weitere Objekt, und
• Vergleichen der ermittelten Annäherungsgeschwindigkeit mit einem Geschwindigkeits-Schwellwert, wobei eine Bedingung für das Vorliegen der Gefahrensituation ist, dass die ermittelte Annäherungsgeschwindigkeit größer als der Geschwindigkeits-Schwellwert ist.

According to a further embodiment of the method, determining the existence of the dangerous situation includes:

• Determine that the first object and the further object move towards each other depending on the respective determined position and movement properties,
• Determining an approach speed for the first object and the further object, and
• Comparing the determined approach speed with a speed threshold value, whereby a condition for the prior The danger situation is that the determined approach speed is greater than the speed threshold.

The approach speed can be determined in particular on the basis of the respective movement vectors. The approach speed corresponds, for example, to the sum of the parallel components of the motion vectors when the parallel components converge. For example, for two objects moving towards each other in a line, the approach speed is the sum of the two individual speeds.

In this embodiment, the issuing of a warning signal can be avoided, for example, if the risk of a collision or other damage is low due to a low approach speed between two road users, even in situations in which one road user can only notice the other road user late.

• Ermitteln einer jeweiligen Trajektorie für das erste Objekt und das weitere Objekt in Abhängigkeit der jeweiligen ermittelten Position und Bewegungseigenschaften,
• Ermitteln eines Kollisionspotentials zwischen dem ersten Objekt und dem weiteren Objekt in Abhängigkeit der ermittelten Trajektorien, und
• Vergleichen des ermittelten Kollisionspotentials mit einem Kollisionspotential-Schwellwert, wobei eine Bedingung für das Vorliegen der Gefahrensituation ist, dass das ermittelte Kollisionspotential größer als der Kollisionspotential-Schwellwert ist.

According to a further embodiment of the method, determining the existence of the dangerous situation includes:

• Determining a respective trajectory for the first object and the further object depending on the respective determined position and movement properties,
• Determining a collision potential between the first object and the further object depending on the determined trajectories, and
• Comparing the determined collision potential with a collision potential threshold value, whereby a condition for the existence of the dangerous situation is that the determined collision potential is greater than the collision potential threshold value.

The respective trajectory that is determined in this embodiment is in particular an expected future trajectory. The trajectory can be determined, for example, in the form of an extrapolation of a previous movement or path of the respective object.

The collision potential is in particular a probability that a collision will occur between the two objects. The collision potential can be determined depending on a number of parameters. Examples of the parameters are, in particular, an approach speed of the objects, a current distance between the objects, a shortest distance between the determined trajectories for the two objects and the like. In particular, it can be determined, for example, whether the trajectories intersect or a smallest distance between them is below a predetermined threshold value, and whether the two objects will be in the same time window in the area of the determined crossing point (or the smallest distance), for example a constant speed or a speed that varies according to a predetermined function is used.

• Klassifizieren des ersten und/oder des zweiten Objekts in Abhängigkeit des jeweiligen empfangenen Sensorsignals, und
• Anpassen des Abstands-Schwellwerts, des Geschwindigkeits-Schwellwerts und/oder des Kollisionspotential-Schwellwerts in Abhängigkeit der Klassifikation.

According to a further embodiment of the method, this comprises:

• Classifying the first and/or the second object depending on the respective sensor signal received, and
• Adjusting the distance threshold, the speed threshold and/or the collision potential threshold depending on the classification.

In this embodiment, in particular, certain properties of certain objects can be taken into account in order to adapt the respective threshold value and thus also influence the determination of the presence of the danger potential and the output of the warning signal. For example, a cyclist or an e-scooter driver is particularly at risk because both a bicycle and an e-scooter are inherently unstable when in motion and therefore there is a risk of falling, for example, so that there can be an increased risk of danger even without a high risk of collision.

