EP3338263A1 - Procédé et dispositif de détermination d'une place de stationnement au bord d'une route - Google Patents

Procédé et dispositif de détermination d'une place de stationnement au bord d'une route

Info

Publication number
EP3338263A1
EP3338263A1 EP16758104.0A EP16758104A EP3338263A1 EP 3338263 A1 EP3338263 A1 EP 3338263A1 EP 16758104 A EP16758104 A EP 16758104A EP 3338263 A1 EP3338263 A1 EP 3338263A1
Authority
EP
European Patent Office
Prior art keywords
road
parking lot
parking
course
parking space
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.)
Granted
Application number
EP16758104.0A
Other languages
German (de)
English (en)
Other versions
EP3338263B1 (fr
Inventor
Andreas Hildisch
Jonas UHRIG
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.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP3338263A1 publication Critical patent/EP3338263A1/fr
Application granted granted Critical
Publication of EP3338263B1 publication Critical patent/EP3338263B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G08G1/01—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
    • G08G1/14—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
    • G08G1/147—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 within an open public zone, e.g. city centre
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • One way to turn off a motor vehicle is to use a parking lot located along a road. Such a parking lot is hereinafter referred to as the roadside parking lot.
  • the roadside parking lot To a motor vehicle, which searches for a parking lot, as soon as possible to one
  • a user or driver of the vehicle may include parking.
  • a user or driver of the vehicle may include parking.
  • position information about parking spaces can be obtained from a database.
  • the information obtained can then be further refined on the basis of values of a sensor of the motor vehicle, as in
  • the invention has for its object to provide an improved technique for determining a roadside parking lot.
  • the invention solves this problem by means of the subjects of the independent claims. Subclaims give preferred embodiments again. Disclosure of the invention
  • the invention is based on the idea to obtain parking lot information about a roadside parking lot from a publicly accessible first data source and on the basis of other map information that may come from another source of data to refine. Both data sources can
  • the parking lot information may come from a public map platform, such as OpenStreetMap (OSM), to which anyone can contribute by, for example, missing parking areas themselves using GPS and uploading the information to a central server. It has been found that parking lot locations, as used in OpenStreetMap, are often inaccurate, so they can not be used directly for vehicle navigation or parking search.
  • OSM OpenStreetMap
  • This data source can be, for example, the
  • Map memory of a navigation system include.
  • a deviation between a reference point of the road course from the second data source and its actual position here is usually in the range of 10 centimeters or less.
  • the position of the motor vehicle can preferably be determined with similarly good accuracy and then to the information of the second
  • Data source are related.
  • geometrical information indicating a low-precision road-side parking lot be adapted by means of a geometric map based on a highly accurate map so as to correspond to reality.
  • a driver of the motor vehicle can then be improved to drive the motor vehicle to the parking lot or along it, for example, to a free parking space of the parking lot Find.
  • the motor vehicle can also be driven by means of an autonomous control, which does not need to be monitored by a driver of the motor vehicle, to the parking lot or the free floor space.
  • a method for determining a roadside parking lot includes steps of determining an initial position and an end position of the parking lot, the parking space extending between the initial position and the end position; determining positions of a course of a road in the area of the beginning and the end position of the parking lot; and mapping the positions of the parking lot with respect to the course of the road such that the imaged parking space extends immediately adjacent to the road.
  • the image which preferably takes the form of a geometric image, can be used to easily and reliably correct the position of the parking space so that it corresponds better to reality.
  • the parking lot is associated with a road side of the road, the mapping being made such that the imaged parking lot is adjacent to an outermost lane of the associated road side. This allows the parking lot to be easily mapped to its correct or an improved approximate location.
  • the mapping can also be applied to roads with multiple lanes in different directions as well as both right and left traffic.
  • the mapping includes rotating the start and end positions about a common pivot so that the imaged start position and the imaged end position are as equidistant from the road as possible.
  • the fulcrum may be selected, for example, on the route between the starting and ending positions, in one embodiment in the middle of this route.
  • the starting position or the end position or an out-of-distance point as Pivot point can be used.
  • the mapping includes shifting the start and end positions, each perpendicular to the road. It is particularly preferred that the shifting after the above-described turning
  • mapping includes curving the parking lot along the course of the road in its extent between the initial position and the final position.
  • the parking lot can be nestled on the course of the road.
  • the curving of the parking space can be done before or after turning or before or after moving the start and end positions. An approximation of a car park assumed to be linear to a curved road can thus be carried out in an improved manner.
  • the starting and ending positions of a plurality of parking spaces are determined and mapped, the mapped parking lots being combined.
