EP1927016A1 - Procede pour mesurer des emplacements de stationnement - Google Patents

Procede pour mesurer des emplacements de stationnement

Info

Publication number
EP1927016A1
EP1927016A1 EP06791785A EP06791785A EP1927016A1 EP 1927016 A1 EP1927016 A1 EP 1927016A1 EP 06791785 A EP06791785 A EP 06791785A EP 06791785 A EP06791785 A EP 06791785A EP 1927016 A1 EP1927016 A1 EP 1927016A1
Authority
EP
European Patent Office
Prior art keywords
signal propagation
motor vehicle
propagation times
sections
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP06791785A
Other languages
German (de)
English (en)
Inventor
Heinrich Gotzig
Oliver Eckstein
Vsevolod Vovkushevsky
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP1927016A1 publication Critical patent/EP1927016A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/934—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the depth, i.e. width, not length, of the parking space
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Definitions

  • the invention relates to a method for measuring parking spaces with a motor vehicle, wherein the motor vehicle passing by a parking space emits a signal with the aid of at least one sensor device and receives the signal reflected in the surroundings of the motor vehicle again after a signal delay.
  • Such methods for measuring parking spaces are used to make it easier for the driver of a motor vehicle to park in a parking space.
  • the parking space measurement can be used on the one hand to inform the driver of the motor vehicle information whether a parking space is large enough for his vehicle or not.
  • the parking space measurement can also be used to support the parking process itself with the aid of assistance systems, for example. By the driver during the parking process an optimal parking curve is proposed. But also semi-automatic and / or automatic parking methods require information about the size of a parking space.
  • the present invention has the object to provide a method for measuring parking spaces, which is particularly robust against interference.
  • the invention is based on the idea that the measurement of a parking space is substantially less susceptible to interference if the course of the signal propagation times is analyzed with regard to at least two of the stated criteria. Thus, it can be determined in more than one way whether an obstacle is in the vicinity of the motor vehicle and where it ends.
  • the combination of several types of analysis means that even more detailed information about a parking space can be provided. The higher level of detail can then either be used to improve the accuracy of the system, for example, to indicate relatively tight parking spaces as "big enough". It is equally possible to make the method of measuring parking spaces more robust, since the information obtained using various analysis methods can be partially redundant.
  • the detection of sections with greatly varying signal propagation times can be assigned to the limits of an obstacle in the surroundings of the motor vehicle.
  • this section may be relatively small, for example in the case of an obstacle with a uniform and / or sharp-edged geometry in the vertical direction, as in the case of a wall projection.
  • the section with greatly varying signal propagation times can also be relatively large, for example in a parked car having a softly rounded front section.
  • sections with essentially constant signal propagation times can also be detected. These sections may correspond substantially to the vehicle sides of parked vehicles. However, these sections also correspond with boundaries arranged along a roadway edge, such as a curb or a boundary wall running along the roadway.
  • sections with a substantially constant change in the signal propagation times can be detected. These can essentially correspond with motor vehicles or obstacles parked at an angle relative to their own motor vehicle. Accordingly, it is possible for these sections to correspond to roadway or parking space boundaries running obliquely to the own vehicle.
  • the course of the signal propagation times for the first-order reflections is analyzed. These reflections correspond to the first signal, which is received again after transmission from the sensor device and reflection from an obstacle. With the help of the first-order reflection, a parking space can already be detected comparatively accurately when several types of analysis are combined. However, it is particularly advantageous if the course of the signal propagation times is also analyzed for higher-order reflections, in particular at the ends of individual sections. This makes it possible to assign the higher-order reflections both to a section of an obstacle and to an adjacent or adjacent section of an obstacle.
  • these signals can be attributed to the sections adjacent to this area, for example a section with greatly varying signal propagation times and / or a section with substantially constant Signal propagation times and / or a section with substantially constant change of Signal propagation times. This makes it possible to detect the end of the sections with greater accuracy.
  • a further embodiment of the invention provides that the sections detected with the aid of an analysis mode are adapted with the aid of another type of analysis. Due to the redundancy of the various analysis types, a plausibility check can therefore be carried out as to whether the sections detected with one type of analysis match sections detected with another type of analysis. If this is not the case, a type of analysis that provides clearer results for a particular range of the waveform can replace or improve the type of analysis that is unsuitable for that range.