• Klassifizieren des ersten und/oder des zweiten Objekts in Abhängigkeit des jeweiligen empfangenen Sensorsignals, und
• Auswählen einer Art des Warnsignals in Abhängigkeit der Klassifikation.

According to a further embodiment of the method, this comprises:

• Classifying the first and/or the second object depending on the respective sensor signal received, and
• Selecting a type of warning signal depending on the classification.

Different types of warning signals include, for example, acoustic or visual warning signals.

Acoustic warning signals are particularly suitable for warning pedestrians, cyclists or e-scooter riders, as they are not in a noise-insulating passenger compartment.

• Auswählen einer Warnvorrichtung aus einer Anzahl von Warnvorrichtungen des Parkassistenzsystems, welche in dem vorbestimmten Bereich angeordnet sind, in Abhängigkeit der ermittelten Position und Bewegungseigenschaften des ersten Objekts.

According to a further embodiment of the method, issuing a warning signal includes:

• Selecting a warning device from a number of warning devices of the parking assistance system, which are arranged in the predetermined area, depending on the determined position and movement properties of the first object.

The parking assistance system includes, for example, a number of warning devices arranged in the infrastructure, such as warning lights, traffic lights, loudspeakers or sirens. In particular, a warning area is assigned to a respective warning device. The warning area includes the area for which a warning signal issued by the respective warning device is provided, for example an area of up to ten meters in front of a traffic light or the like. One can also say that the warning area is given by a “range” of the warning signal. If a dangerous situation has been determined for an object, then in particular the warning device in whose warning area the object is located is selected. Multiple warning devices can also be selected.

Preferably, at least one warning device is assigned to each danger area of the predetermined area.

According to a further embodiment of the method, the first object is an object that moves independently of the parking assistance system.

According to a further embodiment of the method, the further object is an object that moves independently of the parking assistance system.

According to a further embodiment of the method, the further object is a vehicle remotely controlled by the parking assistance system.

In other words, the further object is a vehicle controlled autonomously by the parking assistance system. This allows the parking assistance system to actively control movement of the other object. In particular, if there is a dangerous situation for an object moving independently of the parking assistance system, which dangerous situation exists in connection with the remote-controlled vehicle, the parking assistance system can stop the remote-controlled vehicle and/or steer it out of the danger area in order to defuse the dangerous situation.

According to a second aspect, a computer program product is proposed which comprises instructions which, when the program is executed by a computer, cause it to carry out the method according to the first aspect.

A computer program product, such as a computer program means, can be provided or delivered, for example, as a storage medium, such as a memory card, USB stick, CD-ROM, DVD, or in the form of a downloadable file from a server in a network. This can be done, for example, in a wireless communication network by transmitting a corresponding file with the computer program product or the computer program means.

The computer is, for example, a computer coupled to sensors of a parking facility and to warning devices of the parking facility.

• eine Empfangseinheit zum Empfangen des jeweiligen von dem jeweiligen Sensor ausgegebenen Sensorsignals,
• eine Ermittlungseinheit zum Erfassen eines sich bewegenden ersten Objekts in einem jeweiligen Erfassungsbereich und zum Ermitteln einer Position und einer Anzahl von Bewegungseigenschaften des ersten Objekts in Abhängigkeit des jeweiligen empfangenen Sensorsignals, und zum Erfassen eines weiteren Objekts in einem jeweiligen Erfassungsbereich und zum Ermitteln einer Position und einer Anzahl von Bewegungseigenschaften des weiteren Objekts in Abhängigkeit des jeweiligen empfangenen Sensorsignals,
• eine Sicherheitseinheit zum Ermitteln eines Vorliegens einer Gefahrensituation in Abhängigkeit der ermittelten Position und den ermittelten Bewegungseigenschaften des ersten Objekts sowie der ermittelten Position und den ermittelten Bewegungseigenschaften des weiteren Objekts, und
• eine Ausgabeeinheit zum Ansteuern einer Warnvorrichtung zum Ausgeben eines Warnsignals, falls die Gefahrensituation vorliegt.

