CN116718174A - Method for positioning a motor vehicle - Google Patents
Method for positioning a motor vehicle Download PDFInfo
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- CN116718174A CN116718174A CN202310206957.0A CN202310206957A CN116718174A CN 116718174 A CN116718174 A CN 116718174A CN 202310206957 A CN202310206957 A CN 202310206957A CN 116718174 A CN116718174 A CN 116718174A
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- motor vehicle
- public facility
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- utility
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- 238000000034 method Methods 0.000 title claims abstract description 79
- 230000007613 environmental effect Effects 0.000 claims abstract description 33
- 238000004590 computer program Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 241000283070 Equus zebra Species 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 5
- 230000014509 gene expression Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 2
- 101000880156 Streptomyces cacaoi Subtilisin inhibitor-like protein 1 Proteins 0.000 description 1
- 101000879673 Streptomyces coelicolor Subtilisin inhibitor-like protein 3 Proteins 0.000 description 1
- 101000879675 Streptomyces lavendulae Subtilisin inhibitor-like protein 4 Proteins 0.000 description 1
- 101000880160 Streptomyces rochei Subtilisin inhibitor-like protein 2 Proteins 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
- G01S5/0054—Transmission from base station to mobile station of actual mobile position, i.e. position calculation on base station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a method for locating a motor vehicle located in a public facility in which a plurality of environmental sensors are spatially distributed, comprising the following steps: the method comprises the steps of receiving a request sent by a motor vehicle on the public facility side to position the motor vehicle on the public facility side, detecting the motor vehicle on the public facility side by means of at least one environmental sensor in a plurality of environmental sensors, positioning the detected motor vehicle in the public facility side so as to obtain the position of the motor vehicle on the public facility side, obtaining positioning data for positioning the motor vehicle on the public facility side based on the position of the motor vehicle obtained on the public facility side, and sending the positioning data on the public facility side to the motor vehicle. The invention relates to a corresponding system, to a further method for locating a motor vehicle, and to a further system for locating a motor vehicle, to a computer program product and to a machine-readable storage medium.
Description
Technical Field
The present invention relates to a method and system, a computer program product and a machine readable storage medium for locating a motor vehicle located within a public facility.
Background
For example, the positioning of a motor vehicle located in a public facility can be carried out on the motor vehicle side using GPS. In the case of poor GPS reception, for example in a closed space, positioning on the vehicle side may be difficult or even impossible.
Disclosure of Invention
The invention is based on the object of providing a solution for the efficient positioning of motor vehicles located in public facilities.
According to a first aspect, there is provided a method for locating a motor vehicle located within a public facility, wherein a plurality of environmental sensors are spatially distributed within the public facility, the method comprising the steps of:
the request sent by the motor vehicle to locate the motor vehicle on the utility side is received on the utility side,
detecting the motor vehicle on the utility side by means of at least one environmental sensor of the plurality of environmental sensors,
locating the detected motor vehicle on the utility side within the utility to determine the position of the motor vehicle on the utility side,
determining, at a public facility, positioning data for positioning the motor vehicle based on the position of the motor vehicle determined on the public facility side, and
the positioning data is transmitted to the motor vehicle at the public facility side.
According to a second aspect, there is provided a system for locating a motor vehicle located within a public facility, the system comprising:
a plurality of environment sensors spatially distributed in the public facility, each of the plurality of environment sensors being provided for detecting a motor vehicle located in a detection range of the corresponding environment sensor on the public facility side,
processing means arranged for locating the detected motor vehicle on the utility side, within the utility, based on the known position of the at least one environmental sensor, in order to determine the position of the motor vehicle on the utility side,
wherein the processing device is configured to determine, on the utility side, positioning data for positioning the motor vehicle based on the position of the motor vehicle determined on the utility side, and
communication means arranged for transmitting positioning data to the motor vehicle at the utility side.
According to a third aspect, there is provided a method for locating a motor vehicle located within a public facility, wherein a plurality of environmental sensors are spatially distributed within the public facility, the method comprising the steps of:
on the motor vehicle side, it is determined that: the motor vehicle should be positioned on the public facility side,
transmitting a request for locating the motor vehicle on the utility side to the utility side, receiving, on the motor vehicle side, locating data for locating the motor vehicle transmitted by the utility side, and
the vehicle is positioned on the vehicle side based on the positioning data.
