EP3274979A1 - Procédé de détection de mouvements d'objets sur une aire de stationnement pour véhicules - Google Patents

Procédé de détection de mouvements d'objets sur une aire de stationnement pour véhicules

Info

Publication number
EP3274979A1
EP3274979A1 EP16711984.1A EP16711984A EP3274979A1 EP 3274979 A1 EP3274979 A1 EP 3274979A1 EP 16711984 A EP16711984 A EP 16711984A EP 3274979 A1 EP3274979 A1 EP 3274979A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
trajectory
free
camera
objects
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Withdrawn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
EP16711984.1A
Other languages
German (de)
English (en)
Inventor
Holger Mielenz
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3274979A1 publication Critical patent/EP3274979A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/292—Multi-camera tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30241—Trajectory
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30264—Parking

Definitions

  • the invention relates to a method for detecting movements of
  • Objects on a Absteil configuration for vehicles a device for detecting movements of objects on a Absteil Structure and a vehicle with a device for automatically performing at least one driving function.
  • Object tracking is determined.
  • the location of the vehicle is then stored in a database.
  • This object is achieved by the method of claim 1, characterized in that for detecting the movements of an object at least two images of a camera are compared, the differences of the two images are evaluated. If the two shots are different, a movement of an object has taken place. By comparing further images, the movement of an object can be tracked over the entire surface of the area. If there are not two shots for a tracked object
  • the method can use a device of claim 9, the at least one camera, at least one memory and at least one
  • Data processing device includes, are executed.
  • a vehicle of claim 12 is advantageous for the execution of the
  • an inlet area for objects is provided, via which the objects can enter or drive onto the area for the placement of vehicles.
  • Objects can be both vehicles and pedestrians.
  • Inlet areas are specifically monitored by cameras, and movements are tracked from the inlet areas. By comparing the images and evaluating the differences, movements of objects can be detected well.
  • the disadvantage is that, for example, changes in lighting conditions can lead to the fact that the images of the camera differ, although no movement has taken place. Due to the special monitoring of the inlet areas it is possible to move all objects on the
  • shelves that is to say the areas provided for parking vehicles, are defined as occupied when the movement from an object to the corresponding shelf has ended.
  • pitches are defined as being free if no movement of an object has ended on them, or if after a movement of an object has ended on a footprint, that object moves away from that footprint again.
  • information about free or occupied parking spaces may be passed on to vehicles. Thereby, the search for a free footprint on the Absteil composition be simplified. It can be displayed to the driver, where on the Absteil configuration more free
  • Parking spaces are available, as well as vehicles that can drive autonomously, paths to these parking spaces are shown.
  • information about drivable trajectories is passed on to a vehicle. This allows the information on the shortest free path for a vehicle to a parking space
  • a vehicle is a free
  • the vehicle can use the assigned trajectory to control the free parking space. This can automate the
  • the apparatus for automatically performing at least one driving function may correct the automated execution accordingly.
  • the vehicle is moving on the assigned trajectory.
  • an indication is issued to the vehicle.
  • a vehicle with a device for the automated execution of a driving function can be signaled that it deviates from the given trajectory.
  • the apparatus for automatically performing at least one driving function may correct the automated execution accordingly.
  • Vehicle are assigned to a new trajectory even with larger deviations, to which the vehicle then holds. In other words, this may mean that the vehicle is being controlled from the outside.
  • the object is achieved with a device having at least one camera, at least one data processing device and at least one memory includes.
  • the images of the camera are analyzed in the data processing device. If two consecutive shots differ, it will be detected as movement of an object on the face. The place where a move ends is stored in memory. As a result, it is known at which location on the Absteil configuration the object is located. When the object stops moving, two successive ones are distinguished
  • the device is equipped with a transmitter which is set up so that information about free or occupied parking spaces can be passed on to a vehicle.
  • trajectories for a vehicle can be defined by the data processing device, wherein these trajectories can likewise be forwarded to a vehicle with the aid of the transmitter.
  • the object is achieved by means of a vehicle with a device for
  • the receiver is set up so that information about vacant or occupied parking spaces can be received via it.
  • the device for automated execution of at least one driving function is so
  • the vehicle is arranged to receive a trajectory.
  • the device for automated execution of at least one driving function then follows the received trajectory to a free parking space.
  • Fig. 1 is a Absteil Structure with the movement of a vehicle
  • FIG. 2 shows a bearing surface in which objects reach the abutment surface via an inlet region
  • Fig. 3 is a Absteil Formation which is adapted so that a vehicle can be transmitted to a free parking space a free trajectory.
  • Fig. 1 shows a Absteil Design 100 for vehicles 170, 171st On this
  • Places 1 1 1 and occupied shelves 1 12 is distinguished.
  • the Absteil configuration still consists of driveways 120th Die
  • Routes 120 are set up so that vehicles can travel via the travel paths 120 to the shelves 1 1 1, 1 12.
  • a road 130 is shown.
  • a footpath 140 is shown. Vehicles 170, 171 can enter the abutting surface 100 from the road 130.
  • Pedestrians can enter the footprint 100 from footpath 140.
  • Cameras 150 are directed to the Absteil configuration.
  • each camera 150 is connected by means of a line 151 to a data processing device 160.
  • the data processing device 160 is in turn connected to a further line 161 with a memory 162.
  • the data processing device 160 compares the images of the cameras 150, wherein movements of objects can be detected by the fact that the images of the cameras 150 change.
  • the cameras 150 capture reference objects such as walls, edges of the face, lines on the face, or columns to determine the absolute position of the objects. Different objects
  • Recordings of at least one camera 150 are detected that a second movement of the first vehicle 171 takes place.
  • the first vehicle 171 moves along a second line 174 down from the Absteil Structure 100. Since the movement of an object has started for the first floor space 175, this parking space is stored as free in the memory 162.
  • a camera 150 is aimed at the vehicle footprint 100 and the movements of objects are detected by comparing shots of that one camera.
  • Fig. 2 shows the same Absteil Design 100 for vehicles, this time a
  • Intake area 180 for vehicles, and an inlet area 181 is provided for pedestrians.
  • Camera 150 which is directed to the inlet area 180. From there, the movement of the second vehicle 182 on the trajectory 184 is tracked to a free second footprint 185. The movement of the second vehicle 182 has ended on the second footprint 185, so that the second footprint 185 is deposited as occupied in the memory 162.
  • a pedestrian 187 enters the footprint over the inlet area for
  • Pedestrian 181 and moves on the path 188 to a third vehicle 189. While the pedestrian 187 moves to the third vehicle 189, the movement of the pedestrian 187 is tracked by at least one camera 150.
  • Fig. 3 shows a Absteil Structure 100 for vehicles, in which except for a third footprint 190 all shelves 1 12 are occupied by parking vehicles 170. Furthermore, the data processing device 160 with a transmitter 191 and a data connection 192 from the data processing device 160 to the transmitter 191 fitted. A fourth vehicle 193 with a device for automatically performing at least one driving function and a receiver 194 bends from the road 130 onto the bearing surface 100. Automatic execution of at least one driving function means that the vehicle is equipped to independently steer, accelerate, brake or the
  • the computing device 160 wirelessly transmits the vehicle a free trajectory 196 to a free footprint 190 via radio transmission 195.
  • the free trajectory 196 ie a path from the inlet area 180 to the third
  • Pitch 190 is calculated using the detected by a camera 150 free shelves 1 1 1 and free paths 120. In this case, all surfaces for which is deposited in the memory 162 that there has ended the movement of an object of the determination of the free Trajectory 196
  • Trajectory 196 are present.
  • the vehicle with the device for automated execution of at least one driving function then follows this trajectory 196 onto the free parking area 190.
  • this is detected by means of recordings of the cameras 150 and the parking space 190 occupied in the Memory 162 is stored.
  • information about free or occupied parking spaces can be passed to a vehicle.
  • a data connection 195 to a receiver 194 is established by means of the transmitter 191.
  • the transmitter 191 issues an indication to the vehicle.
  • the vehicle is able to recognize that it does not move on the assigned trajectory.
  • the device for automated execution of the driving function can now control intervene and select a driving path, which brings the vehicle back to the assigned trajectory.
  • the vehicle may be assigned a new trajectory, which the vehicle now follows.
  • the device is with a
  • Data processing device a memory and a transmitter set up to pass information about vacant or occupied parking spaces to a vehicle.
  • the device is with a
  • Data processing device a memory and a transmitter set up so that the device set a trajectory for a vehicle and the
  • a vehicle having a device for automatically executing at least one driving function is arranged to receive and follow a trajectory assigned by the device.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de détection de mouvements d'objets sur une aire de stationnement pour véhicules par traitement de prises de vue issues d'au moins une caméra. Pour détecter les mouvements d'un objet, au moins deux prises de vue issues de la caméra sont comparées, les différences entre les prises de vue étant analysées. Si l'achèvement d'un mouvement d'un objet est détecté, la position de l'objet est enregistrée dans une mémoire.
EP16711984.1A 2015-03-27 2016-03-01 Procédé de détection de mouvements d'objets sur une aire de stationnement pour véhicules Withdrawn EP3274979A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015205634.1A DE102015205634A1 (de) 2015-03-27 2015-03-27 Verfahren zum Erkennen von Bewegungen von Objekten auf einer Abstellfläche für Fahrzeuge
PCT/EP2016/054276 WO2016155964A1 (fr) 2015-03-27 2016-03-01 Procédé de détection de mouvements d'objets sur une aire de stationnement pour véhicules