  • a parking lot which is composed of several linear sections, can be improved so realistic in its
  • the parking lot information models a non-rectilinear shaped parking lot as multiple rectilinear segments.
  • the combining can be an interpolation between two
  • Parking spaces include.
  • linear sections of the parking space which are not exactly adjacent to one another can be interconnected by means of interpolation. An obvious mistake in dividing the parking space into linear sections can be easily corrected.
  • the summarizing may also include discarding a portion of a parking lot that intersects with another portion at an acute angle. This error can occur in particular on the inside of a curved road course. By discarding a short protruding portion of the parking lot, a simple and reliable correction of the representation of the parking space can be made.
  • mapping is based on further semantic information associated with the parking lot.
  • Information may in particular indicate whether individual parking spaces for motor vehicles are provided in the parking lot parallel to the road, perpendicular to the road or at an angle to the road. Additional semantic information may include, for example, at what times, at what prices or under which circumstances the parking lot is usable. For example, a resident parking space, a disabled parking space and a supplier parking space can be identified and, if necessary, with corresponding data from the
  • the method is performed on board a motor vehicle, wherein an occupancy state of a parking space in the parking lot is determined by means of a sensor of the motor vehicle. If the position of the parking lot is corrected according to the method described above, it may be easy to drive off the parking space by means of the motor vehicle and, by means of a sensor, to move to a free parking space determine.
  • the sensor can operate on the basis of ultrasound, laser, radar or even optically. The driver can then be alerted to a free parking space, or the vehicle can, in the case of
  • a device for determining a roadside parking lot comprises a first interface to a first data source for determining an initial position and an end position of the parking lot, wherein the parking space between the
  • FIG. 1 is a schematic representation of two streets and several parking spaces
  • Fig. 2 is a schematic representation of another street with parking lots
  • Fig. 3 shows a motor vehicle with a device for determining a roadside parking lot.
  • FIG. 1 shows a schematic representation of two exemplary roads 105 and several exemplary parking spaces 110 in a map representation. Locations of the roads 105 are typically taken as locations of a parking lot 110 from a predetermined first data source, as described in greater detail below with reference to FIG.
  • the roads 105 and the parking spaces 110 are shown in their original relative positions, while in the lower area of FIG. 1 the parking spaces 110 are shown in their imaged, corrected positions with respect to the roads 105.
  • a road 105 has one or more lanes 15.
  • the road 105 has a course 120, which is usually defined on the basis of individual positions 125. Between individual positions 125, for example, an interpolation on the basis of a Bezier curve or a spline can take place.
  • the geometric data of the road 105 usually comes from a second data source, as will be explained in more detail below, wherein the information about the road 105, their lanes 15, the positions 125 and the course 120 are usually very accurate, for example in the range of approx . 10 centimeters.
  • the representation of the geometric information of the road 105 can take place in any desired manner, for example graphically or as a data structure in a working memory of a processing device.
  • Reference system of information is preferably a geodetic system such as WGS84.
  • a parking space 1 10 is usually defined by an initial position 130 and an end position 135, between which the parking lot 1 10 extends.
  • the extent of the parking lot 1 10 is assumed to be linear. It is not always known which of the positions 130, 135, relative to a direction of travel along the
  • the parking lot 10 is a roadside parking lot, which in reality is usually immediately adjacent to the road 105 or one of its lanes. If several lanes 1 15 are provided, then the parking lot 1 10 is usually immediately adjacent to the outermost (slowest) lane 1 15. For right-hand traffic is the parking lot 1 10 usually in the direction of travel right next to a lane 1 15, at
  • Parking space 1 10 is usually its extension in one or more linear segments indicated, each by an initial position 130 and an end position 135 are defined.
  • a curved parking space 1 10 can be modeled by a plurality of linearly extending parking spaces 1 10.
  • the first data source can include a publicly accessible database such as OpenStreetMap, which anyone can access online and into which a registered user can also enter new or updated information, for example via a parking space 10. While the reliability of the information from the first data source, for example, whether a parking space 1 10 at the
  • Information from the second data source may occur in the range of one or more meters.
  • the positions 130, 135 may also be related to a geodetic system, which preferably corresponds to the first data source.
  • the parking space 110 or the positions 130, 135 can be displayed in any desired manner, for example graphically or as any, for example vector-oriented
  • a parking space 1 10 additionally associated with semantic information 140, which may include further information, in particular about the usability of the parking lot, 1 10.
  • the semantic information 140 may be from any data source, such as the same one
  • the semantic Information 140 may, for example, give an indication as to what times, by which user group (severely disabled, residents, suppliers), under what circumstances (parking ticket, parking card, parking disc) or how long the parking space 10 can be used by a motor vehicle.