According to a fourth aspect, there is provided a system for locating a motor vehicle located within a public facility, the system comprising:
determining means arranged to determine: the motor vehicle should be positioned on the public facility side,
communication device provided for transmitting a request for locating a motor vehicle on the utility side to the utility on the vehicle side and for receiving location data for locating the motor vehicle transmitted by the utility on the vehicle side, and
positioning means provided for positioning the motor vehicle on the motor vehicle side on the basis of the positioning data.
According to a fifth aspect, there is provided a computer program product comprising instructions which, when the computer program product is implemented by a computer, for example by a system according to the second aspect and/or according to the fourth aspect, cause the computer to implement the method according to the first aspect and/or according to the third aspect.
According to a sixth aspect there is provided a machine readable storage medium having stored thereon a computer program product according to the fifth aspect.
The invention is based on the following recognition and includes together: the utility detects the motor vehicle through its own utility environmental sensor and locates the detected motor vehicle. On the basis of the positioning of the motor vehicle by the public facility, positioning data are determined on the public facility side, which are suitable for positioning the motor vehicle on the motor vehicle side. These positioning data are transmitted from the public facility to the motor vehicle so that the motor vehicle can be self-positioned based on these data.
Thus, the following technical advantages are achieved in particular: an efficient positioning of the motor vehicle can be achieved. This is advantageous in particular when the vehicle itself cannot be positioned, for example because the vehicle cannot or only poorly receive satellites of the global navigation satellite system. This may be the case, for example: the motor vehicle is located in a tunnel, a parking lot or an underground garage.
The positioning of the motor vehicle is advantageous, whereby the motor vehicle can be guided at least partially automatically. Since the motor vehicle can still be positioned using public facilities in certain situations where positioning on the motor vehicle side should not be possible, the motor vehicle can also be guided at least partially automatically in such situations. Thus, the following technical advantages are achieved in particular: in this case, the motor vehicle can also be guided effectively at least partially automatically.
For example, it is provided that the motor vehicle is guided at least partially automatically in the public facility, for example on the basis of positioning data.
In one embodiment of the method according to the first aspect, the position of the motor vehicle, which is transmitted by the motor vehicle and is determined on the motor vehicle side, is received on the public facility side, wherein the position of the motor vehicle determined on the motor vehicle side is compared with the position of the motor vehicle determined on the public facility side in order to determine a comparison result, wherein the positioning data is determined on the public facility side such that the positioning data comprises the comparison result.
The following technical advantages are thus achieved, for example: the positioning data can be determined efficiently, so that the vehicle can be positioned further on the vehicle side in an efficient manner.
According to an embodiment of the method according to the first aspect, the comparison result shows that: the position determined on the vehicle side is correct or incorrect.
The following technical advantages are achieved thereby, for example: the motor vehicle can be effectively informed whether its position determined on the motor vehicle side is correct or incorrect. In this case, the motor vehicle can, for example, retrieve the position of the motor vehicle on the motor vehicle side.
In one embodiment of the method according to the first aspect, it is provided that the positioning data are determined on the public facility side, such that the positioning data comprise the position of the motor vehicle determined on the public facility side.
The following technical advantages are achieved thereby, for example: the motor vehicle can be effectively self-locating based on the position determined on the public facility side.
In an embodiment of the method according to the first aspect, the positioning on the utility side is provided by means of at least one environment sensor and/or by means of at least one further environment sensor of the plurality of environment sensors and/or by means of a local computing unit of the utility and/or by means of a remote computing unit implemented in the cloud utility.
Thus, for example, the following technical advantages are achieved: positioning on the utility side can be efficiently performed.
In one embodiment of the method according to the first aspect, it is provided that the aforementioned comparison of the position determined on the motor vehicle side with the position determined on the utility side is performed by means of at least one environmental sensor or by means of at least one further environmental sensor of the plurality of environmental sensors and/or by means of a local computing unit of the utility and/or by means of a remote computing unit implemented in the cloud utility.
Thus, for example, the following technical advantages are achieved: the aforementioned comparison step can be effectively performed.
According to one embodiment, the method steps are carried out using a system for locating a motor vehicle located in a public facility, wherein the system and/or parts of the system each have a predetermined safety integrity level, in particular a predetermined ASIL or a predetermined SIL.