According to a third aspect, a parking assistance system is proposed which is set up to autonomously control a remotely controllable vehicle in a predetermined area. The parking assistance system comprises a number of sensors arranged in an infrastructure of the predetermined area with a respective detection area, the respective sensor being set up to detect objects present in the respective detection area and to output a corresponding sensor signal. The parking assistance system also includes:

• a receiving unit for receiving the respective sensor signal output by the respective sensor,
• a determination unit for detecting a moving first object in a respective detection area and for determining a position and a number of movement properties of the first object depending on the respective received sensor signal, and for detecting a further object in a respective detection area and for determining a position and a Number of movement properties of the further object depending on the respective sensor signal received,
• a security unit for determining the existence of a dangerous situation depending on the determined position and the determined movement properties of the first object as well as the determined position and the determined movement properties of the further object, and
• an output unit for controlling a warning device for issuing a warning signal if the dangerous situation exists.

The embodiments and features described for the proposed method apply accordingly to the proposed parking assistance system.

The respective unit of the parking assistance system can be hardware and/or software be technically implemented. In the case of a hardware implementation, the respective unit can be designed, for example, as a computer or as a microprocessor. In the case of a software implementation, the respective unit can be designed as a computer program product, as a function, as a routine, as an algorithm, as part of a program code or as an executable object.

In embodiments, the parking assistance system includes multiple warning devices.

According to a fourth aspect, a parking facility with a parking assistance system according to the third aspect is proposed.

The park provides in particular a large number of parking spaces. The parking facility is in particular a parking garage, a parking area, a parking garage or the like. The parking facility is intended in particular for mixed operation of vehicles that can be remotely controlled by the parking assistance system and of manually controlled vehicles.

Further possible implementations of the invention also include combinations of features or embodiments described above or below with regard to the exemplary embodiments that are not explicitly mentioned. The person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the invention.

• 1 zeigt ein schematisches Ausführungsbeispiel für eine Parkanlage mit einem Parkassistenzsystem;
• 2 zeigt schematisch ein Beispiel für eine Gefahrensituation, die in einer Parkanlage auftreten kann;
• 3 zeigt schematisch einen Ausschnitt einer Parkanlage mit mehreren sich bewegenden Objekten;
• 4 zeigt schematisch ein Beispiel für das Ausgeben eines Warnsignals bei Vorliegen einer Gefahrensituation; und
• 5 zeigt ein schematisches Blockschaltbild eines Ausführungsbeispiels für ein Verfahren zum Betreiben eines Parkassistenzsystems.

Further advantageous refinements and aspects of the invention are the subject of the subclaims and the exemplary embodiments of the invention described below. The invention is further explained in more detail using preferred embodiments with reference to the accompanying figures.

• 1 shows a schematic exemplary embodiment of a parking facility with a parking assistance system;
• 2 shows schematically an example of a dangerous situation that can occur in a park;
• 3 shows schematically a section of a park with several moving objects;
• 4 shows schematically an example of issuing a warning signal in the event of a dangerous situation; and
• 5 shows a schematic block diagram of an exemplary embodiment of a method for operating a parking assistance system.

In the figures, identical or functionally identical elements have been given the same reference numbers unless otherwise stated.

