DE102021129984A1 - PARKING ASSISTANCE SYSTEM, PARKING FACILITIES AND PROCEDURES - Google Patents

Abstract

A parking assistance system (10), which is set up for automatically parking a vehicle (100) within a parking area, is proposed. The parking assistance system has: a movable projection unit (12) which is set up to project a predetermined pattern (PAT, PAT1 - PAT6) onto a specific projection surface (13) within the parking area and which is set up to move automatically through the parking area ,a detection unit (14) which is set up to detect an image of at least a partial area of the specific projection surface (13) while the predetermined pattern (PAT, PAT1 - PAT6) is projected onto it,a determination unit (16) which is used to determine an object (200) arranged in the specific projection surface (13) depending on the captured image, a path planning unit (18) which is set up to determine a trajectory (TR) for the vehicle (100) depending on the detected object (200). and a control unit (20) which is set up to cause the vehicle (100) to drive along the determined trajectory (TR).

Description

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

In order to make a parking process more convenient for a user of a vehicle, it is desirable to automate parking. Automated valet parking can make this possible. Here, the user transfers the vehicle to the automated valet parking system at a transfer point, which takes over control of the vehicle and steers the vehicle autonomously to a free parking space and parks it there. Accordingly, the user can take over the vehicle again at the handover point. Such an automated valet parking system uses, for example, sensors arranged externally to the vehicle, in particular cameras, radar devices and/or lidar devices, in order to detect the vehicle and surroundings of the vehicle. A trajectory for the vehicle is determined on the basis of the recorded data, and the vehicle is controlled in such a way that it drives along the determined trajectory. Such systems are not only advantageous for the user, but also for operators of multi-storey car parks or parking lots, since space utilization can be optimized. Furthermore, any remotely controllable vehicle can be used in such a system; the vehicle itself does not require complex technology for environment detection and control.

A known problem with such systems is that smaller and/or moving obstacles, in particular living beings such as children or animals, are only poorly or imprecisely detected by the sensor system. In order to nevertheless ensure sufficient security, a very high level of technical effort must be expended, for example a large number of cameras must be used, which makes the system very complex and expensive.

U.S. 2020/0209886 A1 discloses a system and method in which projectors mounted on a ceiling of a parking garage project a path onto a roadway that is used to guide the autonomous vehicle.

Against this background, an object of the present invention is to provide an improved parking assistance system.

• eine bewegliche Projektionseinheit, welche zum Projizieren eines vorbestimmten Musters auf eine bestimmte Projektionsfläche innerhalb des Parkbereichs eingerichtet ist und welche dazu eingerichtet ist, sich automatisch durch den Parkbereich zu bewegen,
• eine Erfassungseinheit, welche zum Erfassen eines Bildes zumindest eines Teilbereichs der bestimmten Projektionsfläche, während das vorbestimmte Muster auf diese projiziert wird, eingerichtet ist,
• eine Ermittlungseinheit, welche zum Ermitteln eines in der bestimmten Projektionsfläche angeordneten Objekts in Abhängigkeit des erfassten Bildes eingerichtet ist,
• eine Pfadplanungseinheit, welche zum Ermitteln einer Trajektorie für das Fahrzeug in Abhängigkeit des erfassten Objekts eingerichtet ist, und
• eine Steuerungseinheit, welche dazu eingerichtet ist, das Fahrzeug dazu zu veranlassen, entlang der ermittelten Trajektorie zu fahren.

According to a first aspect, a parking assistance system is proposed, which is set up for automatically parking a vehicle within a parking area. The parking assistance system has:

• a movable projection unit which is set up to project a predetermined pattern onto a certain projection surface within the parking area and which is set up to move automatically through the parking area,
• a capturing unit which is set up to capture an image of at least a partial area of the specific projection surface while the predetermined pattern is being projected onto it,
• a determination unit, which is set up to determine an object arranged in the specific projection area as a function of the captured image,
• a path planning unit, which is set up to determine a trajectory for the vehicle as a function of the detected object, and
• a control unit which is set up to cause the vehicle to drive along the determined trajectory.

This parking assistance system has the advantage that, on the one hand, objects that are in a lane of the vehicle can be detected with greater reliability and accuracy, which increases safety when the parking assistance system is operated, in particular while the vehicle is driving automatically, such as during an automated parking process is. On the other hand, it is not necessary to provide a large number of projection units, which, for example, are stationarily installed within the parking area and each only illuminate a specific area of the parking area, since the movable projection unit can illuminate the relevant part of the parking area with the pattern at any time, for example by Projection unit moves in front of the vehicle. In addition, the system has the advantage that problems that can occur due to partial shadowing of a stationary projection unit, for example by a clumsily parked vehicle or by infrastructure such as columns or pillars, are avoided, since the projection unit moves along a path similar to that of the Vehicle moved through the parking area.