The following technical advantages are achieved thereby, for example: a reliable implementation of the method can be achieved and ensured.
"safe" in the sense of the present specification means in particular "safe" and "secure". These two english terms, while generally translated as "safe", have partially different meanings in english.
The term "safe" is especially directed to accidents and the topic of avoiding accidents. Thus, "safe" means, inter alia, that the correct functioning of the system according to the second aspect is ensured by means of measures and that the method according to the first aspect is operated correctly.
The term "secure" is especially directed to the subject of computer protection and hacking, that is to say, in particular: how securely the system and its components are protected against unauthorized access and data tampering by third parties, so-called "hackers" (hackers). Thus, the method and system according to the present description, especially as a basis for performing the method steps and system functions, have a reasonable and sufficient computer protection and hacking protection.
The abbreviation "ASIL" stands for english term "Automotive Safety Integrity Level", which can be translated into "car safety integrity rating". The "automotive safety integrity class" is a key component of the ISO 26262 standard. ASIL distinguishes between four different risk levels of ASIL, which are expressed as ASIL-A, ASIL-B, ASIL-C and ASIL-D.
The abbreviation "SIL" stands for English term "Safety Integrity Level" which can be translated into "safety integrity level". The "safety integrity level" is a key component of the IEC EN 61508 standard. SIL distinguishes between four different SIL risk levels, denoted SIL-1, SIL-2, SIL-3 and SIL-4.
In an embodiment of the method according to the first aspect, the utility comprises one or more of the following utility elements: areas beside a building, parking lots, tunnels, highway entrances, highway exits, junction points, in particular circular traffic, intersections, junction intersections, T-junctions, zebra crossings, construction sites, bridges, underpass, areas where satellite reception of satellites of the global navigation satellite system is poor and/or does not last enough, in particular areas beside a building.
The following technical advantages are achieved thereby, for example: the motor vehicle in the aforementioned utility elements can be effectively located.
For example, in one embodiment of the method according to the first aspect, it is provided that the motor vehicle performs an AVP procedure in the parking area.
The abbreviation "AVP" stands for "Automated Valet Parking" and may be translated into "auto park service". The AVP process includes, for example, at least highly automated guidance of the motor vehicle from the delivery location to the parking location, and, for example, at least highly automated guidance of the motor vehicle from the parking location to the pick-up location. At the delivery location, the driver of the motor vehicle delivers the motor vehicle for the AVP procedure. At the extraction location, the vehicle is extracted after the AVP process ends.
Thus, in the sense of the present description, a motor vehicle may also be referred to as an AVP motor vehicle as long as it is provided for performing an AVP procedure.
For example, provision is made for the AVP procedure to comprise an AVP procedure according to AVP types 1, 2 and/or 3, wherein AVP type 1 is a vehicle-centric AVP procedure, wherein AVP type 2 is a utility-centric AVP procedure, wherein AVP type 3 is a vehicle-utility-shared AVP procedure.
Thus, for example, the following technical advantages are achieved: the AVP procedure can be efficiently performed.
AVP type 1 represents a vehicle-centric AVP procedure. The main responsibility of the AVP procedure is in the motor vehicle.
AVP type 2 represents a utility-centric AVP procedure. The main responsibility of the AVP procedure is the public facility, i.e. the AVP system.
AVP type 3 represents an AVP procedure shared by motor vehicle-utility. Here, the main responsibility of the AVP procedure is shared between the vehicle and the AVP system.
The AVP procedure includes the following procedures or functions:
1. a target location within the parking lot is determined for the motor vehicle.
2. A route is planned from a starting location to a target location comprised by the parking place.
3. Detecting an object and/or event, and responding accordingly to the detected object and/or detected event.
4. Positioning a motor vehicle within a parking lot.
5. A desired trajectory for the motor vehicle is calculated based on the planned route.
6. The lateral and longitudinal guidance of the motor vehicle is controlled on the basis of the calculated desired trajectory.