1 shows a schematic exemplary embodiment of a parking facility 10 with a parking assistance system 100. The parking facility 10 is designed, for example, as a parking garage and provides a large number of parking spaces for vehicles. Vehicles can enter or exit parking garage 10 via an entrance/exit I/O. The parking assistance system 100 is installed in the parking garage 10 and is set up to autonomously control a remotely controllable vehicle in a predetermined area 101. In this example, the predetermined area 101 includes the entire area provided by the parking garage 10 with all parking spaces. For this purpose, the parking assistance system 100 includes a number of sensors 110A-1101 arranged in the parking garage 10, which are, for example, imaging cameras. Each of the sensors has a respective detection area 112A - 1121, which are shown here as dashed areas. All detection areas 112A - 1121 together advantageously encompass the entire predetermined area 101, so that there is no “blind spot”. Each of the sensors 110A - 1101 is designed to detect objects 210, 212, 214, 216 (see 2 - 4 ) and is set up to output a corresponding sensor signal. This means that the respective output sensor signal is indicative of the presence of a respective object in the respective detection area, and in particular is also indicative of a position and a state of movement of the respective object. In the parking garage 10 there are also several warning devices 120A - 120E, which in this example are designed as traffic lights. Designing it as a traffic light is advantageous because road users typically know the meaning of the signals represented by a traffic light.

Below is a brief explanation of how the parking assistance system 100 is set up to autonomously control vehicles. Based on the sensor signals received, the parking assistance system 100 is able to determine the position of a respective vehicle. Based on the determined position and a specific target position, such as one of the parking spaces (when adjusting the vehicle), the parking assistance system 100 determines, for example, a trajectory for the vehicle. The trajectory connects the current position of the vehicle with the target position. When determining the trajectory, vehicle properties, in particular a kinematic model of the vehicle, can be taken into account. The parking assistance system 100 then transmits control commands to the remote control expensive vehicle (a corresponding transmitter unit is not shown here). This is done in particular wirelessly. The remote control commands include, for example, the commands “drive forward”, “steer right”, “steer left”, “stop”, “drive backwards”. As soon as the vehicle executes the respective command, the parking assistance system 100 can track the movement carried out by the vehicle using the sensors 110A - 110I and, if necessary, initiate corrections or the like.

The parking assistance system 100 includes a receiving unit 102 for receiving the respective sensor signal output by the respective sensor 110A - 110I, a determination unit 104 for detecting a moving first object 210 in a respective detection area 112A - 112I and for determining a position P210 (see 2 , 4 ) and a number of movement properties V210 (see 2 - 4 ) of the first object 210 depending on the respective sensor signal received, and for detecting a further object 212, 214, 216 in a respective detection area 112A-112I and for determining a position P212 (see 2 , 4 ) and a number of movement properties V212, V214, V216 (see 2 - 4 ) of the further object 212, 214, 216 depending on the respective sensor signal received. It should be noted that the determination unit 104 is shown as a separate unit merely by way of example. In embodiments it can be provided that each of the sensors 110A - 110I is assigned a detection unit, preferably integrated together with the respective sensor. The parking assistance system 100 further comprises a safety unit 106 for determining the presence of a dangerous situation depending on the determined position P210 and the determined movement properties V210 of the first object 210 as well as the determined position P212 and the determined movement properties V212, V214, V216 of the further object 212, 214, 216, and an output unit 108 for controlling one of the warning devices 120A - 120E to output a warning signal if the dangerous situation exists.

The parking facility 10 is intended in particular for mixed operation, so that both remote-controlled vehicles and manually controlled vehicles have access to the predetermined area 101. Furthermore, other road users, such as pedestrians, cyclists or e-scooter drivers, can also be in the predetermined area 101. The sensor signals received are accordingly indicative of all users or road users who are in the predetermined area 101. In the following, the road users are also referred to as objects.

2 shows schematically an example of a dangerous situation that occurs in a park 10 (see 1 ) can occur. The 2 shows, for example, a section of a parking facility 10, which is equipped with a parking assistance system 100 (see 1 ) is equipped. An intersection is shown that is monitored by a sensor 110A. This means that the detection area 112A of the sensor 110A includes the area of the intersection. Furthermore, a warning device 120A is arranged on the sensor 110A, which is designed, for example, in the form of a yellow warning light.

In this example, a first object 210 approaches the intersection from the left. For example, it is an e-scooter driver. Another object 212 approaches the intersection from below. For example, it is a manually controlled vehicle. In embodiments, however, it can also be a vehicle that is autonomously controlled by the parking assistance system 100.

