FR3075135A1 - METHOD AND ASSISTANCE DEVICE FOR CORRECTLY PARKING A VEHICLE ON A PARKING LOCATION - Google Patents

Abstract

 An assistance device (DA) equips a vehicle (V2) comprising acquisition means (MAQ) acquiring information representative of the environment around the vehicle (V2). This device (DA) comprises analysis means (MAL) analyzing the information to determine whether there is sufficient space on neighboring parking spaces (EP1-EP4) to park the vehicle (V2), and ii) means control (MC) determining, when this determined space is sufficient, a trajectory for parking the vehicle (V2) in this space. In the event of awakening while the vehicle (V2) is poorly parked in relation to the parking spaces (EP1-EP4), the analysis means (MAL) require new information in order to determine whether it is possible to better park the vehicle (V2), and if so order the control means (MC) to determine a new trajectory to better park the vehicle (V2).

Description

® PROCESS AND ASSISTANCE DEVICE FOR PARKING LOCATION

@) An assistance device (DA) equips a vehicle (V2) comprising acquisition means (MAQ) acquiring information representative of the environment around the vehicle (V2). This device (DA) comprises analysis means (MAL) analyzing the information to determine whether there is sufficient space on neighboring parking spaces (EP1-EP4) to park the vehicle (V2), and ii) means control (MC) determining, when this determined space is sufficient, a trajectory for parking the vehicle (V2) in this space. In the event of awakening while the vehicle (V2) is poorly parked in relation to the parking spaces (EP1-EP4), the analysis means (MAL) require new information in order to determine whether it is possible to better park the vehicle (V2), and if so order the control means (MC) to determine a new trajectory to better park the vehicle (V2).

PARKING A VEHICLE PROPERLY ON A

ASSISTANCE METHOD AND DEVICE FOR PROPERLY PARKING A VEHICLE ON A PARKING SPACE

The invention relates to vehicles which can circulate and maneuver on land traffic lanes and which can be parked on parking spaces (or parking), and more specifically assistance in driving such vehicles during the phases of parking on parking spaces. parking lot.

Certain vehicles, generally of the automobile type, include a parking assistance device comprising analysis means and control means. The analysis means are responsible for analyzing information representative of the environment around their vehicle, acquired by on-board acquisition means, to determine whether there is sufficient space on neighboring and demarcated parking spaces for the park. The control means are responsible for determining, when this determined space is sufficient, a trajectory for autonomously (or automated) parking their vehicle in this space and commands for organs involved in the movements of the vehicle, suitable for forwarding to the latter this determined trajectory.

It will be understood that during an autonomous (or automated) parking phase, there is no action by a passenger of the vehicle on an organ of the latter involved in his movements. Consequently, the vehicle is at least partially autonomous. The term “at least partially autonomous vehicle” here means a vehicle which can be driven manually during manual driving phases and in an automated manner (without any intervention from its driver) during autonomous driving phases (in particular when parking), or although it can be driven permanently automatically (without any intervention from the driver).

When the parking space determined by an assistance device for a first vehicle is sufficient but it extends over two neighboring parking spaces or over a parking space and its vicinity due to the temporary presence of an obstructing obstacle (such as a second poorly parked vehicle), the first vehicle finds itself improperly parked. In this case, it may make it difficult, if not impossible, to park another vehicle on a parking space on which it encroaches and / or may impede the movement of other vehicles or pedestrians.

The object of the invention is in particular to improve the situation when it is possible.

It proposes in particular for this purpose an assistance device, on the one hand, intended to equip a vehicle suitable for moving on surfaces comprising neighboring and delimited parking spaces and comprising acquisition means acquiring information representative of the environment around the vehicle, and, on the other hand, comprising means of analysis analyzing this information to determine whether there is sufficient space on the parking spaces to park the vehicle, and determining means of control, when this determined space is sufficient, a trajectory to park the vehicle in this space and commands for organs involved in the movements of the vehicle, suitable for causing the latter to follow this determined trajectory.

This assistance device is characterized in that, in the event of waking up while the vehicle is poorly parked relative to the parking spaces, its analysis means require new information from the acquisition means in order to determine whether it is possible to park the vehicle better, and if so order the control means to determine a new trajectory for better parking the vehicle and specific commands to make the vehicle follow this new trajectory.

Thus, we can reposition a poorly parked vehicle, automatically (or autonomously), so that it is less or more annoying.