The following table shows the following allocations: which of the processes or functions are performed depending on the AVP type of the motor vehicle or the AVP type of an AVP system on the utility side (which may include, for example, the system according to the second aspect), wherein "I" represents "utility", i.e., AVP system, and "K" represents "motor vehicle", whereby "I" represents performing a process by AVP system, and "K" represents performing a process by motor vehicle:
thus, the table above indicates for each function specifically for each AVP type: the functions are performed by the public facility, i.e. by the AVP system on the public facility side, or by the motor vehicle, i.e. for example by the AVP system on the motor vehicle side. In some cases, it may be provided that the function is implemented both by the utility-side AVP system and by the motor vehicle, i.e. by the motor vehicle-side AVP system.
In terms of object and event detection for AVP type 1, it can optionally be provided that an AVP system, which is attached to the motor vehicle, also implements the function.
AVP types 1, 2 and 3 described herein are described in more detail in ISO 23374.
The expression "at least partly automatically guided" includes one or more of the following: assisted guidance, partially automated guidance, highly automated guidance, fully automated guidance. Thus, the expression "at least partially automatically" includes one or more of the following expressions: assisted, partially automated, highly automated, fully automated.
By "assisted guidance" is meant that the driver of the motor vehicle continuously performs either a lateral or a longitudinal guidance of the motor vehicle. A corresponding further driving task (i.e. control of the longitudinal or transverse guidance of the motor vehicle) is automatically performed. That is to say, the vehicle is automatically guided or guided laterally or longitudinally in an auxiliary manner.
By "partially automatically guided" is meant that the longitudinal and transverse guidance of the motor vehicle is automatically controlled under certain conditions (e.g. driving on a highway, driving in a parking lot, over an object, driving in a lane defined by lane markings) and/or for a certain period of time. The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself. However, the driver must continuously monitor the automatic control of the longitudinal and transverse guidance in order to be able to intervene manually when required. The driver must be ready to take over the vehicle guidance completely.
By "highly automated guidance" is meant that the longitudinal and transverse guidance of the motor vehicle is automatically controlled over a period of time under certain conditions (e.g. driving on a highway, driving in a parking lot, over an object, driving in a lane defined by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself. The driver does not have to constantly monitor the automatic control of the longitudinal and transverse guidance in order to be able to intervene manually when required. If necessary, a take-over request is automatically issued to the driver for taking over the control of the longitudinal and transverse guidance, in particular with sufficient time reserve. Thus, the driver must potentially be able to take over control of the longitudinal and lateral guidance. Boundaries for automatic control of lateral and longitudinal guidance are automatically identified. In highly automated guidance, it is not possible to automatically bring about a state of minimal risk in every initial situation.
By "fully automatically guided" is meant that the longitudinal and transverse guidance of the motor vehicle is automatically controlled under certain conditions, e.g. driving on a highway, in a parking lot, over an object, in a lane determined by lane markings. The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself. The driver does not have to monitor automatic control of the longitudinal and transverse guidance in order to be able to intervene manually when required. Before the automatic control of the transverse and longitudinal guidance is completed, the driver is automatically required to take over the driving task (control of the transverse and longitudinal guidance of the motor vehicle), in particular with sufficient time reserve. As long as the driver does not take over the driving task, the state is automatically returned to the state in which the risk is minimum. Boundaries for automatic control of lateral and longitudinal guidance are automatically identified. In all cases, the system state with minimum risk can be automatically returned.
In one embodiment of the method according to the first aspect, it is provided that the location of the motor vehicle on the utility side is performed on the basis of the known position of the at least one environmental sensor.
The following technical advantages are achieved thereby, for example: the motor vehicle can be positioned efficiently on the public facility side.
The utility environmental sensor may also be referred to as a utility environmental sensor.
An environmental sensor in the sense of the present description is, for example, one of the following environmental sensors: radar sensors, image sensors, in particular image sensors of cameras, ultrasonic sensors, lidar sensors, magnetic field sensors and infrared sensors.
The expression "at least one" means "one or more".
In an embodiment of the method according to the first aspect, the method is implemented by the system according to the second aspect.
For example, the system according to the second aspect is arranged for implementing the method according to the first aspect.
For example, provision is made that the method according to the third aspect is implemented by means of the system according to the fourth aspect.
For example, the system according to the fourth aspect is arranged for implementing the method according to the third aspect.
The technical functions of the method according to the first aspect and/or the system according to the second aspect are similarly derived from the corresponding technical functions of the method according to the third aspect and/or the system according to the fourth aspect, and vice versa.
Generally, the method features are derived from the corresponding system features and vice versa.
