DE102020204018A1 - Method and device for parking at least one automated vehicle - Google Patents

Abstract

Method for parking at least one automatically operated vehicle (AF1 ... AFn), comprising the steps: - determining an operating mode of a parked vehicle (AF1 ... AFn, MF1 ... MFn) in a parking space (P); - evaluating the Data relating to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn), with a side distance (S1, S2) between the parked vehicle (AF1 ... AFn, MF1 ... MFn) and one in the parking space (P) entering automatically operated vehicle (AF1 ... AFn) is determined according to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn); and- transmitting a control instruction (IN) to the entering, automatically operated vehicle (AF1 ... AFn), the determined lateral distance (S1, S2) between the parked, automatically operated vehicle (AF1 ... AFn) and the parked vehicle (AF1 ... AFn, MF1 ... MFn) is set according to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn).

Description

The invention relates to a method for parking at least one automatically operated vehicle. The invention also relates to a device for parking at least one automated vehicle. The invention also relates to a computer program product.

State of the art

With the help of automated parking systems, such as Automated Valet Parking (AVP), it is possible to park vehicles in a space-saving manner in parking areas (e.g. parking lots, multi-storey car parks, parking garages, etc.). This means that vehicles can be parked closer together, since the vehicle occupants have already got out beforehand and the doors of the vehicles do not have to be opened in the parking space. The same applies to autonomous vehicles, provided that they let their occupants get out before parking. Nevertheless, there will still be manually driven vehicles for a long time that use the same parking areas as automated or autonomous vehicles. Automated vehicles can be parked next to and behind one another without a driver in order to save space with optimized gaps.

AVP systems for automated parking are, for example, off DE 10 2014 221 751 A1 known.

DE 10 2014 224 101 A1 discloses a method and apparatus for operating a parking lot. It is disclosed that traffic from several vehicles within the parking lot is coordinated in such a way that a predetermined minimum distance between two vehicles is maintained in order to avoid vehicles colliding.

Disclosure of the invention

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

• - Ermitteln einer Betriebsart eines geparkten Fahrzeugs in einem Parkraum;
• - Auswerten der Daten betreffend Betriebsart des geparkten Fahrzeugs, wobei ein Seitenabstand zwischen dem geparkten Fahrzeug und einem in den Parkraum einfahrenden automatisiert betriebenen Fahrzeug entsprechend der Betriebsart des geparkten Fahrzeugs ermittelt wird; und
• - Übermitteln einer Steueranweisung an das einfahrende automatisiert betriebene Fahrzeug, wobei der ermittelte Seitenabstand zwischen dem parkenden automatisiert betriebenen Fahrzeug und dem geparkten Fahrzeug entsprechend der Betriebsart des geparkten Fahrzeugs eingestellt wird.

According to a first aspect, the object is achieved with a method for parking at least one automatically operated vehicle, comprising the steps:

• Determining an operating mode of a parked vehicle in a parking space;
• Evaluation of the data relating to the operating mode of the parked vehicle, a lateral distance between the parked vehicle and an automatically operated vehicle entering the parking space being determined in accordance with the operating mode of the parked vehicle; and
• - Transmission of a control instruction to the entering, automatically operated vehicle, the determined lateral distance between the parked, automatically operated vehicle and the parked vehicle being set according to the operating mode of the parked vehicle.

In this way, parking space can advantageously be used in an optimized manner, because automatically operated vehicles are parked with a greater lateral distance to manually operated vehicles than to automatically operated vehicles. This advantageously supports the fact that the (driver) doors of manually driven vehicles remain accessible, while vehicles that are moved automatically can be parked closer together. This is particularly useful in a parking space with mixed parking operation with automated and manually operated vehicles, as a result of which efficient and economical operation of parking space is supported.

• - eine Ermittlungseinrichtung zum Ermitteln einer Betriebsart eines geparkten Fahrzeugs in einem Parkraum;
• - eine Auswertungseinrichtung und eine Speichereinrichtung zum Auswerten der Daten betreffend Betriebsart des geparkten Fahrzeugs, wobei ein Seitenabstand zwischen dem geparkten automatisiert betriebenen Fahrzeug und einem in den Parkraum einfahrenden automatisiert betriebenen Fahrzeug entsprechend der Betriebsart des geparkten Fahrzeugs ermittelt wird, und zum Übermitteln einer Steueranweisung an das einfahrende automatisiert betriebene Fahrzeug, wobei der ermittelte Seitenabstand zwischen dem parkenden automatisiert betriebenen Fahrzeug und dem geparkten Fahrzeug entsprechend der Betriebsart des geparkten Fahrzeugs eingestellt wird.