The assistance device according to the invention may include other characteristics which can be taken separately or in combination, and in particular:

- It may include storage means suitable for storing information representative of the environment of the vehicle once it is parked. In this case, once awakened, the analysis means can compare the information stored with the new information in order to determine whether it is possible to park the vehicle better;

- its analysis means can be awakened by a wake-up signal which is generated periodically when the vehicle is parked;

> its means of analysis can generate an alert signal when the vehicle is improperly parked. In this case, it can include wake-up means periodically generating the wake-up signal in the event of reception of the alert signal;

- alternatively or in addition, its analysis means can be awakened by a wake-up message which is transmitted by waves to the vehicle by external communication equipment;

> its means of analysis can be awakened by a wake-up message signaling the departure of another vehicle previously parked next to the vehicle or the removal of an object that forced the vehicle to be improperly parked.

The invention also provides a vehicle, possibly of the automobile type, capable of moving over surfaces comprising neighboring and delimited parking spaces, and comprising acquisition means acquiring information representative of the environment around the vehicle, and a assistance device of the type presented above.

For example, this vehicle can be of the autonomous type.

The invention also proposes a method of assistance, on the one hand, intended to be implemented in a vehicle suitable for moving on surfaces comprising neighboring and delimited parking spaces and comprising acquisition means acquiring information representative of the environment around the vehicle, and, on the other hand, comprising a first step in which this information is analyzed to determine whether there is sufficient space on the parking spaces to park the vehicle, and, when this space determined is sufficient, a trajectory is determined to park the vehicle in this space and commands for organs involved in the movements of the vehicle, suitable for causing the latter to follow this determined trajectory.

This assistance method is characterized by the fact that it also comprises a second step in which, when the vehicle is poorly parked relative to the parking spaces, new information is required following an awakening to the acquisition means. in order to determine whether it is possible to park the vehicle better, and if so, a new trajectory is determined to better park the vehicle and specific controls to make the vehicle follow this new trajectory.

Other characteristics and advantages of the invention will appear on examining the detailed description below, and the attached drawings, in which:

- Figure 1 illustrates schematically and functionally at a first instant a parking lot comprising four parking spaces, on one of which a first vehicle is very poorly parked and on another of which a second vehicle, equipped with an exemplary embodiment of an assistance device according to the invention was improperly parked because of the first vehicle, and

- Figure 2 schematically and functionally illustrates at another time the parking of Figure 1 with one of its four parking spaces correctly occupied by a third vehicle and another of its four parking spaces now correctly occupied by the second vehicle after an automatic modification of its initial position.

The purpose of the invention is in particular to propose an assistance device DA, and an associated assistance method, intended to assist the driving of a vehicle V2 at least partially autonomous during the parking phases on parking spaces EPj.

The term “at least partially autonomous vehicle” here means a vehicle which can be driven manually during manual driving phases and in an automated manner (without any intervention from its driver) during autonomous driving phases (in particular when parking), or although it can be driven permanently automatically (without any intervention from the driver).

In what follows, it is considered, by way of nonlimiting example, that the vehicle V2, hereinafter called the second vehicle, is of the automobile type. This is for example a car. However, the invention is not limited to this type of vehicle. It concerns in fact any type of vehicle which can circulate and maneuver on land traffic lanes and which can be parked in parking spaces (or parking).

There is schematically and functionally represented in FIGS. 1 and 2, respectively at the first t1 and third t3 moments, a parking lot comprising four parking spaces EP1 to EP4 (j = 1 to 4) neighbors and delimited (at least partially). The term “neighboring parking spaces” is understood here to mean parking spaces having a common side at the level of a common delimitation, such as for example a demarcation line.

At the two instants t1 and t3, the first EP1 and fourth EP4 parking spaces are not occupied.

It is considered here that just before the first instant t1 a first vehicle V1 is improperly parked on the second parking space EP2 and encroaches on the third parking space EP3, and that a second vehicle V2, equipped with an assistance device DA according to the invention, seeks to park.

As illustrated in FIGS. 1 and 2, a DA assistance device according to the invention comprises at least MAL analysis means and MC control means. For example, it can constitute what a person skilled in the art calls an ADAS ("Advanced Driver Assistance System") device.