The method according to the first and/or third aspect is, for example, a computer-implemented method, respectively.
The positioning data according to the method according to the first aspect is for example positioning data according to the method according to the third aspect and/or the system according to the fourth aspect.
For example, in the method according to the third aspect, it is provided that if it is determined on the motor vehicle side that the motor vehicle positioning is no longer sufficient for the at least partially automated driving function using the global navigation satellite system, it is determined that the motor vehicle should be positioned on the utility side.
The embodiments and examples described herein may be combined with each other in any manner, even if this is not explicitly mentioned.
In one embodiment of the method according to the first aspect, it is provided that the positioning data is transmitted as a Heartbeat message (heart beat-nactrichten) to the motor vehicle on the utility side.
In one embodiment of the method according to the third aspect, it is provided that the positioning data is received as a heartbeat message on the vehicle side.
The following technical advantages are achieved thereby, for example: positioning data can be efficiently transmitted. The heartbeat message is expected by the receiver at predefined time intervals. If the expected heartbeat message is not received accordingly, it is assumed that the receiver has failed, for example in the communication connection between the current public facility and the motor vehicle (the receiver is currently a motor vehicle). For example, a fault may occur in a public facility. Such a failure may result in: the motor vehicle can no longer be informed that the positioning can no longer be provided by the public facility. However, since in this case too, the heartbeat message can no longer be transmitted, the motor vehicle is therefore informed by this lack of receipt: at present, no positioning by public facilities is provided anymore, so that the motor vehicle can plan its further actions accordingly, for example emergency stops can be performed.
Drawings
The invention is explained in detail below with the aid of preferred embodiments. Here, it is shown that:
figure 1 is a flow chart of a method according to the first aspect,
figure 2 is a system according to a second aspect,
figure 3 is a flow chart of a method according to a third aspect,
figure 4 is a system according to a fourth aspect,
figure 5 a machine readable storage medium according to a sixth aspect,
FIG. 6 shows a motor vehicle in a parking building, and
the motor vehicle in the tunnel of fig. 7.
Hereinafter, the same reference numerals are used for the same features.
Detailed Description
Fig. 1 shows a flow chart of a method for locating a motor vehicle located in a public facility, wherein a plurality of environmental sensors are spatially distributed in the public facility, comprising the following steps:
the request sent by the motor vehicle to locate the motor vehicle on the utility side is received 101 on the utility side,
detecting 103 the motor vehicle on the public facility side by means of at least one environmental sensor of the plurality of environmental sensors,
the detected motor vehicle is positioned 105 in the public facility on the public facility side, in order to determine the position of the motor vehicle on the public facility side,
determining 107, at the public facility, positioning data for positioning the motor vehicle based on the position of the motor vehicle determined at the public facility side, and
the positioning data is sent 109 to the motor vehicle at the utility side.
Fig. 2 shows a system 201 for locating a motor vehicle located within a public facility, the system comprising:
a plurality of environment sensors 203 spatially distributed in the public facility, each of which is provided for detecting a motor vehicle located in a detection range of the corresponding environment sensor 203 on the public facility side,
processing means 205 arranged for locating the detected motor vehicle on the utility side, within the utility, based on the known position of the at least one environmental sensor 203, in order to determine the position of the motor vehicle on the utility side,
wherein the processing device 205 is configured to determine the positioning data for positioning the motor vehicle on the basis of the position of the motor vehicle determined on the utility side, and
a communication device 207 arranged for transmitting positioning data to the motor vehicle at the utility side.
Fig. 3 shows a flow chart of a method for locating a motor vehicle located in a public facility, wherein a plurality of environmental sensors are spatially distributed in the public facility, comprising the following steps:
on the motor vehicle side, determination 301: the vehicle should be positioned on the public facility side,
the request to locate the vehicle at the utility side is sent 303 at the vehicle side to the utility,
receiving 305, on the vehicle side, positioning data for positioning the vehicle, which are transmitted by the public facility, and
the vehicle is positioned 307 on the vehicle side based on the positioning data.
Fig. 4 shows a system 401 for locating a motor vehicle located within a public facility, the system comprising:
determination means 403 arranged to determine: the motor vehicle should be positioned on the public facility side,
communication device 405, which is provided for transmitting a request for locating a motor vehicle on the utility side to the utility side and for receiving, on the motor vehicle side, locating data for locating the motor vehicle transmitted by the utility side, and
positioning means 407, which are provided for positioning the motor vehicle on the motor vehicle side on the basis of the positioning data.