According to a second aspect, the object is achieved with a device for parking at least one automatically operated vehicle, having:

• a determination device for determining an operating mode of a parked vehicle in a parking space;
• - An evaluation device and a memory device for evaluating the data relating to the operating mode of the parked vehicle, a lateral distance between the parked automatically operated vehicle and an automatically operated vehicle entering the parking space being determined according to the operating mode of the parked vehicle, and for transmitting a control instruction to the entering automatically operated vehicle, the determined lateral distance between the parked, automatically operated vehicle and the parked vehicle being set according to the operating mode of the parked vehicle.

Advantageous developments of the method are the subject of the dependent claims.

An advantageous development of the method provides that a sufficient distance for opening a door on a driver's side of the manually operated vehicle is provided as the side distance. As a result, an optimal utilization of the parking space can advantageously be provided together with an optimized usability of manually controlled vehicles in the parking space.

A further advantageous development of the method provides that data relating to the operating mode are queried from the parked vehicle or actively provided by the parked vehicle. As a result, different technical possibilities for providing the data relating to the operating mode are advantageously used.

A further advantageous development of the method provides that an optical detection of the operating mode of the parked vehicle is carried out. For example, this can be done by means of a camera, which are generally available in sufficient numbers in parking spaces. In this way, an optimized utilization of the infrastructure is advantageously supported.

Another advantageous development of the method is characterized in that a handlebar side of the parked, manually operated vehicle is recognized. As a result, the door on the driver's side can be determined, as a result of which the lateral distance to the determined driver's side of the parked, manually operated vehicle can be set in an optimized manner.

Another advantageous development of the method is characterized in that the orientation of the parked manually operated vehicle is recognized. In this way, too, a handlebar side of the parked manually operated vehicle can be identified in a simple manner.

Another advantageous embodiment of the method is characterized in that data relating to a length of the side door of the parked manually operated vehicle is provided. Since two-door vehicles generally have longer doors than four-door vehicles, this allows the parking space or side clearance required in each case to be individually adapted. The above-mentioned determination can take place e.g. by camera, but can alternatively also be provided automatically by the vehicle.

A further advantageous embodiment of the method provides that a determination of the physical constitution of a driver of the parked manually operated vehicle is carried out with regard to the operating mode of the parked manually operated vehicle. As a result, the physical constitution of the driver can also advantageously be used to determine the lateral distance between the vehicles.

A further advantageous embodiment of the method provides that the determination of the physical constitution of the driver is carried out by at least one of the following: measurement of the driver when getting out of the manually operated vehicle, carrying out an interior monitoring of the manually operated vehicle, transmission of relevant vehicle data of the manually operated vehicle, in particular data relating to a seat and steering wheel position of the driver. The constitution of the driver can thereby advantageously be determined in different ways.

A further advantageous embodiment of the method provides that data from vehicles located in the parking space are transmitted to the automatically operated vehicle entering the parking space, the entering automatically operated vehicle determining the lateral distance. In this way, the determination of the required lateral distance can advantageously be “outsourced” to the approaching automated vehicle.

Further advantageous embodiments of the method are characterized in that the evaluation relating to the operating mode and the determination of the lateral distance are carried out locally in the parking space or in the cloud. As a result, different options for providing the required computing power are advantageously implemented.

The invention is described in detail below with further features and advantages on the basis of several figures. All of the features described or shown, individually or in any combination, form the subject of the invention, regardless of how they are summarized in the patent claims or their reference, and regardless of their wording or representation in the description or in the figures.

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

• 1 ein prinzipielles Blockschaltbild einer Ausführungsform der vorgeschlagenen Vorrichtung;
• 2 ein prinzipielles Ablaufdiagramm des vorgeschlagenen Verfahrens mit einer Erläuterung einer Wirkungsweise;
• 3 eine Parksituation mit geparkten Fahrzeugen nach Durchführung des vorgeschlagenen Verfahrens; und
• 4 einen prinzipiellen Ablauf einer Ausführungsform des vorgeschlagenen Verfahrens.