The MAL analysis means are arranged so as to analyze information which is representative of the environment around the second vehicle V2 and which has been acquired by on-board MAQ acquisition means. This analysis is intended to determine whether there is sufficient space on neighboring and delimited parking spaces EPj to park the second vehicle V2.

The MAQ acquisition means are fixedly secured to the second vehicle V2 in places allowing the environment to be analyzed in front, behind and on both sides of the latter (V2). They may, for example, include digital cameras and ultrasonic sensors and / or scanning lasers and / or radars or lidars.

Note that the MAQ acquisition means may possibly be part of the DA assistance device. But it is not compulsory. Indeed, they can acquire information (in particular images and distances) which can be useful for other equipment of the second vehicle V2, and therefore can be part of another device embedded in the latter (V2). In this case, the information acquired by the MAQ acquisition means can, for example, be accessible to the assistance device DA via a communication network of the second vehicle V2, possibly multiplexed.

In the situation considered just before the first instant t1, the analysis means MAL determined, thanks to the information acquired, that there was sufficient space to park the second vehicle V2 mainly on the third parking space EP3 and slightly on the fourth EP4 parking space. Consequently, they supply the control means MC with data defining this determined parking space.

The control means MC are arranged so as to determine, when the determined space is sufficient, a trajectory for automatically (or autonomously) parking the second vehicle V2 in this space, and commands for EO members involved in the movements of the second vehicle V2, capable of making the latter (V2) follow this determined trajectory.

These EO organs are part of a set comprising the powertrain (or GMP), the braking system, the electric power steering and the gear change means (for example an automatic gearbox).

In the situation considered the control means MC control the organs EO so that the second vehicle V2 finds itself at the first instant t1 in the position illustrated in FIG. 1, namely mainly on the third parking space EP3 and slightly on the fourth space EP4 parking lot, and therefore poorly parked.

Note that the fact that the second vehicle V2 finds itself improperly parked in a parking space EPj does not necessarily result from the fact that another vehicle has poorly parked in a parking space EPj '(with j' + j) neighbour. This can indeed also result from the fact that an obstacle (animated or inanimate) is temporarily placed on its parking space EPj.

In the event of awakening while the second vehicle V2 is poorly parked relative to the parking spaces EPj, the MAL analysis means require new information from the MAQ acquisition means in order to determine whether it is possible to better park the second V2 vehicle automatically (or independently).

The concept of alarm clock means that the second vehicle V2 is not in operation before an alarm clock. Consequently, it is the DA analysis device which is awakened, then which triggers the awakening of the MAQ acquisition means in order to obtain new information representative of the environment of the second vehicle V2. We will return later to the modalities of this awakening.

If the MAL analysis means determine that it is possible to better park the second V2 vehicle automatically (or autonomously) (so that it annoys significantly less or more at all), they (MAL) order the control means MC to determine a new trajectory for better parking the second vehicle V2 and commands (for the EO members) suitable for making the second vehicle V2 follow this new trajectory.

This is the situation which is illustrated in FIG. 2. More precisely, at a second instant t2 (between t1 and t3), the first vehicle V1 leaves the second parking space EP2 and therefore no longer encroaches on the third location EP3 parking lot. The analysis device DA is awakened after this event (always before t3), and its analysis means MAL determine that it is possible to correctly park the second vehicle V2 on the third parking space EP3 without encroaching on the fourth EP4 parking space. Consequently, the MAL analysis means order the control means MC to determine a new trajectory and associated commands from the organs EO to park the second vehicle V2 automatically (or autonomously) and correctly on the third parking space EP3. The second vehicle V2 is then found after the second instant t2 and before the third instant t3 in the position illustrated in FIG. 2, namely totally and correctly positioned on the third parking space EP3.

Then, at a third instant t3, a third vehicle V3 comes to park on the second parking space EP2 which had been entirely freed when the first vehicle V1 left.

It will be understood that before sending commands to the EO bodies so that this induces the tracking of the new trajectory by the second vehicle V2, the latter (V2) must be awakened and put into operation by the control means MC (at least at the level of its chain of transmission (which includes its GMP)).

It will be noted that the assistance device DA can also comprise, as illustrated without limitation in FIGS. 1 and 2, storage means MS suitable for storing information which is representative of the environment of the second vehicle V2 once it has is parked. This information can be images and / or distances separating certain predefined locations of the second vehicle V2 from obstacles located in its immediate environment and / or a map of the relative positions of the surrounding objects detected during parking with respect to the second vehicle V and the dividing lines.