The term “parking assistance system” is understood here to mean any system that supports and/or controls the vehicle during a parking process, in particular during a parking process that is carried out autonomously. The parking assistance system can include both a unit integrated in the vehicle and a unit arranged in the infrastructure, such as a multi-storey car park, and/or can include a plurality of units arranged in a distributed manner are functionally and/or communicatively connected to each other.

The parking assistance system is set up in particular for autonomously controlling and/or driving the vehicle. If the parking assistance system is arranged externally to the vehicle, one can also speak of remote control or guiding. The parking assistance system preferably has automation level 4 or 5 according to the SAE classification system. The SAE classification system was published in 2014 by SAE International, an automotive standards organization, as J3016, "Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems". It is based on six different levels of automation and takes into account the level of system intervention and driver attention required. The SAE automation levels range from level 0, which corresponds to a fully manual system, through driver assistance systems in levels 1 and 2 to semi-autonomous (levels 3 and 4) and fully autonomous (level 5) systems, where no driver is required.

The movable projection unit is configured to move through the parking area. This can be done by remote control from a control unit. Alternatively or additionally, the movable projection unit can comprise its own logic, which enables the movable projection unit to move through the parking area on its own. The movable projection unit may be configured as a self-propelled vehicle with two or more wheels that can move freely in the parking area. Alternatively, the movable projection unit can include a guided vehicle whose degrees of freedom are limited, in particular limited to one or more specific trajectories. An example of this are rail-bound vehicles or cable car-bound vehicles. If the mobile projection unit is designed as a vehicle that can move freely in the parking area, this preferably has an optical feature, such as an Aruco code or the like, which enables the mobile projection unit to be clearly identified in the captured images. This also allows several movable projection units to be distinguished from one another and used simultaneously, for example when several vehicles to be parked are to be controlled at the same time.

The predetermined pattern comprises optical features arranged in a predetermined manner, for example lines arranged according to a geometric rule, which can be straight or curved and which can be open or also form a closed shape. Examples of the predetermined pattern include a checkerboard pattern, a diamond pattern, circles, triangles, wavy lines, and the like. Different of these patterns can be combined into a new pattern. The predetermined pattern does not necessarily have to include lines as optical features; it can also be a dot pattern or the like.

The predetermined pattern is preferably projected in such a way that a distance between two adjacently arranged optical features, for example two lines, of the pattern is between 5-30 cm, preferably between 5-20 cm, preferably between 5-15 cm, more preferably under 13 cm , more preferably below 11 cm. The closer the optical features are to each other, the smaller the objects that can be detected. However, the number of optical features that are necessary to completely illuminate the area increases, and the resolution required when capturing the projection as well as the computing power required to determine the object increase.

In particular, the specific projection surface is not constant over time, but moves with the movable projection unit. The movable projection unit can project the respective such that the pattern appears static even if the projection unit itself moves. Alternatively, the pattern can follow the movement of the projection unit, ie it can be stationary relative to the projection unit, or it can also be projected with another dynamic movement.

In preferred embodiments, the predetermined pattern is designed in such a way that objects with a minimum size of 11 cm are detected by the pattern. For example, a line spacing of lines of the pattern is less than 11 cm.

The projection unit can comprise an LCD unit, a microlens array and/or a micromirror array. The projection unit can be set up to scan a laser beam and/or to project the predetermined pattern.

The specific projection surface onto which the pattern is projected includes, in particular, a future lane or trajectory of the vehicle. The projection can be independent of the presence of the vehicle. However, the specific projection surface is preferably located on the vehicle, for example directly in front of the vehicle when it is driving forwards or behind the vehicle when it is driving backwards. The projection surface can also extend laterally around the vehicle. For example, the area extends around several meters, for example five meters, in front of the vehicle. In particular, the projection surface can reach as far as the vehicle and can partially reach under the vehicle. Furthermore, the projection can capture the vehicle itself.

It can be said that the projection surface is scanned by the projection of the predetermined pattern.

In particular, the predetermined pattern is projected with a wavelength from a spectral range of 250 nm-2500 nm. Depending on the embodiment of the projection unit, the pattern can be projected with a broadband spectrum, a narrowband spectrum and/or a spectrum comprising a number of narrowband lines. In a preferred embodiment, the pattern is projected using a laser. For example, the pattern includes at least one, two, three, or four lines. Alternatively or additionally, the pattern comprises a multiplicity of points.