In the figures shows:

• 1 a basic block diagram of an embodiment of the proposed device;
• 2 a basic flow chart of the proposed method with an explanation of a mode of operation;
• 3 a parking situation with parked vehicles after performing the proposed method; and
• 4th a basic sequence of an embodiment of the proposed method.

Description of embodiments

In the following, the term “automatically operated vehicle” is used synonymously in the meanings “partially automatically operated vehicle”, “autonomously operated vehicle” and “partially autonomously operated vehicle”. The following predominant use of the term automatically operated vehicle does not exclude other of the vehicle types mentioned.

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

The proposed system is conceivable in the presence of an automated vehicle guidance system (eg AVP) in a parking space P and / or in the presence of an automatically operated vehicle AF1 ... AFn each with a parking system that is used in mixed traffic with manually operated vehicles MF1 ... MFn are operated.

With the help of the proposed system, the parking space P can be used in an optimized manner, with a parking area for an automatically operated vehicle between AF1 ... AFn and a parking area for a manually operated vehicle MF1 ... MFn can be distinguished. In this way, either more vehicles can advantageously be accommodated in the same parking space, which can achieve an economic improvement in the income from parking space P. In addition, however, less parking space P is used for a defined number of vehicles, which represents an improved use of the parking space P and which can be very advantageous in particular in a cost-intensive urban area.

The proposed system sees a determination device 10 or an interface to differentiate between manually operated vehicles MF1 ... MFn and automated vehicles AF1 ... AFn , ie to carry out an analysis of the parking space situation. For example, this can be done by reading in information that is provided by the automatically operated vehicles on a data interface. Recognition of the “driver object” via at least one camera arranged in parking space P is also conceivable, however. Optionally, the determination device 10 Carry out the differentiation of the operating mode of the vehicles even when the vehicles are parked. This can be particularly useful if stored data or information is lost in the event of a system crash.

The information of the investigative facility 10 becomes an evaluation facility 20th fed that the side distance S1 , S2 when parking an automated vehicle AF1 ... AFn to the parked neighboring vehicle is observed. As a result, this means that an automatically operated vehicle AF1 ... AFn to an automatically operated vehicle parked next door AF1 ... AFn Maintain a smaller distance than a manually operated vehicle parked next door MF1 ... MFn , in the latter case the distance is at least so large that a driver's door of the parked manually operated vehicle MF1 ... MFn can be opened sufficiently wide. As a result, a driver can get in or out of the manually operated vehicle MF1 ... MFn possible without any problems.

Optionally, it can also be provided that a handlebar position of the manually operated vehicle is recognized MF1 ... MFn carry out (right-hand drive or left-hand drive detection, etc.), in particular in this way the handlebar door of the manually operated vehicle MF1 ... MFn to keep clear. For this purpose, it is also conceivable to align the parked manually operated vehicle MF1 ... MFn to determine in this way the handlebar door of the manually operated vehicle MF1 ... MFn through suitable parking of the automatically operated vehicle next door AF1 ... AFn to keep clear.

Optionally, a geometrical measurement of a door length (for example the length of the driver's door) of the parked manually operated vehicle can also be provided MF1 ... carry out MFn (e.g. by camera image analysis) in order to achieve an optimal side distance in this way S1 , S2 to the parking automated vehicle AF1 ... AFn to calculate. This means that the distance between the parked manually operated vehicle MF1 ... MFn and the parking automated vehicle AF1 ... AFn is chosen as low as possible, but at the same time is sufficient to comfortably get into the parked manually operated vehicle MF1 ... to be able to enter MFn, possibly also taking into account a previously determined physical constitution of the recognized driver of the manually operated vehicle MF1 ... MFn .

The physical constitution of the driver can be recognized, for example, by measuring the driver, for example when getting out of the manually operated vehicle, but can additionally or alternatively also by monitoring the interior of the manually operated vehicle MF1 ... MFn Vehicle, by submitting relevant Vehicle data (e.g. seat and / or steering wheel position, etc.), etc. take place.

The mentioned optional optical determinations can be carried out with a camera arranged in the parking space P, for example. As an alternative or in addition, it is also conceivable that the cited information is automatically transferred from the parked vehicles (for example via wireless communication) to the determination device 10 or to the evaluation facility 20th be transmitted.

By means of the determination device 10 becomes a distinction between manually operated vehicles MF1 ... MFn and automated vehicles AF1 ... AFn carried out. Optionally or additionally, it can be used to differentiate between manually operated vehicles MF1 ... MFn and automated vehicles AF1 ... AFn a driver can be detected within a manually operated vehicle.

