EP3314599A1 - Konzept zum erstellen einer digitalen karte eines parkplatzes - Google Patents

Konzept zum erstellen einer digitalen karte eines parkplatzes

Info

Publication number
EP3314599A1
EP3314599A1 EP16728669.9A EP16728669A EP3314599A1 EP 3314599 A1 EP3314599 A1 EP 3314599A1 EP 16728669 A EP16728669 A EP 16728669A EP 3314599 A1 EP3314599 A1 EP 3314599A1
Authority
EP
European Patent Office
Prior art keywords
data
vehicle
map
communication network
parking lot
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.)
Ceased
Application number
EP16728669.9A
Other languages
German (de)
English (en)
French (fr)
Inventor
Stefan Nordbruch
Manuel Maier
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 EP3314599A1 publication Critical patent/EP3314599A1/de
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3837—Data obtained from a single source
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • 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
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • 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

Definitions

  • the invention relates to a method and a device for operating a vehicle in order to be able to create a digital map of a parking space.
  • the invention further relates to a method for creating a digital map of a parking lot.
  • the invention further relates to a map server for creating a digital map of a parking lot.
  • the invention further relates to a computer program.
  • the published patent application DE 10 2012 222 562 A1 shows a system for managed parking areas for transferring a vehicle from a start position to a destination position.
  • Vallet Parking In a fully automated (autonomous) so-called Vallet Parking, a vehicle is parked by its driver at a delivery point, for example in front of a parking garage, and from there the vehicle drives itself into a parking position / parking bay and back to the delivery point.
  • the published patent application DE 10 2012 216 994 A1 shows a method for parking space switching and a free parking assistance system.
  • a digital map of the parking space must generally be available, based on which the vehicle can navigate. Disclosure of the invention
  • the object underlying the invention is to provide a concept based on which a digital map of a parking lot can be efficiently created.
  • a method of operating a vehicle to create a digital map of a parking lot in one aspect, there is provided a method of operating a vehicle to create a digital map of a parking lot.
  • the vehicle driving inside the parking lot determines data about its travel within the parking lot
  • an apparatus for operating a vehicle comprising:
  • a processor which is designed to determine data about a travel path of the vehicle within the parking space when the vehicle is traveling within the parking space, and
  • a communication interface which is adapted to send the determined data via a communication network to a map server, so that the map server based on the data can create a digital map of the parking lot.
  • a map server receives data about a travel path of a vehicle within the parking space via a communication network
  • a map server for creating a digital map of a parking lot, comprising:
  • a communication interface that is configured to receive data via a
  • a processor configured to generate the digital map of the parking space based on the received data.
  • a computer program comprising program code for performing the method of operating a vehicle and / or the method of creating a digital map of a parking lot when the computer program is run on a computer.
  • a vehicle is provided that is configured or configured to perform or perform the method of operating a vehicle.
  • a vehicle comprising the apparatus for operating a vehicle.
  • the vehicle is for example a motor vehicle.
  • the invention thus includes, in particular and among other things, the idea that a vehicle records its travel path within the parking space and sends or sends this information to the map server. This then creates the digital map based on the data.
  • the digital map of the parking lot can thus be efficiently created based on data that a vehicle detects as it travels inside the parking lot. Thus, it is not necessary additional measurements of the parking lot to be performed.
  • the technical advantage is effected that the digital map of the parking lot can be efficiently created.
  • a parking space in the sense of the present invention serves as a parking area for vehicles.
  • the car park forms a continuous area that has several parking spaces (in the case of a car park on private land) or parking stands (in the case of a car park on public land). Areas on which vehicles are to park are referred to in particular as parking areas.
  • the parking lot is designed according to one embodiment as a parking garage.
  • the parking lot is designed as a parking garage.
  • the communication network comprises a WLAN network and / or a mobile radio network.
  • a communication via the communication network is respectively encrypted.
  • a plurality of vehicles are provided, each of which carries out the procedure for operating a vehicle.
  • the more information collected or recorded by the vehicles the more accurate the digital map of the parking lot can be created.
  • the device for operating a vehicle is designed or set up to execute or carry out the method for operating a vehicle.
  • the map server is designed or set up to execute or execute the method for creating a digital map of a parking space.
  • the vehicle determines its odometry data corresponding to its traveled route and sends the determined odometry data as data to the map server via the communication network.
  • map server can create the digital map based on the distance covered by the vehicle within the parking space.
  • the vehicle determines its driving dynamics corresponding driving dynamics data and transmits the determined vehicle dynamics data as data to the map server via the communication network.
  • the map server can create the digital map based on a driving dynamics of the vehicle.
  • the vehicle dynamics data comprise at least one of the following group of vehicle dynamics data: yaw rate data, steering angle data, lateral acceleration data, longitudinal acceleration data and speed data.
  • the vehicle detects its surroundings by means of its environmental sensor system and determines the surrounding environment corresponding environment data and transmits the determined environment data as data to the map server via the communication network.
  • the map server can create the digital map of the parking space based on the determined environment data.
  • the vehicle transmits vehicle specification data to the map server via the communication network so that the map server can create the digital map specifically adapted to different vehicle types based on the vehicle specification data.
  • the map server can create the digital map specifically for different vehicle types based on the vehicle specification data is brought about.
  • Vehicle specification data include, for example, a wheelbase of the vehicle and / or possible steering angles, for example maximum steering angles, of the vehicle.