The detection unit includes a camera, for example. If the pattern is projected with a specific wavelength, the acquisition unit can have optics tuned to the specific wavelength in order to acquire an image with high contrast and low noise. For example, optical filters such as polarizing filters, bandpass filters or the like can be provided. The detection unit can be installed in a stationary manner, for example on a ceiling of a parking facility, such as a multi-storey car park. Alternatively or additionally, the detection unit can be arranged on the movable projection unit or on another movable unit. The further movable unit is set up, in particular like the movable projection unit, to move automatically through the parking area. The further movable unit preferably moves in the same way or similarly to the movable projection unit, for example following it or driving ahead of it.

In particular, the detection unit not only detects the projected pattern, but preferably also the vehicle in a respective current position. The current position of the vehicle in the parking area can therefore also be determined on the basis of the captured image. This is advantageous for an exact planning of the trajectory for the vehicle.

If an object is in the projection area, the projection of the predetermined pattern is changed or influenced by the object. For example, there is a shadow cast (i.e. individual optical features of the pattern are missing in sections in the image of the projection), a sectional distortion of one or more of the optical features of the pattern (i.e. the affected optical features are missing in the image of the projection at a different point than expected) and/or to local variations in the intensity of the optical features due to a changed angle of reflection. The presence of an object can be determined with little computing effort on the basis of these changes in the predetermined pattern that can be detected in the image of the projection.

In embodiments, the captured image of the projection is compared to the predetermined pattern, with a change in the predetermined pattern being indicative of the object in the area of the projection.

The path planning unit, which is set up to determine the trajectory for the vehicle as a function of the detected object, determines the trajectory as follows, for example.

On the basis of a map of the parking area, a current position of the vehicle and a target position of the vehicle, a base trajectory is first determined through the parking area, which connects the current position of the vehicle with the target position of the vehicle. Once the object is detected in the projection area, the path planning unit determines whether the vehicle collides with the object when traveling along the basic trajectory or whether the object is at risk. If there is no danger, the path planning unit outputs the corresponding section of the basic trajectory as the trajectory for the vehicle. If there is a hazard, then the path planning unit determines an alternative trajectory along which the vehicle can safely travel and outputs this as the trajectory for the vehicle.

The control unit, which is set up to cause the vehicle to drive along the determined trajectory, can be arranged in the vehicle or externally to the vehicle, for example in the form of a control computer. If the control unit is arranged in the vehicle, then it receives the determined trajectory, for example, and controls the vehicle systems accordingly, so that the vehicle moves along the determined trajectory. If the control unit is external to the vehicle, then, for example, remote control commands can be transmitted to the vehicle, which executes the remote control commands.

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

According to one embodiment of the parking assistance system, the determination unit is set up to determine a deviation of the projected pattern from the predetermined pattern and to determine a size, a shape and/or a position of the object on the basis of the determined deviation.

The deviation is in particular a local deviation, which means that the deviation is limited to a spatially limited area, with the area being determined in particular by the position and extent of the object. The deviation is particularly visible when there is parallax between the projection unit and the detection unit. It can also be said that the pattern is distorted by the object. The area in which the distortion is present allows a conclusion to be drawn about the position of the object and a size of the object. The type and extent of the distortion allow conclusions to be drawn about the shape and size of the object.

According to a further embodiment of the parking assistance system, the movable projection unit has a laser projector for projecting the predetermined pattern.

Laser projectors have one or more lasers as the light source. Lasers have the advantage that they can provide very high intensity with small dimensions. Due to the high intensity, the pattern can be projected with a high contrast to the surroundings, even in bright surroundings and over greater distances, such as a few meters, in particular up to ten meters. The laser projector preferably has a deflection module which is set up to deflect the laser beam in a specific direction. The deflection module includes, for example, movable mirrors and/or lenses, in particular a micromirror array and/or a microlens array, and generates the pattern by scanning the laser beam across the projection surface according to the pattern. This takes place in particular several times per second, for example with a frequency of at least 10 Hz, preferably up to 100 Hz or even faster.

According to a further embodiment of the parking assistance system, this comprises a plurality of detection units, each of the detection units being arranged at a respective fixed position in the parking area, and each of the detection units having a respective detection area which includes a respective partial area of the parking area.

The detection units are installed in a stationary manner in the parking area, for example on a ceiling of a parking garage. The detection units are designed, for example, as cameras with wide-angle lenses, so that the respective detection area is as large as possible.