  • the detection of sections with greatly varying signal propagation times occurs when a limit value is exceeded, which is formed from a quotient of a change in the signal propagation time relative to a predefinable movement value of the motor vehicle.
  • a limit value is formed from a quotient of a change in the signal propagation time relative to a predefinable movement value of the motor vehicle.
  • Said sections with greatly varying signal propagation times can, as they usually correspond to the limits of a parking space, be supplemented by a safety margin.
  • the safety margin is assigned to that end of a section which is associated with higher signal propagation times.
  • the section with the strongly changing signal propagation times is computationally extended, namely in the direction of the parking space, so that it is mathematically reduced compared to the real conditions. In this way, it can be avoided that a parking space is big enough is recognized, if this does not correspond to the actual conditions.
  • the detection of sections with substantially constant signal propagation times can take place if a specifiable change in the signal propagation time does not take place within a predeterminable movement path of the motor vehicle. For example, it can be defined that a signal propagation time within a movement path of, for example, one meter may not change by more than 10% or more than a certain absolute value. These areas with essentially constant signal propagation times can then be assigned to the lateral boundaries of parked vehicles with comparatively short signal propagation times. If the signal propagation times are constant, but comparatively long, these can be assigned, for example, to a lateral parking space boundary, such as, for example, a curb.
  • the detection of sections with a substantially constant change in the signal propagation times can take place if, within a predeterminable movement path of the motor vehicle, quotients which are formed from a change in the signal transit time relative to parts of the movement path remain within a predefinable tolerance.
  • the detection of all said sections can be used to describe the objects in the vicinity of the motor vehicle with n-angular bodies, where n is larger or is equal to 4.
  • n is larger or is equal to 4.
  • obstacles for example, parked vehicles in the vicinity of the motor vehicle can be approximately described. Greater accuracy is achieved as the number of corners is increased, for example, to 6 or 8 corners.
  • the contour of an obstacle can be reproduced more precisely, this contour then being able to be described at least in part by the sections detected in the manner described above.
  • the method according to the invention can be used to measure parking spaces in an assisted and / or semi-automatic and / or automatic parking method.
  • the invention further relates to a parking system for motor vehicles, which is designed for carrying out a method according to the invention for the measurement of parking spaces.
  • the invention relates to an evaluation unit for a parking system and a computer program.
  • Figure 1 is a typical for the application of the invention starting situation
  • FIG. 2 shows a parking system according to the invention
  • FIG. 3 shows a signal course corresponding to a section with greatly varying signal propagation times for a sharp-edged limited obstacle
  • Figure 4 is a view corresponding to Figure 3 for a less sharp-edged limited obstacle
  • Figure 5 shows a detailed waveform, with the aid of a parking space can be measured.
  • Figure 1 shows a plan view of a motor vehicle 2, which moves in a designated reference 4 in the direction of movement on a roadway 6.
  • the roadway 6 is bounded by a roadway boundary 8, which may be formed for example as curbside.
  • the motor vehicle 2 has, laterally adjacent to its front bumper, a sensor device 16 and, laterally adjacent to its rear bumper, a sensor device 18.
  • transmission signals 20 can be transmitted and signals 22 reflected by an obstacle can be received. This is shown symbolically in FIG. 1 with the aid of a transmitting and receiving lobe.
  • the parking space 14 is limited in the direction of movement 4 of the motor vehicle 2 between a front region 24 of the parking vehicle 10 and the rear region 26 of the parked vehicle 12.
  • the sensor devices 16 and 18 are part of a parking system shown in FIG.
  • a transmitting device 28 is provided.
  • a receiving device 30 is provided.
  • the motor vehicle 2 comprises a displacement sensor 32, with the it can be detected which movement path the motor vehicle 2 travels within a certain time.
  • the transmitting device 28, the receiving device 30 and the displacement sensor 32 are coupled to an evaluation unit 34, which comprises a data carrier 36, on which a program code of the method according to the invention is stored.
  • the evaluation unit 34 is in communication with a display unit 38, which gives the driver of the motor vehicle 2 information about the length of the parking space 14.