In this case, once awakened, the analysis means MAL can, for example, compare the information which is stored in the storage means MS with the new information which has just been acquired by the acquisition means MAQ, in order to determine s '' it is possible to park the second vehicle V2 better.

It is in particular possible to analyze the demarcation lines (to determine whether they are always interrupted (or hidden) by an obstacle) and / or to analyze (compare) the distances separating the predefined locations of the second obstacle vehicle V2.

Several solutions can be envisaged to wake up the DA analysis device. These solutions can possibly all be implemented in the second vehicle V2.

Thus, the analysis means (MAL) can be awakened by a wake-up signal which is generated periodically when the second vehicle V2 is parked.

In this case, the analysis device DA can comprise, as shown without limitation in FIGS. 1 and 2, wake-up means MR responsible for periodically generating a wake-up signal, for example every thirty minutes to limit the consumption of energy of analyzes. Such MR wake-up means may, for example, be in the form of a time delay (possibly computer) which is restarted each time its time delay has elapsed.

The activation of these wake-up means MR can be done automatically as soon as the second vehicle V2 is put out of operation with its assistance device DA placed in a standby state. Alternatively, it can be done if an alert signal is received. In this case, the analysis means MAL can, for example, generate an alert signal when the second vehicle V2 is poorly parked, and on receipt of this alert signal the wake-up means MR begin to periodically generate the signal wake up call.

It is conceivable that the generation of the alert signal by the MAL analysis means automatically triggers the placement of the assistance device DA in its standby state. Consequently, in the absence of generation of an alert signal by the analysis means MAL, the assistance device DA is asleep and therefore cannot function once the second vehicle V2 is well parked and put out of operation. . This is likely to save the electrical energy stored in a battery of the second vehicle V2.

As a variant or in addition, the MAL analysis means can be awakened by a wake-up message which is transmitted by waves to the second vehicle V2 by external communication equipment. This option requires that the second vehicle V2 include means of communication capable of exchanging messages by means of waves with other means of communication fitted to other vehicles and / or at least one information station associated with the parking lot and / or a wireless communication network. This non-wired communication network can be terrestrial (for example 3G or 4G) and / or satellite type. In the case of exchanges with other vehicles or with an information station, communications are preferably made by short-range waves, for example using the wireless communication standard Car2X (G5) or Bluetooth or WiFi or 5G or even near field transmission (or NFT (“Near Field Transmission”)).

For example, the MAL analysis means can be awakened by a wake-up message signaling the departure of another vehicle V1 previously parked next to the second vehicle V2 or the removal of an object that has forced the second vehicle V2 to be bad station. This wake-up message can be generated automatically by this other V1 vehicle when it leaves its parking space, or by a video surveillance system of the parking lot when it detects the departure of the other poorly parked V1 vehicle. In the latter case, surveillance can be done by means of images acquired by cameras fixedly installed in the parking lot or on board surveillance drones.

It is also conceivable that a user of the second vehicle V2 uses a mobile phone (possibly intelligent (or “smartphone”)) or an electronic tablet to remotely transmit a simple wake-up message to the second vehicle V2 (to his device DA assistance). Alternatively, the mobile phone or tablet can be programmed to automatically and periodically transmit a simple wake-up message to the second vehicle V2 (to its DA assist device).

It should be noted that the automatic (or autonomous) repositioning of the second V2 vehicle when it is poorly parked can preferably be done only if there is sufficient energy available in the second V2 vehicle to move it on the new trajectory and of course to operate the electrical organs involved in its movements. In addition, this automatic (or autonomous) repositioning is preferably carried out only on condition that it induces a significant result in terms of reduction of the inconvenience caused to third parties.

It will also be noted, as illustrated without limitation in FIGS. 1 and 2, that the assistance device DA can, for example, be installed, at least partially (and in particular its means of analysis MAL and means of control MC), in a computer CA of the second vehicle V2, which possibly performs at least one other function, such as for example the supervision of the operation of the transmission chain. However, as a variant, it can include its own dedicated computer. Consequently, the DA assistance device can be produced in the form of software modules (or computer or "software"), or else of a combination of electronic circuits (or "hardware") and software modules.