The respective detection unit can also be installed so that it can pivot, so that the detection range depends on a pivoting position of the detection unit. In this way, the number of detection units required can be reduced.

According to a further embodiment of the parking assistance system, the detection units are arranged in such a way that the detection areas as a whole encompass the entire parking area.

So there is no "blind spot" in the parking area. On the one hand, objects can be detected at any position in the parking area, on the other hand, the vehicle and the movable projection unit are always visible in at least one image and can therefore not be "lost". It is thus ensured that the position and alignment of the vehicle can be determined at any time and at any position in the parking area.

According to a further embodiment of the parking assistance system, the determination unit and the path planning unit are arranged externally to the vehicle, with a communication unit being provided for transmitting the determined trajectory and/or control commands to the vehicle.

For example, the determination unit and the path planning unit are arranged in a central control computer in the infrastructure, such as a parking facility that provides the parking area. The vehicle itself therefore does not require its own determination unit or path planning unit and can be constructed in a correspondingly simplified manner. The vehicle only needs to have a means to receive the determined trajectory and/or to receive the control commands and to control the vehicle accordingly.

According to a further embodiment of the parking assistance system, the movable projection unit additionally includes a detection unit for detecting an image of at least one part Reich of the certain screen while the predetermined pattern is projected thereon.

In this embodiment, it is possible to dispense with permanently installed detection units, since the movable projection unit already integrates them. The acquisition unit preferably has the greatest possible parallax in relation to the projection unit, since this can simplify the determination of objects on the basis of the acquired images.

According to a further embodiment of the parking assistance system, the movable projection unit includes a position sensor for detecting its position.

In this case, the position relates in particular to the parking area and is defined, for example, by two coordinates in a coordinate system of the parking area.

This is advantageous for determining a position of an object that was determined on the basis of an image that was captured by the capturing unit integrated in the movable projection unit.

If the movable projection unit is also visible in the respective captured image, the captured position can be used to calibrate a position determination based on the captured images by using the captured position as a reference position for the movable projection unit.

According to a further embodiment of the parking assistance system, the movable projection unit is designed as a remotely controllable vehicle and the control unit is set up to control the remotely controllable vehicle.

The control unit thus controls both the movable projection unit and the vehicle. The movable projection unit can thus be provided in a simplified manner since it does not require its own path planning unit or the like.

In particular, the control unit controls the projection unit in such a way that it moves slightly in front of the vehicle, for example three meters in front of the vehicle. If the projection unit itself is designed as a vehicle, it preferably travels along the path that is determined for the vehicle.

According to a further specific embodiment of the parking assistance system, the movable projection unit is set up to move automatically along a defined path.

According to a further embodiment of the parking assistance system, the defined path is formed by an optical and/or structural feature which is arranged on and/or in a lane of the parking area.

The visual feature is, for example, a line printed on the roadway. The line can consist of a series of dots or dashes or combinations thereof. The line can have branches, so that the projection unit can move along different paths. For example, the projection unit is designed as a vehicle in this example and has a camera that is set up to capture the line below or directly in front of the projection unit. A controller of the projection unit can then control the projection unit along the line on the basis of the captured image.

The structural feature can be a three-dimensional structure in the roadway, such as a depression, such as a furrow, or an elevation, such as a ridge. The structural feature can also include a material other than the surrounding roadway, in particular consist of a metal. For example, it can be a magnetic element, with the projection unit having a Hall sensor for detecting a magnetic field, so that the projection unit can be controlled along the structural feature.

At the same time, the optical and/or structural feature can include respective position information, on the basis of which the projection unit can determine its position.

According to a further embodiment of the parking assistance system, the movable projection unit is designed as a rail vehicle, with a rail for the rail vehicle running in a lane of the parking area, in a wall to the side of the lane and/or in a ceiling above the parking area.

The rail serves in particular to guide the projection unit. If the rail runs along the wall or ceiling, this has the advantage that the projection of the pattern is less disturbed by objects standing on the roadway. In addition, the projection unit itself is not in the way of the vehicle.

According to a further embodiment of the parking assistance system, the movable project tion unit formed as a cable car vehicle, wherein a support cable for the cable car vehicle runs along a wall to the side of a roadway of the parking area and / or along a ceiling over the parking area.

According to a further embodiment, the movable projection unit is designed as a drone.

In this embodiment, the projection unit is not tied to any infrastructure and thus has the most degrees of freedom, which can be advantageous.

According to a second aspect, a parking facility with a parking area is proposed. The parking area includes a plurality of parking spaces. The parking facility includes a parking assistance system according to the first aspect.