Both objects 210, 212 are in the detection area 112A of the sensor 110A. These are thus detected by the sensor 110A and, based on the corresponding sensor signal, the parking assistance system 100 is able to determine the respective position P210, P212 and respective movement characteristics V210, V212. The number of motion characteristics V210, V212 includes at least one motion characteristic and may include multiple motion characteristics. Examples of motion characteristics include speed, direction, acceleration, path curvature, and the like. The movement properties V210, V212 are shown as movement vectors in this example, that is, they include a speed magnitude and a direction.

A wall blocks the road users 210, 212 from seeing each other. This creates a dangerous situation in which the two road users could collide if they do not take countermeasures in time, such as braking. Depending on how attentive the respective road user 210, 212 is, it may also be that they do not expect cross traffic and/or are surprised by the sudden appearance of the other road user 210, 212 and therefore do not react immediately or adequately. To avoid this, the security unit 106 determines (see 1 ) of the parking assistance system 110 that a dangerous situation exists. This is based in particular on a consideration of the determined positions P210, P212 and the determined movement properties V210, V212. The existence of the dangerous situation can be determined based on a number of conditions the. The conditions can in particular be formulated in the form of mathematical equations or systems of equations, with the positions P210, P212 and the movement properties V210, V212 representing parameters of the equations. Further parameters include threshold values, which in turn can be predetermined or adaptively adjustable.

As soon as the existence of the dangerous situation has been determined, the control unit 108 controls the parking assistance system 100 and the warning light 120A. This is a suitable measure to make the two road users 210, 212 aware of the special situation and in particular to direct their attention to the traffic. It can also cause road users 210, 212 to preventively reduce their speed. This effectively defuses the dangerous situation.

If the vehicle 212 is remotely controlled by the parking assistance system 100, the parking assistance system 100 can additionally stop the vehicle 212 in order to defuse the dangerous situation.

3 shows schematically a section of a park 10 with several moving objects 210, 2121, 214, 216. The 3 shows, for example, a section of a parking facility 10, which is equipped with a parking assistance system 100 (see 1 ) is equipped. The excerpt includes two intersections as an example. Each of the intersections is defined as a danger area 114A, 114B. It should be noted that for the sake of clarity, reference is made to the representation of sensors 110A - 110I (see 1 or 2 ) and their detection areas 112A - 112I (see 1 or 2 ) was waived. All objects 210, 212, 214, 216 are located in a respective detection range of a respective sensor, which is why the parking assistance system 100 is able to detect each of the objects 210, 212, 214, 216 and their respective positions P210, P212 (see 2 , 4 ; for the sake of clarity is in the 3 the positions are not shown) and to determine their respective movement properties V210, V212, V214, V216. In particular, in the situation presented, no dangerous situation is identified, as explained below.

From the left, the first object 210 moves towards one of the intersections with the motion vector V212. The first object 210 is located in the danger area 114A. Another object 212 is also located in the danger area 114A. At this point in time, there is in particular no visual connection between the objects 210, 212. Since the further object 212 is currently moving away from the intersection, as can be seen from the movement vector V212, there is still no dangerous situation between the first object 210 and the further object 212, since a collision or the like is excluded with the present motion properties V210, V212.

Another object 214 approaches the intersection from below. At this point in time, there is in particular no visual connection between the objects 210, 214. A dangerous situation can potentially develop between the objects 210, 214, since the objects have future trajectories that intersect with the present movement properties V210, V214. However, the additional object 214 is not in the danger area 114A of the intersection, which is why the existence of a dangerous situation is still denied at this point in time. At a later point in time, when the further object 214 has moved into the danger area 114A, this could lead to a dangerous situation being determined, provided that this is still the case based on the positions and movement characteristics.