Finally, it takes place by means of the evaluation device 20th determining the side spacing S1 , S2 to the neighboring vehicle.

Optionally, it can also be provided that only relevant raw data (e.g. vehicle type, vehicle position, door / driver data, etc.) from vehicles are transmitted to the automatically operated vehicle from the infrastructure, the automatically operated vehicle then automatically providing the required distance from the parked vehicle and then optionally adjusts it automatically.

1 shows a basic block diagram of a device 100 for parking vehicles in a parking space P.

One recognizes a determination device 10 (eg in the form of a camera, a radar sensor, etc.) in combination with an electronic computing device for detecting and determining a vehicle type of a vehicle parked in the parking space P.

Functionally connected to the investigation device 10 is an evaluation facility 20th for evaluating the information relating to the operating mode of the parked vehicle. For this purpose, the investigation device 10 to a storage device 30th access the corresponding information regarding the distance of the entering automated vehicle AF1 ... AFn for the parked neighboring vehicle.

As a result, the evaluation device 20th based on the data from the determination device 10 and the storage device 30th a control instruction IN to the entering automated vehicle AF1 ... AFn transmitted by radio, which means that the automated vehicle is parked AF1 ... AFn to the neighboring vehicle with the determined lateral distance S1 , S2 is carried out.

In advantageous alternatives, the storage device 30th and / or the computing device of the determining device 10 be arranged locally in the parking space P or in the cloud.

2 shows a basic flowchart with an illustration of a mode of operation of the proposed method.

In one step 200 is used by the investigative body 10 together with the evaluation facility 20th the operating mode of the parked vehicle is determined. In one query step 210 it is checked whether the parked (future neighboring vehicle) is an automated vehicle AF1 ... AFn acts.

If so, in one step 220 parking the entering automated vehicle AF1 ... AFn with small side spacing S1 to the parked, automated vehicle AF1 ... AFn carried out. On the other hand, it is step by step 210 determines that this is not the case, that is, the parked vehicle is a manually operated vehicle MF1 ... MFn can be done in an optional step 230 a detection of the driver's side of the parked manually operated future neighbor vehicle MF1 ... MFn are carried out.

In a further optional step 240 can determine a door length, in particular a driver's door length of the parked manually operated future neighboring vehicle MF1 ... MFn be performed.

Finally, in one step 250 a parking of the automatically operated vehicle entering the parking space P. AF1 ... AFn by means of a control statement IN with a suitable larger side spacing S2 to the parked neighboring vehicle AF1 ... AFn , MF1 ... MFn performed, the side spacing S2 is preferably defined greater than the side distance S1 .

3 shows an exemplary parking space P after the proposed method has been carried out. It can be seen that an automated vehicle AF2 with a small side clearance S1 next to an automatically operated neighboring vehicle AF1 , but with a large margin S2 to a manually operated neighboring vehicle MF1 is parked. This is also automated operated vehicle AF4 with a small side clearance S1 next to an automatically operated neighboring vehicle AF3, but with a large side clearance S2 parked to a manually operated neighboring vehicle MF2. The illustrated parking situation was made by means of the device 100 realized, which determines and analyzes the parking situation on site in parking space P and corresponding control instructions IN to automated vehicles entering parking space P. AF1 ... AFn transmitted.

4th shows a basic sequence of a method for the method for parking automated vehicles AF1 ... AFn .

In one step 300 becomes a determination of an operating mode of a parked vehicle AF1 ... AFn , MF1 ... MFn carried out in a parking space P.

In one step 310 an evaluation of the data relating to the operating mode of the parked vehicle is carried out AF1 ... AFn , MF1 ... MFn performed with a side spacing S1 , S2 between the parked automated vehicle AF1 ... AFn and an automatically operated vehicle entering the parking space P. AF1 ... AFn according to the mode of operation of the parked vehicle AF1 ... AFn , MF1 ... MFn is determined.

In one step 320 a transmission of a control instruction IN to the entering, automatically operated vehicle AF1 ... AFn performed, with the determined side distance S1 , S2 between the parked, automated vehicle AF1 ... AFn and the parked vehicle AF1 ... AFn , MF1 ... MFn according to the mode of operation of the parked vehicle AF1 ... AFn , MF1 ... MFn is set.