"transmitting" and "receiving" in the sense of the present description include for example transmitting and receiving over a communication network, such as a mobile radio network and/or a WLAN communication network.
Fig. 5 shows a machine-readable storage medium 501 on which a computer program product 503 is stored. The computer program product 503 comprises instructions which, when the computer program product 503 is implemented by a computer, cause the computer to implement the method according to the first and/or third aspect.
Fig. 6 shows a parking building, which should be symbolically represented by a roof with reference 603. A vehicle, having a video camera 607 including an image sensor, not shown, travels within the parking building 601. Because the motor vehicle 605 is located within the parking building 601, i.e., below the roof 603, positioning on the motor vehicle side is difficult or even impossible with the use of a global navigation satellite system. It is therefore provided that, on the motor vehicle side, it is determined that: the vehicle should be positioned on the public facility side. In response to this determination, a corresponding request is sent to the utility on the motor vehicle side.
The public facility, here the parking building 601, comprises a plurality of environmental sensors, of which only video cameras 609, which comprise image sensors, not shown, are shown for clarity. The video camera 609 detects the motor vehicle 605. In response to the detection, the motor vehicle 605 is positioned on the utility side. For this purpose, for example, a known position of the video camera 609 is used. The known position is indicated by reference numeral 611 by a quadrilateral with an "X". After the positioning by the public facility, the corresponding positioning data is determined and transmitted to the motor vehicle.
Fig. 7 shows a tunnel 701 wherein a motor vehicle 605 is located within tunnel 701. In this case, it is also generally not possible or sufficient to receive satellite signals of the global satellite navigation system for the purpose of positioning on the motor vehicle side. Thus, the vehicle 605 is required to be located through public facilities. Similar to the parking building 601, a plurality of environmental sensors are present within the tunnel 701, of which only a video camera 703 having an image sensor not shown is shown for clarity. Similar to fig. 6, the known position of the video camera 703 is indicated by reference numeral 705 with a quadrilateral having an "X". The public facility locates the motor vehicle 605 using the known position 705 of the video camera 703 and finds the corresponding location data and sends the location data to the motor vehicle 605 so that the motor vehicle can be located based on the location data.
Claims (13)
1. A method for locating a motor vehicle (605) located within a public facility (601, 701), wherein a plurality of environmental sensors (609, 703) are spatially distributed within the public facility (601, 701), the method comprising the steps of:
receiving (101) on the public facility side a request sent by the motor vehicle (605) to position the motor vehicle (605) on the public facility side,
detecting (103) the motor vehicle (605) on the public facility side by means of at least one environmental sensor (609, 703) of the plurality of environmental sensors (609, 703),
positioning (105) the detected motor vehicle (605) in the public facility (601, 701) on the public facility side, in order to determine the position of the motor vehicle (605) on the public facility side,
determining (107) on the public facility side positioning data for positioning the motor vehicle (605) on the basis of the position of the motor vehicle (605) determined on the public facility side, and
-transmitting (109) said positioning data to said motor vehicle (605) at a utility side.
2. The method according to claim 1, wherein a vehicle-side-derived position of the motor vehicle (605) transmitted by the motor vehicle (605) is received on a utility side, wherein the vehicle-side-derived position of the motor vehicle (605) is compared on the utility side with the vehicle-side-derived position of the motor vehicle (605) in order to determine a comparison result, wherein the positioning data is determined on the utility side such that the positioning data comprises the comparison result.
3. The method of claim 1 or 2, wherein the comparison indicates: the position determined on the vehicle side is correct or incorrect.
4. The method according to any one of the preceding claims, wherein the positioning data is determined on the utility side such that the positioning data comprises a position of the motor vehicle (605) determined on the utility side.
5. The method according to any of the preceding claims, wherein the positioning on the utility side is performed by means of the at least one environmental sensor (609, 703) and/or by means of at least one further environmental sensor (609, 703) of the plurality of environmental sensors (609, 703) and/or by means of a local computing unit of the utility (601, 701) and/or by means of a remote computing unit implemented in a cloud utility.