Another object 216 approaches the further intersection from below. At this point in time, there is in particular no visual connection between the objects 210, 216. Looking purely from the motion vectors V210, V216, the existence of a dangerous situation could be determined. In addition, for example, the respective position of the respective object 210, 216 is used, whereby it is determined that the two objects 210, 216 are not in the same danger area 114A, 114B. Alternatively or additionally, it can also be determined that a distance between the two objects 210, 216 from one another is so large, in particular above a predetermined threshold value or determined adaptively depending on the movement properties V210, V216, that a dangerous situation does not exist.

The first object 210 is in particular a road user, for example a cyclist, who is not controlled by the parking assistance system 100. The further objects 212, 214, 216 can each be vehicles remotely controlled by the parking assistance system 100 or also manually controlled vehicles.

4 schematically shows an example of issuing a warning signal in the event of a dangerous situation. The 4 shows, for example, a section of a park 10 (see 1 ), which is equipped with a parking assistance system 100 (see 1 ) is equipped. The detail shows an intersection. In the 4 was based on the representation of sensors 110A - 110I (see 1 or 2 ) and their respective detection areas 112A - 112I are omitted for reasons of clarity. A warning device 120A designed as a traffic light is shown, which can output corresponding signals for road users approaching the intersection from the left.

A first object 210 approaches the intersection from the left and another object 212 is located below the intersection. Both objects 210, 212 are located in a respective detection area 112A - 112I of a respective sensor 110A - 110I, so that the parking assistance system 100 is able to detect each of the objects 210, 212 and their respective positions P210, P212 as well as their respective movement properties V210 to determine. In this example, the other object 212 is on the right side of the road, which is why no movement property V212 is shown for it. One can also say that the movement property V212 of the object 212 is determined to be that the object 212 is not moving.

In this example, the parking assistance system 100 determines, for example, that the first object 210, which is, for example, a motorcyclist, wants to turn right at the intersection. This can be determined based on a number of indicators. For example, a current steering angle of the motorcycle can be determined based on the sensor signal, an activated turning light (turn signal) can be determined, a destination, such as a private long-term parking space, can be predetermined and/or known for the motorcyclist and/or the traffic routing can be predetermined be, whereby motorcyclists are prohibited from driving straight ahead. The parking assistance system 110 thus determines, for example, the trajectory TR210 for the first object 210. The trajectory TR210 is in particular a prediction. The security unit 116 determines based on the trajectory TR210 (see 1 ) of the parking assistance system 100, for example, that a collision COL of the first object 210 with the second object 212 occurs when the first object 210 continues to travel along the determined trajectory TR210. A dangerous situation therefore exists. Even if it is assumed that the motorcyclist 210 still reduces his speed and is able to stop in time in front of the other object 212, a dangerous situation exists, since, for example, braking while cornering on a motorcycle is an unstable driving situation the motorcyclist can fall.

Since the existence of a dangerous situation has been determined, the warning device 120A is activated to issue a corresponding warning signal, as indicated by the halo around one of the lights of the traffic light 120A. The motorcyclist 210 is thus warned and is prompted to enter the intersection with increased caution.

5 shows a schematic block diagram of an exemplary embodiment of a method for operating a parking assistance system 100, in particular the parking assistance system 100 of 1 . The parking assistance system 100 is for autonomously controlling a remotely controllable vehicle in a predetermined area 101 (see 1 ) set up, wherein the parking assistance system 100 has a number of sensors 110A-110I arranged in an infrastructure of the predetermined area 101 (see 1 , 2 ) with a respective detection area 112A-112I (see 1 , 2 ), wherein the respective sensor 110A - 110I is used to detect objects 210, 212, 214, 216 present in the respective detection area 112A - 112I (see 2 - 4 ) and is set up to output a corresponding sensor signal.