The parking facility is, for example, a multi-storey car park. The parking garage can have several floors or parking levels.

The parking facility can also be referred to as an automated parking facility. In particular, the parking facility forms a type 2 AVP system (AVP: automated valet parking).

This means that the parking facility has all the facilities required for an automatic parking process, with the vehicles to be parked only having to be remotely controllable by the parking facility.

• Projizieren des vorbestimmten Musters auf die bestimmte Projektionsfläche,
• Erfassen eines Bildes zumindest eines Teilbereichs der bestimmten Projektionsfläche, während das vorbestimmte Muster auf diese projiziert wird,
• Ermitteln eines in der bestimmten Projektionsfläche angeordneten Objekts in Abhängigkeit des erfassten Bildes,
• Ermitteln einer Trajektorie für das Fahrzeug in Abhängigkeit des erfassten Objekts, und Veranlassen einer Fahrt des Fahrzeugs entlang der ermittelten Trajektorie.

According to a further aspect, a method for operating a parking assistance system is proposed. The parking assistance system is set up to automatically park a vehicle within a parking area. The parking assistance system has a movable projection unit, which is set up to project a predetermined pattern onto a specific projection surface within the parking area. The movable projection unit is configured to automatically move through the parking area. The procedure includes the steps:

• projecting the predetermined pattern onto the specific projection surface,
• Capturing an image of at least a portion of the specific projection surface while the predetermined pattern is being projected onto it,
• Determining an object arranged in the specific projection area as a function of the captured image,
• Determining a trajectory for the vehicle as a function of the detected object, and causing the vehicle to travel along the determined trajectory.

This method has the same advantages as are described for the parking assistance system according to the first section. The embodiments and features described for the proposed parking assistance system apply accordingly to the proposed method.

Furthermore, a computer program product is proposed which comprises instructions which, when the program is executed by a computer, cause the latter to execute the method described above.

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

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

• 1 zeigt eine schematische Seitenansicht eines Parkassistenzsystems gemäß eines ersten Ausführungsbeispiels;
• 2 zeigt ein Beispiel für eine Projektion eines vorbestimmten Musters;
• 3 zeigt eine schematische Seitenansicht eines Parkassistenzsystems gemäß eines zweiten Ausführungsbeispiels;
• 4 zeigt ein Beispiel für ein optisches oder strukturelles Merkmal zur Festlegung eines vorbestimmten Pfads;
• 5A-5F zeigen unterschiedliche Beispiele für ein vorbestimmtes Muster; und
• 6 zeigt ein schematische Blockschaltbild eines beispielhaften Verfahrens zum Betreiben eines Parkassistenzsystems.

Further advantageous refinements and aspects of the invention are the subject matter of the dependent claims and of the exemplary embodiments of the invention described below. The invention is explained in more detail below on the basis of preferred embodiments with reference to the enclosed figures.

• 1 shows a schematic side view of a parking assistance system according to a first embodiment;
• 2 Fig. 12 shows an example of a projection of a predetermined pattern;
• 3 shows a schematic side view of a parking assistance system according to a second embodiment;
• 4 Figure 12 shows an example of an optical or structural feature for defining a predetermined path;
• 5A-5F show different examples of a predetermined pattern; and
• 6 shows a schematic block diagram of an exemplary method for operating a parking assistance system.

Elements that are the same or have the same function have been provided with the same reference symbols in the figures, unless otherwise stated.

1 shows a schematic side view of a parking assistance system 10 according to a first embodiment. The parking assistance system 10 is set up for the automatic parking of a vehicle 100 within a parking area and includes a movable projection unit 12, a detection unit 14, a determination unit 16, a path planning unit 18 and a control unit 20. The parking area includes, for example, a parking area that is controlled by a parking facility 300, such as a parking lot or a parking garage. The parking area can thus include both traffic routes and parking spaces. The parking assistance system 10 can in particular be a component of the parking facility 300 .

The movable projection unit 12 is for projecting a predetermined pattern PAT on a certain projection surface 13 (see 2 ) set up within the parking area. For example, the projection unit 12 includes one or more projectors for this purpose. Examples of what the predetermined pattern PAT might look like are given in FIGS 5A - 5F shown. The predetermined projection surface 13 is in particular that area through which the trajectory of the vehicle 100 runs. The movable projection unit 12 is configured to automatically move through the parking area. In this example, the projection unit 12 is formed as a vehicle. The movable projection unit 12 is preferably monitored and controlled by the control unit 20 .