It is important to note that the invention can also be considered from the angle of an assistance process, which can in particular be implemented by means of a DA assistance device of the type presented above. The functionalities offered by the implementation of the method according to the invention being identical to those offered by the DA assistance device presented above, only the combination of main functionalities offered by the method is presented below.

This hands-free access control process includes:

a first step in which the information acquired by the MAQ acquisition means is analyzed to determine whether there is sufficient space on the parking spaces EPj to park the second vehicle V2, and, when this determined space is sufficient, determines a trajectory for parking the second vehicle V2 in this space and commands for members involved in the movements of the second vehicle V2, suitable for making the latter (V2) follow this determined trajectory, and

a second step in which, when the second vehicle V2 is poorly parked with respect to the parking spaces EPj, it is necessary, following an awakening, new information to the means of acquisition MAQ in order to determine whether it is possible to better park the second vehicle V2, and if so, a new trajectory is determined to better park the second vehicle V2 and specific commands to make the second vehicle V2 follow this new trajectory.

Claims (10)

1. Assistance device (DA) for a vehicle (V2) capable of moving over surfaces comprising neighboring and delimited parking spaces (EPj) and comprising acquisition means (MAQ) acquiring information representative of the environment around said vehicle (V2), said device (DA) comprising i) analysis means (MAL) analyzing said information to determine whether there is sufficient space on said parking spaces (EPj) to park said vehicle (V2 ), and ii) control means (MC) determining, when said determined space is sufficient, a trajectory for parking said vehicle (V2) in this space and commands for organs (EO) involved in the movements of said vehicle (V2 ), suitable for causing the latter (V2) to follow said determined trajectory, characterized in that in the event of awakening while said vehicle (V2) is poorly parked relative to said parking spaces (EP j), said analysis means (MAL) require new information from said acquisition means (MAQ) in order to determine whether it is possible to better park said vehicle (V2), and if so order said control means (MC) determining a new trajectory for better parking said vehicle (V2) and specific commands to make said vehicle (V2) follow said new trajectory. 2. Device according to claim 1, characterized in that it comprises storage means (MS) suitable for storing information representative of the environment of said vehicle (V2) once it is parked, and in that once awakened, said analysis means (MAL) compare said stored information with said new information in order to determine whether it is possible to better park said vehicle (V2). 3. Device according to claim 1 or 2, characterized in that said analysis means (MAL) are awakened by a wake-up signal generated periodically when said vehicle (V2) is parked. 4. Device according to claim 3, characterized in that said analysis means (MAL) generate an alert signal when said vehicle (V2) is poorly parked, and in that it comprises wake-up means (MR) periodically generating said wake-up signal upon receipt of said alert signal. 5. Device according to one of claims 1 to 4, characterized in that said analysis means (MAL) are awakened by a wake-up message transmitted by waves to said vehicle (V2) by external communication equipment. 6. Device according to claim 5, characterized in that said analysis means (MAL) are awakened by a wake-up message signaling a departure from another vehicle (V1) previously parked next to said vehicle (V2) or a withdrawal an object that forced said vehicle (V2) to be improperly parked. 7. Vehicle (V2) capable of moving over surfaces comprising neighboring and delimited parking spaces (EPj), and comprising acquisition means (MAQ) acquiring information representative of the environment around said vehicle (V2), characterized in that it further comprises an assistance device (DA) according to one of the preceding claims. 8. Vehicle according to claim 7, characterized in that it is of the autonomous type. 9. Vehicle according to claim 7 or 8, characterized in that it is of the automobile type. 10. Assistance method for a vehicle (V2) capable of moving on surfaces comprising neighboring and delimited parking spaces (EPj) and comprising acquisition means (MAQ) acquiring information representative of the environment around said vehicle (V2), said method comprising a first step in which said information is analyzed to determine whether there is sufficient space on said parking spaces (EPj) to park said vehicle (V2), and, when said determined space is sufficient , a trajectory is determined to park said vehicle (V2) in this space and commands for organs (EO) involved in the movements of said vehicle (V2), suitable for causing the latter (V2) to follow said determined trajectory, characterized in what it further comprises a second step in which, when said vehicle (V2) is poorly parked relative to said parking spaces (EPj), requires, following an awakening, new information to said acquisition means (MAQ) in order to determine whether it is possible to better park said vehicle (V2), and if so, a new trajectory is determined to better park said vehicle (V2) and specific commands to follow said new trajectory to said vehicle (V2).