Publications (1)

Publication Number Publication Date
EP3274979A1 true EP3274979A1 (fr) 2018-01-31

Family

ID=55637325

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16711984.1A Withdrawn EP3274979A1 (fr) 2015-03-27 2016-03-01 Procédé de détection de mouvements d'objets sur une aire de stationnement pour véhicules

Country Status (5)

Country Link
US (1) US10380892B2 (fr)
EP (1) EP3274979A1 (fr)
CN (1) CN107430810A (fr)
DE (1) DE102015205634A1 (fr)
WO (1) WO2016155964A1 (fr)

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US20170161961A1 (en) * 2015-12-07 2017-06-08 Paul Salsberg Parking space control method and system with unmanned paired aerial vehicle (uav)
DE102016223171A1 (de) * 2016-11-23 2018-05-24 Robert Bosch Gmbh Verfahren und System zum Detektieren eines sich innerhalb eines Parkplatzes befindenden erhabenen Objekts
CN107665587B (zh) * 2017-09-13 2020-06-19 南京理工大学 一种基于拍摄设备布局的车位检测方法
KR102440507B1 (ko) * 2017-11-03 2022-09-06 현대자동차주식회사 자율 주차용 주차 정보 제공방법
JP7200623B2 (ja) * 2018-11-27 2023-01-10 株式会社アイシン 車両誘導システム、車上装置、および地上装置

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DE102007002198A1 (de) 2007-01-16 2008-07-31 Siemens Ag Standortermittlung eines Kraftfahrzeugs in einer Parkanlage
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Also Published As

Publication number Publication date
WO2016155964A1 (fr) 2016-10-06
CN107430810A (zh) 2017-12-01
DE102015205634A1 (de) 2016-09-29
US10380892B2 (en) 2019-08-13
US20180247535A1 (en) 2018-08-30

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