The acquisition unit 14 is set up to acquire an image of at least a partial area of the specific projection surface 13 while the predetermined pattern PAT is projected onto the specific projection surface 13 . The detection unit 14 is arranged, for example, on the ceiling of the parking facility 300 . The detection unit 14 is embodied as a camera, for example. In particular, the camera captures an image that, on the one hand, includes the projection of the pattern PAT, but, on the other hand, also includes the movable projection unit 12 and the vehicle 100 . A respective position of the movable projection unit 12 and the vehicle 100 can therefore also be determined on the basis of the captured image. This enables a targeted control of the movable projection unit and the vehicle 100. It should be noted that the parking assistance system 10 can include a multiplicity of detection units 14 at different positions in the parking area. The acquisition unit 14 is connected to the determination unit 16, to which it outputs the acquired image.

The determination unit 16 is set up to determine an object 200 arranged in the projection surface 13 as a function of the captured image. For example, the determination unit analyzes the geometry of the projection of the predetermined pattern PAT for this purpose. This is exemplified by the 2 explained in detail. Based on the position of the object 200 in the captured image, the position of the object 200 in the parking area can be determined. Determined objects 200 are output by the determination unit 16 to the path planning unit 18 .

The path planning unit 18 is for determining a trajectory TR (see 2 ) for the vehicle 100 depending on the detected object 200 set up. For example, path planning unit 18 first determines a trajectory TR, which connects the current position of vehicle 100 to the target position, based on a current position of vehicle 100, a target position for vehicle 100 within the parking area, and a predefined map of the parking area. This trajectory TR does not take into account objects 200 that are present in the parking area but are not drawn on the map of the parking area. If the determination unit 14 determines an object 200 based on the projected pattern PAT, the path planning unit 18 first determines, for example, whether the object 200 is in a critical position, i.e. whether there is a risk of collision for the vehicle 100 along the present trajectory TR. If this is the case, then the path planning unit 18 can determine an avoidance trajectory, for example, so that the vehicle 100 avoids the object 200 .

The control unit 20 is set up to cause the vehicle to drive along the determined trajectory TR. For this purpose, the control unit 20 transmits a corresponding signal COM to the vehicle 100 by means of the antenna 22. The signal COM can, for example, comprise a section of the trajectory TR, with the vehicle 100 traveling along the trajectory on the basis of odometry or the like, and/or can include a include a specific control command, such as a speed and/or a steering angle.

The vehicle 100 is, for example, a passenger car or a truck. The vehicle 100 is at least set up to be remotely controlled by the control unit 20 . The vehicle 100 can also be set up for autonomous driving along a predetermined trajectory TR, it receiving the predetermined trajectory TR in particular from the parking assistance system 10 .

2 12 shows an example of a projection of a predetermined pattern PAT onto a specific projection surface 13 within the parking area. The pattern PAT in this example is a regular line pattern with lines crossing at right angles. The pattern can also be described as a chessboard pattern or a checkered pattern. The pattern PAT is projected onto the road ahead of the vehicle 100 by the movable projection unit 12 . The 2 FIG. 14 shows a view such as that shown on the ceiling of the parking facility 300 (see FIG 1 ) arranged camera 14 (see 1 ) can be captured as an image. In particular, when the pattern PAT is projected onto a flat surface, the pattern PAT is regular and homogeneous. There is a three-dimensional object 200 in the specific projection area 13. The pattern PAT is irregular in the area in which the object 200 is arranged, so there is a deviation 210 of the projection from the specific pattern PAT in this area. On the basis of this deviation 210 it can be determined that the three-dimensional object 200 is located at the position of the deviation 210 . If other geometric parameters, such as a position of the projection unit 12, the roadway and the detection unit 14 (see 1 ) are known, further information regarding the object 200, such as a size and/or shape of the object 200, can be determined on the basis of trigonometric principles.

The path planning unit 18 (see 1 ) now determines the trajectory TR for the vehicle 100 in such a way that the trajectory TR leads around the object 200 with a sufficient safety distance. A collision of vehicle 100 with object 200 is thus ruled out.

3 shows a schematic side view of a parking assistance system 10 according to a second embodiment. Apart from the differences explained below, this second exemplary embodiment can have the same features as the parking assistance system of FIG 1 exhibit. Therefore, only the differences are explained 1 referred.

In contrast to 1 For example, in this exemplary embodiment, the movable projection unit 12 is designed as a rail vehicle or a cable car vehicle, with a rail or a suspension cable 24 running along the ceiling of the parking area. With this, the movable projection unit 12 moves along the ceiling of the parking area and along the course of the rail or cable 24.