In a first step S1, the respective sensor signal output by the respective sensor 110A - 1101 is received. In a second step S2, a moving first object 210 (see 2 - 4 ) in the respective detection area 112A - 112I and a position P210 (see 2 , 4 ) and a number of movement properties V210 (see 2 - 4 ) of the first object 210 is determined depending on the respective sensor signal received. In a third step S3, a further object 212, 214, 216 (see 2 - 4 ) is detected in the respective detection area 112A-112I and a respective position P212 (see 2 , 4 ) and a respective number of movement properties V212, V214, V216 of the further object 212, 214, 216 are determined depending on the respective sensor signal received. In a fourth step S4, it is determined whether a dangerous situation exists. This takes place depending on the determined position P210 and the determined movement properties V210 of the first object 210 as well as the determined position P212 and the determined movement properties V212, V214, V216 of the further object 212, 214, 216, as exemplified above using the 2 - 4 was explained. In a fifth step S5, a warning signal is issued if the dangerous situation exists. This is done in particular by activating a corresponding warning device 120A - 120E (see 1 ).

Although the present invention has been described using exemplary embodiments, it can be modified in many ways.

REFERENCE SYMBOL LIST

10

Park area

100

Parking assistance system

101

Area

102

Receiving unit

104

Investigation unit

106

Security unit

108

Output unit

110A

sensor

110B

sensor

110C

sensor

110D

sensor

110E

sensor

110F

sensor

110G

sensor

110H

sensor

110I

sensor

112A

Detection area

112B

Detection area

112C

Detection area

112D

Detection area

112E

Detection area

112F

Detection area

112G

Detection area

112H

Detection area

112I

Detection area

114A

Danger area

114B

Danger area

120A

Warning device

120B

Warning device

120C

Warning device

120D

Warning device

120E

Warning device

210

object

212

object

214

object

216

object

I/O

Entrance/exit

P210

position

P212

position

S1

Procedural step

S2

Procedural step

S3

Procedural step

S4

Procedural step

S5

Procedural step

V210

Movement property

V212

Movement property

V214

Movement property

V216

Movement property

QUOTES INCLUDED IN THE DESCRIPTION

This list of 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.

Cited patent literature

• US 2020/0211400 A1 [0004]

Claims (15)