  • FIG. 3 shows a section of a signal curve 40 which results when the motor vehicle 2 with its sensor device 16 is moved past the front area 42 of the vehicle 10, which is the left in the direction of travel. While the motor vehicle 2 and thus the sensor device 16 are moving along the movement path 4 shown in FIG. 3, signals 20 are emitted and signals 22 are received. This is shown by way of example in FIG. 2 with the aid of arrows. As soon as the contour of the left front region 42 of the motor vehicle 10 changes greatly from the point of view of the sensor device 16, the course of the signal 40 also changes in a corresponding manner. Accordingly, the signal curve 40 has a section 44 with a strongly changing signal curve. This section 44 corresponds to a movement path 46 of the motor vehicle 2.
  • the portion 44 is shown for a left front portion 42 of a vehicle 10, which is relatively sharp-edged.
  • a waveform 40 ' is shown by way of example in FIG. 4.
  • This curve comprises a section 44 'in which the signal propagation times change greatly.
  • This section 44 ' is assigned a movement path 48 which is longer than the movement path 46 (see FIG. 3).
  • the waveform 40 is shown schematically. Along the path of travel 4, the waveform 40 can directly represent the signal propagation times.
  • the waveform can also represent a representation of the signal transit times corresponding distances of the sensor device 16 to an obstacle. When using ultrasonic sensors, these distances are, for example, equal to the signal propagation time multiplied by the speed of sound divided by 2.
  • the path of the motor vehicle 2 in direction 4 is plotted in the unit "meter”. Denominations of measuring points are plotted parallel to the path of movement.
  • the motor vehicle 2 moves in the direction of movement 4 at a speed of 1 m / sec.
  • the sensor device 16 operates at a frequency of 20 Hz, so that 20 signal propagation times per second can be measured.
  • the signal propagation times are converted into distance values in the manner described above, resulting in scaling with centimeter values.
  • Section 50 corresponds to side region 52 of parked vehicle 10.
  • Section 50 is followed by section 44 already described with reference to FIGS. 3 and 4, with greatly varying signal propagation times. It can be seen in FIG. 5 that the signal course shown schematically in FIGS. 3 and 4 results from the juxtaposition of individual measuring points.
  • the section 44 is adjoined by a section 54 whose signal propagation times or distances to the sensor device 16 are also substantially constant. This section 54 corresponds to a section 56 of the roadway boundary 8 shown in FIG. 1.
  • a section 58 with strongly varying signal transit times adjoins the section 54, which corresponds to the left rear area 60 of the vehicle 12 in the direction of travel.
  • the section 58 in turn is followed by a section 62 having substantially constant signal propagation times or amplitudes, which corresponds to a side region 64 of the vehicle 12.
  • echoes of a higher order can also be analyzed.
  • sections of the movement path in which the echoes of higher order undergo a marked change This is the case, for example, along the path of travel 46 or 48.
  • the higher-order reflections designated by way of example as 66 are analyzed, these adjacent sections, for example, can be assigned to section 54.
  • the section 54 which corresponds to the section 56 of the road boundary 8 shown in FIG. 1, to be extended to a section 68.
  • This section 68 not only includes the first-order reflections (ie, section 54), but is supplemented at its ends with higher-order reflections.
  • the section 68 of the signal curve 40 corresponds to the section 70 of the road boundary 8 shown in FIG opposite the section 56 of the roadway boundary 8 is extended.
  • the length of the parking space 14 can now be determined by taking into account the respective length of the sections 50, 44, 68, 58 and 62. In this case, for example, a statement about the length of the parking space 14 can be made with greater accuracy if, instead of the section 54 of the signal curve 40, the section 68 is taken into account.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé pour mesurer des emplacements de stationnement (14) au moyen d'une automobile (2). Selon cette invention, une automobile (2) qui passe devant un emplacement de stationnement (14) émet un signal (20) au moyen d'au moins un dispositif de détection (16, 18) et, une fois un temps de propagation de signal écoulé, l'automobile reçoit à nouveau le signal (22) réfléchi dans le milieu environnant de l'automobile (2). L'écoulement des temps de propagation de signal correspondant au déplacement de l'automobile (2) est analysé afin d'effectuer une mesure de l'emplacement de stationnement (14) au moins de manière relative à deux de ces modes : détection de sections avec des temps de propagation de signal fortement variables, détection de sections avec des temps de propagation de signal sensiblement constants, détection de sections avec une variation sensiblement constante des temps de propagation de signal. Cette invention concerne également un système de stationnement pour une automobile, une unité d'évaluation, ainsi qu'un programme informatique.
EP06791785A 2005-09-22 2006-09-01 Procede pour mesurer des emplacements de stationnement Withdrawn EP1927016A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005045260A DE102005045260A1 (de) 2005-09-22 2005-09-22 Verfahren zur Vermessung von Parklücken
PCT/EP2006/008557 WO2007033755A1 (fr) 2005-09-22 2006-09-01 Procede pour mesurer des emplacements de stationnement