  • the vehicle checks an already created digital map of the parking space based on the determined data in order to detect possible errors in the already created digital map, the vehicle reporting detected errors to the map server via the communication network ,
  • the processor is designed to determine corresponding odometry data for a traveled route of the vehicle, the communication interface being designed to transmit the determined odometry data as data to the map server via the communication network.
  • the processor is designed to determine a driving dynamics of the vehicle corresponding driving dynamics data, wherein the communication interface is adapted to send the determined vehicle dynamics data as data to the map server via the communication network.
  • the processor is designed to determine corresponding environmental data of an environment of the vehicle detected by an environment sensor system, wherein the communication interface is designed to transmit the determined environment data as data to the map server via the communication network.
  • the communication interface is designed to transmit vehicle specification data to the map server via the communication network, so that the map server can generate the digital map specifically adapted to different vehicle types based on the vehicle specification data.
  • the processor is designed to check an already created digital map of the parking space based on the determined data in order to detect possible errors in the already created digital map, wherein the communication interface is formed, detected errors to report to the card server via the communication network.
  • the map server determines one or more routes for vehicles within the parking space based on the received data, so that the created map comprises the route or routes determined.
  • this has the technical advantage that the created digital map includes the route (s) determined, allowing vehicles to which this created digital map is provided to drive or navigate efficiently within the parking area.
  • the processor is designed to determine one or more routes for vehicles within the parking space based on the received data, so that the created map comprises the route (s) determined.
  • Embodiments of the method for operating a vehicle result analogously from corresponding embodiments of the device for operating a vehicle and vice versa. That is to say, technical functionalities for the method for operating a vehicle result from corresponding technical functionalities of the device for operating a vehicle, and vice versa.
  • FIG. 1 shows a flow chart of a method for operating a vehicle
  • FIG. 2 shows a device for operating a vehicle
  • FIG. 3 shows a vehicle
  • Fig. 4 is a flowchart of a method for creating a digital map of a parking lot
  • 5 shows a map server.
  • FIG. 1 shows a flow diagram of a method for operating a vehicle in order to be able to create a digital map of a parking space.
  • a vehicle driving inside the parking lot determines data about its travel path within the parking lot.
  • a plurality of vehicles driving within the parking lot determine data about their respective travel path within the parking lot.
  • the determined data is sent via a communication network from the vehicle to a map server, so that the map server can create a digital map of the parking space based on the data.
  • the map server creates the digital map of the parking space based on the data.
  • FIG. 2 shows a device 201 for operating a vehicle in order to be able to create a digital map of a parking space.
  • the device 201 includes:
  • a processor 203 which is designed to determine data about a travel path of the vehicle within the parking space when the vehicle is traveling within the parking space, and
  • a communication interface 205 which is configured to send the data determined via a communication network to a map server, so that the map server based on the data can create a digital map of the parking space. shows a vehicle 301
  • the vehicle 301 includes the device 201 of FIG. 2.
  • the vehicle 301 is, for example, a motor vehicle, in particular a passenger car or a truck.
  • a map server receives data about a travel path of a vehicle within the parking space via a communication network.
  • the map server is connected via a communication network
  • the map server creates the digital map of the parking space based on the received data.
  • the digital map of the parking space is created based on the respective received data of the plurality of vehicles.
  • 5 shows a map server 501 for creating a digital map of a
  • the map server 501 includes.
  • a communication interface 503 configured to receive data via a travel path of a vehicle within the parking space via a communication network
  • a processor 505 configured to generate the digital map of the parking space based on the received data.
  • the invention therefore includes, in particular and among other things, the idea that vehicles record their routes in parking spaces and send or send this information to the map server. So this information is the data sent to the map server.
  • the information includes, for example, information about a traveled path or driveway (odometry data).
  • the information or the data include, for example, vehicle dynamics data (yaw rate data, steering angle data, lateral acceleration data, longitudinal acceleration data, speed data).
  • vehicle dynamics data yaw rate data, steering angle data, lateral acceleration data, longitudinal acceleration data, speed data
  • the information or the data include, for example, a removal of the vehicle to obstacles and / or information about an environment of the vehicle (walls, driveways, departures). This information is therefore environment data.
  • vehicle specification data (wheelbase, possible steering angles) are also transmitted by the vehicles so that the generated information (digital map) can be calculated or determined adapted to different vehicles.
  • date and / or time data is included. This means in particular that in one embodiment, the sent
  • Data include a date stamp and / or a timestamp.
  • the data sent to the map server includes information about the detected parking areas.
  • the map server can advantageously draw in or record or integrate this information, that is to say the identified parking areas, into the digital map.
  • This information is based in particular on environmental data.
  • environment data are evaluated or analyzed to determine whether there is a parking area in the vicinity of the vehicle.
  • the evaluation takes place directly in the vehicle.
  • the evaluation can take place additionally or instead on the map server.
  • data may be odometry data and / or vehicle dynamics data and / or environmental data.
  • data may be parking area data including their dimensions. If the data does not match anymore, the data will be sent back to the map server as incorrect.
  • only the data is reported back and checked by means of the card server.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
EP16728669.9A 2015-06-23 2016-06-08 Konzept zum erstellen einer digitalen karte eines parkplatzes Ceased EP3314599A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015211522.4A DE102015211522A1 (de) 2015-06-23 2015-06-23 Konzept zum Erstellen einer digitalen Karte eines Parkplatzes
PCT/EP2016/062930 WO2016206970A1 (de) 2015-06-23 2016-06-08 Konzept zum erstellen einer digitalen karte eines parkplatzes