Method for operating a parking assistance system (100), which is set up for autonomously controlling a remotely controllable vehicle in a predetermined area (101), wherein the parking assistance system (100) has a number of sensors (110A - 110I) arranged in an infrastructure of the predetermined area (101). ) with a respective detection area (112A - 112I), the respective sensor (110A - 110I) for detecting objects (210, 212, 214, 216) present in the respective detection area (112A - 112I) and for outputting a corresponding sensor signal is set up, the procedure includes: Receiving (S1) the respective sensor signal output by the respective sensor (110A - 110I), Detecting (S2) a moving first object (210) in the respective detection area (112A-112I) and determining a position (P210) and a number of movement properties (V210) of the first object (210) depending on the respective sensor signal received, Detecting (S3) a further object (212, 214, 216) in the respective detection area (112A-112I) and determining a position (P212) and a number of movement properties (V212, V214, V216) of the further object (212, 214, 216) depending on the respective sensor signal received, Determining (S4) the existence of a dangerous situation depending on the determined position (P210) and the determined movement properties (V210) of the first object (210) as well as the determined position (P212) and the determined movement properties (V212, V214, V216) of the further object (212, 214, 216), and Issue (S5) a warning signal if the dangerous situation exists. Procedure according to Claim 1 , characterized in that the determined movement properties (V210, V212, V214, V216) of the first and/or the further object (210, 212, 214, 216) indicate a speed and a direction of movement of the respective object (210, 212, 214, 216 ). Procedure according to Claim 1 or 2 , characterized in that determining the existence of the dangerous situation comprises: comparing the determined position (P210, P212) of the first object (210) and the further object (212, 214, 216) with a predetermined number of danger areas (114A, 114B) , wherein a respective danger area is a sub-area of the predetermined area (101), wherein a condition for the existence of the dangerous situation is that the respective position (P210, P212) of the first object (210) and the further object (212, 214, 216 ) are in the same danger area (114A, 114B). Method according to one of the preceding claims, characterized in that determining the existence of the dangerous situation comprises: determining a distance from the first object to the further object, comparing the determined distance with a distance threshold, being a condition for the existence of the dangerous situation that the determined distance is smaller than the distance threshold value. Method according to one of the preceding claims, characterized in that determining the existence of the dangerous situation comprises: determining that the first object (210) and the further object (212, 214, 216) are moving towards each other depending on the respective determined position (P210 , P212) and movement properties (V210, V212, V214, V216), determining an approach speed for the first object (210) and the further object (212, 214, 216), and comparing the determined approach speed with a speed threshold, whereby a The condition for the existence of the dangerous situation is that the determined approach speed is greater than the speed threshold value. Method according to one of the preceding claims, characterized in that determining the existence of the dangerous situation comprises: determining a respective trajectory (TR210) for the first object (210) and the further object (212, 214, 216) depending on the respective determined position (P210, P212) and movement properties (V210, V212, V214, V216), determining a collision potential between the first object and the further object depending on the determined trajectories (TR210), and comparing the determined collision potential with a collision potential threshold, wherein a The condition for the existence of the dangerous situation is that the collision potential determined is greater than the collision potential threshold value. Procedure according to one of the Claims 4 until 6 , characterized by : classifying the first and/or the second object (210, 212, 214, 216) depending on the respective sensor signal received, and adjusting the distance threshold, the speed threshold and/or the package sion potential threshold depending on the classification. Method according to one of the preceding claims, characterized by : classifying the first and/or the second object (210, 212, 214, 216) depending on the respective sensor signal received, and selecting a type of warning signal depending on the classification. Method according to one of the preceding claims, characterized in that issuing a warning signal comprises: selecting a warning device (120A - 120E) from a number of warning devices (120A - 120E) of the parking assistance system (100) which are arranged in the predetermined area (101). are, depending on the determined position (P210) and movement properties (V210) of the first object (210). Method according to one of the preceding claims, characterized in that the first object (210) is an object that moves independently of the parking assistance system (100). Method according to one of the preceding claims, characterized in that the further object (212, 214, 216) is an object that moves independently of the parking assistance system (100). Procedure according to one of the Claims 1 until 10 , characterized in that the further object (212, 214, 216) is a vehicle remotely controlled by the parking assistance system (100). Computer program product, comprising instructions which, when the program is executed by a computer, cause it to carry out the method according to one of the Claims 1 - 12 to carry out. Parking assistance system (100), which is set up for autonomously controlling a remotely controllable vehicle in a predetermined area (101), the parking assistance system (100) having a number of sensors (110A - 110I) arranged in an infrastructure of the predetermined area (101) with a respective one Detection area (112A-112I), wherein the respective sensor (110A-110I is set up to detect objects (210, 212, 214, 216) present in the respective detection area (112A-112I) and to output a corresponding sensor signal, the parking assistance system (100) comprising: a receiving unit (102) for receiving the respective sensor signal output by the respective sensor (110A - 1101), a determination unit (104) for detecting a moving first object (210) in a respective detection area (112A-112I) and for determining a position (P210) and a number of movement properties (V210) of the first object (210) depending on the respective one received sensor signal, and for detecting a further object (212, 214, 216) in the respective detection area (112A-112I) and for determining a position (P212) and a number of movement properties (V212, V214, V216) of the further object (212 , 214, 216) depending on the respective sensor signal received, a security unit (106) for determining the existence of a dangerous situation depending on the determined position (P210) and the determined movement properties (V210) of the first object (210) as well as the determined position (P212) and the determined movement properties (V212, V214, V216) the further object (212, 214, 216), and an output unit (108) for controlling a warning device (120A - 120E) for issuing a warning signal if the dangerous situation exists. Parking facility (10) with a parking assistance system (100). Claim 14 .

Images