Publications (1)

Publication Number Publication Date
EP1927016A1 true EP1927016A1 (fr) 2008-06-04

Family

ID=37075207

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06791785A Withdrawn EP1927016A1 (fr) 2005-09-22 2006-09-01 Procede pour mesurer des emplacements de stationnement

Country Status (3)

Country Link
EP (1) EP1927016A1 (fr)
DE (1) DE102005045260A1 (fr)
WO (1) WO2007033755A1 (fr)

Families Citing this family (8)

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Publication number Priority date Publication date Assignee Title
DE102007035219A1 (de) * 2007-07-25 2009-01-29 Robert Bosch Gmbh Objektklassifizierungsverfahren und Einparkhilfesystem
DE102007061235A1 (de) 2007-12-19 2009-06-25 Robert Bosch Gmbh Verfahren zur Klassifizierung von Abstandsdaten und korrespondierende Abstandsmessvorrichtung
JP5918579B2 (ja) * 2012-03-14 2016-05-18 株式会社日本自動車部品総合研究所 駐車空間検知装置
US9542845B1 (en) * 2015-09-11 2017-01-10 Robert Bosch Gmbh Method for ascertaining a parking area of a street section
US10592756B2 (en) 2015-09-11 2020-03-17 Robert Bosch Gmbh Method for detecting a parking area on a road section
EP3401699A1 (fr) * 2017-05-09 2018-11-14 Veoneer Sweden AB Système de détection d'environnement de véhicule pour la détection de stationnement
FR3076795B1 (fr) * 2018-01-18 2020-11-13 Renault Sas Procede d'assistance au stationnement pour un vehicule a moteur
CN109800658B (zh) * 2018-12-26 2023-05-26 中汽研（天津）汽车工程研究院有限公司 基于神经网络的泊车位类型在线识别与定位系统及方法

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JP3473378B2 (ja) * 1998-03-10 2003-12-02 日産自動車株式会社 駐車空間検出装置
DE19933732A1 (de) * 1999-07-19 2001-01-25 Volkswagen Ag Ein-/Ausparkhilfe
JP3763733B2 (ja) * 2000-10-12 2006-04-05 ダイハツ工業株式会社 駐車支援装置及びその制御方法
JP2002228734A (ja) * 2001-02-05 2002-08-14 Nissan Motor Co Ltd 周囲物体認識装置
WO2004059341A1 (fr) * 2002-12-20 2004-07-15 Daimlerchrysler Ag Procede permettant d'acquerir des informations relatives a un environnement et procede permettant de determiner la position d'une place de stationnement
DE10325709A1 (de) * 2003-06-06 2004-12-23 Valeo Schalter Und Sensoren Gmbh Vorrichtung und Verfahren zum Erkennen des Konturverlaufes eines Hindernisses
DE10349755B3 (de) * 2003-10-24 2005-01-27 Adam Opel Ag Sensor an einem Kraftfahrzeug
JP4461920B2 (ja) * 2004-06-23 2010-05-12 株式会社デンソー 駐車支援装置
DE102004052347A1 (de) * 2004-10-28 2006-05-04 Daimlerchrysler Ag Erfassung von Umgebungsinformationen im Nahbereich eines Fahrzeuges mittels RADAR und Evidenz-Histogramm
JP4179285B2 (ja) * 2005-01-12 2008-11-12 トヨタ自動車株式会社 駐車支援装置

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Also Published As

Publication number Publication date
DE102005045260A1 (de) 2007-03-29
WO2007033755A1 (fr) 2007-03-29

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