6. Method according to any of the preceding claims, wherein the method steps are performed with the use of a system for locating a motor vehicle (605) located within a public facility (601, 701), wherein the system and/or parts of the system respectively have a predetermined safety integrity level, in particular a predetermined ASIL or a predetermined SIL.
7. The method according to any of the preceding claims, wherein the public facility (601, 701) comprises one or more of the following public facility elements: parking buildings, tunnels, highway entrances, highway exits, junction points, in particular circular traffic, intersections, junction intersections, T-junctions, zebra crossings, construction sites, bridges, underpass, areas where satellite reception of satellites of the global navigation satellite system is poor and/or does not last enough, in particular areas beside a high building.
8. The method according to any one of the preceding claims, wherein the positioning of the motor vehicle (605) on the utility side is performed based on a known position (611, 705) of the at least one environmental sensor (609, 703).
9. A system (201) for locating a motor vehicle (605) located within a public facility (601, 701), the system comprising:
a plurality of environment sensors (203) which are arranged in a spatially distributed manner in the public facility (601, 701) and are each provided for detecting a motor vehicle (605) located in the detection range of the respective environment sensor (203) on the public facility side,
-processing means (205) arranged for locating the detected motor vehicle (605) in the public facility (601, 701) on the public facility side based on the known position (611, 705) of the at least one environmental sensor (203) for ascertaining the position of the motor vehicle (605) on the public facility side,
wherein the processing device (205) is provided for determining, on the public facility side, positioning data for positioning the motor vehicle (605) on the basis of the position of the motor vehicle (605) determined on the public facility side, and
-communication means (207) arranged for transmitting said positioning data to said motor vehicle (605) on the public facility side.
10. A method for locating a motor vehicle (605) located within a public facility (601, 701), wherein a plurality of environmental sensors (609, 703) are spatially distributed within the public facility (601, 701), the method comprising the steps of:
determination (301) on the motor vehicle side: the motor vehicle (605) should be positioned on the utility side,
-sending (303) a request to the utility (601, 701) on the vehicle side to position the vehicle (605) on the utility side,
-receiving (305) at the vehicle side, positioning data for positioning the vehicle (605) sent by the public facility (601, 701), and
-locating (307) the motor vehicle (605) on the motor vehicle side based on the location data.
11. A system (401) for locating a motor vehicle (605) located within a public facility (601, 701), the system comprising:
-determining means (403) arranged to determine: the motor vehicle (605) should be positioned on the utility side,
-communication means (405) arranged for transmitting a request to the public facility (601, 701) on the vehicle side to position the vehicle (605) on the public facility side and for receiving positioning data transmitted by the public facility (601, 701) for positioning the vehicle (605) on the vehicle side, and
-positioning means (407) arranged for positioning the motor vehicle (605) on the motor vehicle side based on the positioning data.
12. A computer program product (503) comprising instructions which, when the computer program product (503) is executed by a computer, cause the computer to carry out the method according to any of claims 1 to 10.
13. A machine-readable storage medium (501) on which a computer program product (503) according to claim 12 is stored.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102022202257.2A DE102022202257A1 (en) | 2022-03-07 | 2022-03-07 | Method for locating a motor vehicle |
| DE102022202257.2 | 2022-03-07 |
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| Publication Number | Publication Date |
|---|---|
| CN116718174A true CN116718174A (en) | 2023-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310206957.0A Pending CN116718174A (en) | 2022-03-07 | 2023-03-06 | Method for positioning a motor vehicle |
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| CN (1) | CN116718174A (en) |
| DE (1) | DE102022202257A1 (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015201204A1 (en) | 2015-01-26 | 2016-07-28 | Robert Bosch Gmbh | Valet parking system |
| DE102016200794A1 (en) | 2016-01-21 | 2017-07-27 | Robert Bosch Gmbh | Method and device for locating a motor vehicle |
| DE102016219455B4 (en) | 2016-10-07 | 2021-02-04 | Audi Ag | Method and active infrastructure for checking a detection of the surroundings of a motor vehicle |
| DE102020211478A1 (en) | 2020-09-14 | 2022-03-17 | Robert Bosch Gesellschaft mit beschränkter Haftung | Concept for supporting an at least partially automated motor vehicle |
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- 2022-03-07 DE DE102022202257.2A patent/DE102022202257A1/en active Pending
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| DE102022202257A1 (en) | 2023-09-07 |
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