Publications (1)

Publication Number Publication Date
EP3314599A1 true EP3314599A1 (de) 2018-05-02

Family

ID=56119484

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16728669.9A Ceased EP3314599A1 (de) 2015-06-23 2016-06-08 Konzept zum erstellen einer digitalen karte eines parkplatzes

Country Status (5)

Country Link
US (1) US10690502B2 (zh)
EP (1) EP3314599A1 (zh)
CN (1) CN107787283B (zh)
DE (1) DE102015211522A1 (zh)
WO (1) WO2016206970A1 (zh)

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DE102017210070A1 (de) * 2017-06-14 2018-12-20 Robert Bosch Gmbh Verfahren zum Erstellen einer digitalen Karte für ein automatisiertes Fahrzeug
DE102018213007A1 (de) * 2018-08-03 2020-02-06 Robert Bosch Gmbh Verfahren zum Erstellen einer Parkhauskarte für Valet-Parking
DE102018219220A1 (de) * 2018-11-12 2020-05-14 Robert Bosch Gmbh Erstellung und Aktualisierung von Karten im Off-Street Bereich
KR102656049B1 (ko) * 2018-12-31 2024-04-11 현대자동차주식회사 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량
JP7255744B2 (ja) * 2020-02-21 2023-04-11 株式会社デンソー 管制装置、駐車場システム及び位置精度算出方法
DE102021204264A1 (de) 2021-04-29 2022-11-03 Volkswagen Aktiengesellschaft Verfahren zum Erzeugen einer digitalen Umgebungskarte mittels eines Systems, sowie System
DE102021116510B4 (de) 2021-06-25 2024-05-08 Cariad Se Verfahren und Rechenvorrichtung zum Bereitstellen einer Wegnetzkarte eines Parkhauses
CN114036254A (zh) * 2021-12-02 2022-02-11 广州小鹏自动驾驶科技有限公司 一种地图构建方法、地图构建装置、车辆及存储介质
CN115394116A (zh) * 2022-08-30 2022-11-25 上汽通用五菱汽车股份有限公司 车位信息共享方法、装置、电子设备及可读存储介质

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Also Published As

Publication number Publication date
US10690502B2 (en) 2020-06-23
WO2016206970A1 (de) 2016-12-29
DE102015211522A1 (de) 2016-12-29
CN107787283A (zh) 2018-03-09
US20180149483A1 (en) 2018-05-31
CN107787283B (zh) 2021-06-15

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