The method according to the invention can advantageously be implemented as software that, for example, runs on a computing device of the device 100 expires. A simple adaptability of the method is supported in this way.

The proposed device and the proposed method advantageously reduce irritation of drivers of manually operated vehicles MF1 ... MFn , since they are not "parked" by automated vehicles and can thus increase the social acceptance of such systems. At the same time, it enables the space-saving advantage of automated parking systems to be used to the maximum without discriminating against manually operated vehicles.

The invention can advantageously be used in principle in any system in which a different distance behavior of an automated or autonomous object compared to adjacent objects is required or desired, such as in the industrial environment in manufacturing processes, assembly processes, etc.

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

QUOTES INCLUDED IN THE DESCRIPTION

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

Patent literature cited

• DE 102014221751 A1 [0003]
• DE 102014224101 A1 [0004]

Claims (13)

Method for parking at least one automatically operated vehicle (AF1 ... AFn), comprising the steps: - determining an operating mode of a parked vehicle (AF1 ... AFn, MF1 ... MFn) in a parking space (P); - Evaluation of the data relating to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn), with a lateral distance (S1, S2) between the parked vehicle (AF1 ... AFn, MF1 ... MFn) and a automatically operated vehicle (AF1 ... AFn) entering the parking space (P) is determined according to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn); and - Transmission of a control instruction (IN) to the entering, automatically operated vehicle (AF1 ... AFn), the determined lateral distance (S1, S2) between the parked, automatically operated vehicle (AF1 ... AFn) and the parked vehicle (AF1. ..AFn, MF1 ... MFn) is set according to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn). Procedure according to Claim 1 , a sufficient distance for opening a door on a driver's side of the manually operated vehicle (MF1 ... MFn) being provided as the side distance (S2). Procedure according to Claim 1 or 2 , with data relating to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn) being queried or actively provided by the parked vehicle. Method according to one of the preceding claims, wherein an optical detection of the operating mode of the parked vehicle is carried out. Method according to one of the Claims 2 until 4th , a handlebar side of the parked manually operated vehicle (MF1 ... MFn) being recognized. Method according to one of the Claims 2 until 5 , the orientation of the parked manually operated vehicle (MF1 ... MFn) being recognized. Method according to one of the Claims 2 until 6th , data relating to a length of the side door of the parked manually operated vehicle (MF1 ... MFn) being provided. Method according to one of the preceding claims, wherein a determination of a physical constitution of a driver of the parked manually operated vehicle (MF1 ... MFn) is carried out with regard to the operating mode of the parked manually operated vehicle (MF1 ... MFn). Procedure according to Claim 8 , whereby the determination of the physical constitution of the driver is carried out by at least one of the following: measurement of the driver when getting out of the manually operated vehicle (MF1 ... MFn), carrying out an interior monitoring of the manually operated vehicle (MF1 ... MFn), Transmission of relevant vehicle data of the manually operated vehicle (MF1 ... MFn), in particular data relating to a seat and steering wheel position of the driver. Method according to one of the preceding claims, wherein data from vehicles (MF1 ... MFn, AF1 ... AFn) located in the parking space (P) to the automatically operated vehicle (AF1 ... AFn) entering the parking space (P) are transmitted, the entering automatically operated vehicle (AF1 ... AFn) determining the lateral distance (S1, S2). Method according to one of the preceding claims, wherein the evaluation relating to the operating mode and the determination of the lateral distance (S1, S2) is carried out locally in the parking space (P) or in the cloud. Device (100) for parking at least one automatically operated vehicle (AF1 ... AFn), comprising: - a determination device (10) for determining an operating mode of a parked vehicle (AF1 ... AFn, MF1 ... MFn) in a parking space (P); - An evaluation device (20) and a memory device (30) for evaluating the data relating to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn), with a lateral distance (S1, S2) between the parked automatically operated vehicle ( AF1 a control instruction (IN) to the entering, automatically operated vehicle (AF1 ... AFn), the determined lateral distance (S1, S2) between the parked, automatically operated vehicle (AF1 ... AFn) and the parked vehicle (AF1 ... AFn, MF1 ... MFn) is set according to the operating mode of the parked vehicle (AF1 ... AFn, MF1 ... MFn). Computer program product with program code means for carrying out the method according to one of the Claims 1 until 11 when it runs on an electronic device (100) for parking automated vehicles (AF1 ... AFn) or is stored on a computer-readable data carrier.

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