In this embodiment, the position of the movable projection unit 12 can advantageously be determined easily and precisely, for example by means of position markings (not shown) along the rail or the cable 24.

This embodiment thus opens up the possibility in a simple manner of also integrating the detection unit 14 on the movable projection unit 12 (not shown), without the accuracy of the object determination being reduced. Because if the position of the movable projection unit 12 (and thus also the detection unit 14) is known with a high level of accuracy, a corresponding position in the parking area can be assigned to each position in the respective captured image. A larger number of permanently installed detection units 14 can thus be dispensed with, as a result of which the complexity of the parking assistance system 10 is reduced.

In the 3 a flat object 201 is shown as an example, for example it is a newspaper. The newspaper 201 has a very small height, for example less than 1 cm, and causes only a very slight deviation of the pattern PAT. The deviation can be so small that the newspaper 201 is not detected based on the projected pattern PAT. This is unproblematic since such flat objects 201 are not living beings and these objects 201 can also be run over by vehicle 100 without any problems.

4 12 shows an example of an optical or structural feature 26 for defining a predetermined path. Feature 26 is, for example, a line applied to the roadway of the parking area. The movable projection unit 12 is embodied as a vehicle, for example, and is set up to drive along the line 26 automatically. For this purpose, the movable projection unit 12 includes, for example, a camera directed downwards and/or forwards, which captures a section of the line 26 so that a deviation from the line 26 can be determined early and with high sensitivity. Junctions enable the movable projection unit 12 to travel along different predetermined paths during a respective trip, in order to reach different sub-areas of the parking area, for example.

5A-5F show different examples of a predetermined pattern PAT1 - PAT6. The predetermined pattern PAT1 of 5A is, for example, a checkerboard pattern. The predetermined Pattern PAT2 of 5B is a diamond pattern, for example. The predetermined pattern PAT3 of 5C is a triangle pattern, for example. The predetermined pattern PAT4 of 5D is a wave pattern, for example. The predetermined pattern PAT5 of 5E is another triangle pattern, for example. The predetermined pattern PAT6 of 5F is a circular pattern, for example.

It should be noted that the based on the 5A - 5F The predetermined patterns shown are exemplary only. Any other predetermined pattern is conceivable, such as combinations of the predetermined patterns PAT1-PAT6. The predetermined patterns PAT1-PAT6 are in particular projected in such a way that a distance from adjacent optical features of a respective pattern PAT1-PAT6, such as a line distance between two adjacent lines, is a maximum of 11 cm in a static projection. In the case of a dynamic projection, in which the projection is shifted at specific time intervals and/or different patterns are projected at different time intervals, a line spacing of an individual pattern can also be greater than 11 cm. A line spacing between two successive patterns is preferably a maximum of 11 cm, ie if the patterns projected in chronological sequence are superimposed, the maximum line spacing is 11 cm. This ensures that objects 200 (see 1 ), which are at least 11 cm tall, are detected by the respective pattern PAT1-PAT6 and can thus be determined by the determination unit 16.

6 shows a schematic block diagram of an exemplary method for operating a parking assistance system 10, for example the parking assistance system 10 of FIG 1 or the 3 . The parking assistance system 10 is for automatically parking a vehicle 100 (see 1 - 4 ) set up within a parking area of the parking assistance system 10. The parking assistance system 10 has a movable projection unit 12 (see 1 - 4 ), which are used to project a predetermined pattern PAT, PAT1 - PAT6 (see 1 - 3 , 5A - 5F) onto a specific projection surface 13 (see 2 ) is arranged within the parking area, and which is arranged to move automatically through the parking area. In a first step S1, the predetermined pattern PAT is projected onto the specific projection surface 13. In a second step S2, an image of at least a partial area of the specific projection surface 13 is captured while the predetermined pattern PAT is projected onto it. In a third step S3, an object 200 (see FIG 1 or 2 ) determined depending on the captured image. In a fourth step S4, a trajectory TR (see 2 ) for vehicle 100 as a function of detected object 200. In a fifth step S5, vehicle 100 is caused to travel along the determined trajectory TR.

This method is used in particular with the parking assistance system 10 of 1 or the 3 carried out.

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

Reference List

10

parking assistance system

12

projection unit

13

projection surface

14

registration unit

16

investigation unit

18

path planning unit

20

control unit

22

communication unit

24

rope/rail

26

characteristic

100

vehicle

200

object

210

object

300

parking facility

COM

signal

PAT

predetermined pattern

PAT1

predetermined pattern

PAT2

predetermined pattern

PAT3

predetermined pattern

PAT4

predetermined pattern

PAT5

predetermined pattern

PAT6

predetermined pattern

S1

process step

S2

process step

S3

process step

S4

process step

S5

process step

TR

trajectory

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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

• US 2020/0209886 A1 [0004]

Claims (16)

Parking assistance system (10), which is set up for automatically parking a vehicle (100) within a parking area, having: a movable projection unit (12) which is set up to project a predetermined pattern (PAT, PAT1 - PAT6) onto a specific projection surface (13) within the parking area and which is set up to move automatically through the parking area, a capture unit (14) which is set up to capture an image of at least a portion of the specific projection surface (13) while the predetermined pattern (PAT, PAT1 - PAT6) is projected onto it, a determination unit (16) which is set up to determine an object (200) arranged in the specific projection surface (13) as a function of the captured image, a path planning unit (18) which is set up to determine a trajectory (TR) for the vehicle (100) as a function of the detected object (200), and a control unit (20) which is set up to cause the vehicle (100) to drive along the determined trajectory (TR). parking assistance system claim 1 , characterized in that the determination unit (16) is set up to determine a deviation (210) of the projected pattern from the predetermined pattern (PAT, PAT1 - PAT6) and based on the determined deviation (210) a size, a shape and /or to determine a position of the object (200). parking assistance system claim 1 or 2 , characterized in that the movable projection unit (12) comprises a laser projector for projecting the predetermined pattern (PAT, PAT1 - PAT6). Parking assistance system according to one of the preceding claims, characterized by a plurality of detection units (14), each of the detection units (14) being arranged at a respective fixed position in the parking area, and each of the detection units (14) having a respective detection area which has a respective part of the parking area. parking assistance system claim 4 , characterized in that the detection units (14) are arranged in such a way that the detection areas as a whole encompass the entire parking area. Parking assistance system according to one of the preceding claims, characterized in that the determination unit (16) and the path planning unit (18) are arranged externally to the vehicle (100), a communication unit (22) for transmitting the determined trajectory (TR) and/or from Control commands to the vehicle (100) is provided. Parking assistance system according to one of the preceding claims, characterized in that the movable projection unit (12) additionally comprises a capture unit for capturing an image of at least a portion of the specific projection surface while the predetermined pattern is projected onto (PAT, PAT1 - PAT6) this. Parking assistance system according to one of the preceding claims, characterized in that the movable projection unit (12) comprises a position sensor for detecting its position. Parking assistance system according to one of the preceding claims, characterized in that the movable projection unit (12) is designed as a remote-controllable vehicle, the control unit (20) being set up to control the remote-controllable vehicle. Parking assistance system according to one of the preceding claims, characterized in that the movable projection unit (12) is set up to move automatically along a fixed path. parking assistance system claim 10 , characterized in that the specified path is formed by an optical and/or structural feature (26) which is arranged on and/or in a lane of the parking area. Parking assistance system according to one of the preceding claims, characterized in that the movable projection unit (12) is designed as a rail vehicle, with a rail (24) for the rail vehicle in a lane of the parking area, in a wall to the side of the lane and/or in a ceiling runs over the parking area. Parking assistance system according to one of the preceding claims, characterized in that the movable projection unit (12) is designed as a cable car vehicle, with a support cable (24) for the cable car vehicle along a wall to the side of a roadway of the parking area and/or along a ceiling above the parking area runs. Parking assistance system according to one of the preceding claims, characterized in that the movable projection unit (12) is designed as a drone. Parking facility (300) with a parking area, which comprises a plurality of parking spaces, and with a parking assistance system (10) according to one of Claims 1 until 14 . Method for operating a parking assistance system (10) which is set up for automatically parking a vehicle (100) within a parking area, the parking assistance system (10) having a movable projection unit (12) which is used to project a predetermined pattern (PAT, PAT1 - PAT6) is set up on a specific projection surface (13) within the parking area, and which is set up to move automatically through the parking area, the method comprising: Projecting (S1) the predetermined pattern (PAT, PAT1 - PAT6) onto the specific projection surface (13), Capturing (S2) an image of at least a portion of the specific projection surface (13) while the predetermined pattern (PAT, PAT1 - PAT6) is being projected onto it, Determining (S3) an object (200) arranged in the specific projection surface (13) as a function of the captured image, Determining (S4) a trajectory (TR) for the vehicle (100) as a function of the detected object (200), and Initiating (S5) a journey of the vehicle (100) along the determined trajectory (TR).

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