  • the semantic information 140 may indicate how the parking lot 1 10 or individual shelves 145 are placed with respect to the road 105. For example, it can be noted that the shelves 145 are parallel, perpendicular or obliquely applied to the course 120 of the road 105. It may also be noted whether it is a fixed parking space 10, a partial or complete parking on a banquet or a sidewalk and whether individual shelves 145 are given by markings or not. An indication of the size of shelves 145 can also be provided.
  • This location may then have regard to the location of the road 105 or its own
  • the starting position 130 and the end position 135 are rotated about a common pivot point 150 until the parking space 1 10 is as parallel as possible to the course 120 of the road 105.
  • Parallelism is preferably assumed if distances of the initial position 130 and the end position 135 from the course 120 are as equal as possible.
  • the pivot 150 can be flexible are selected, but is preferably between the initial position 130 and the end position 135th
  • the starting position 130 is displaced along a straight line which passes through the initial position 130 and is perpendicular to the course 120.
  • the end position 135 is displaced along a straight line which runs through the end position 135 and is likewise perpendicular to the profile 120.
  • both positions 130, 135 are shifted by the same amount. If the parking space 1 10 is already rotated parallel to the course 120, it is therefore displaced perpendicular to the course 120. The movement takes place until the parking lot 10 is at the correct distance from an adjacent lane 15.
  • the cycle path can be regarded as the outermost traffic lane 15 and the parking space 110 is shifted so that it adjoins adjacent to the bike path.
  • the distance may be zero.
  • the two mentioned steps can also be performed together by the shifts of the initial position 130 and the end position 135 in order
  • Figure 2 shows a schematic representation of another exemplary road 105 with exemplary parking lots 1 10.
  • the road 105 In the upper part are the road 105 with its course 120 and their lanes 1 15 together with several
  • the beginning and end positions 130, 135 have already been corrected or mapped according to the above statements with respect to the course 120.
  • the individual parking spaces 1 10 are summarized already improved.
  • the road 105 describes a curve with a predetermined curvature.
  • gaps 205 have formed which may be due to the imaging process described above or to an inaccuracy of the data from the first data source.
  • a gap 205 is preferably closed by the course of the parking space 1 10 is interpolated in the region of the gap 205.
  • the interpolation can always take place when the gap 205 is smaller than a predetermined amount, is located on the outside of the road 105 or if semantic information 140 is available, from which it can be deduced that the parking space 10 should not have a gap 205 ,
  • Several parking spaces 1 10 overlap on the inner side of the curve. It is proposed to delete short, protruding sections 210 of the intersecting parking spaces 1 10 under predetermined conditions in order to be able to indicate an improved course of the parking space 110. For example, a section 210 may be deleted if it extends less than a predetermined amount from an intersection 215 between two parking lots 110. In addition, it may be required that the parking spaces 1 10 at the intersection 215 include an acute angle with each other.
  • Parking 1 10 a free space 145 for parking a motor vehicle 300 is present.
  • the motor vehicle 300 can do so on the lane 1 15 at the
  • Roadside parking lot 1 10 drive along and the parking lot 1 10 in one
  • FIG. 3 shows a motor vehicle 300 with a device 305, which is set up in particular for carrying out the method described above.
  • the device 305 comprises a processing device 310 with a first interface 315 to the aforementioned first data source 320 and a second interface 325 for connection to the aforementioned second data source 330.
  • the data sources 320 and 330 can be realized in any desired ways.
  • a positioning device 340 may additionally be provided, which preferably comprises a navigation receiver for satellite signals.
  • the first data source 320 may be, for example, OpenStreetMap and the second data source 330
  • Map information of a manufacturer of the motor vehicle 300 include.
  • a sensor 345 may be provided to scan a parking space 110 at a predetermined vertical height and thus determine an occupancy state of the parking space 110 and one of its shelves 145, respectively.
  • the information may be presented to a driver of the motor vehicle 300. This information may then be presented to a driver of the motor vehicle 300. LIST OF REFERENCE NUMBERS

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un procédé de détermination d'une place de stationnement au bord d'une route. Ledit procédé comprend les étapes suivantes : la détermination d'une position de début et une position de fin de la place de stationnement, la place de stationnement s'étendant entre la position de début et la position de fin ; la détermination de positions d'un tracé d'une route dans la zone des positions de début et de fin de la place de stationnement ; et la reproduction des positions de la place de stationnement par rapport au tracé de la route de telle manière que la place de stationnement reproduite s'étend directement à côté de la route.
EP16758104.0A 2015-08-18 2016-08-12 Procédé et dispositif de détermination d'une place de stationnement au bord d'une route Active EP3338263B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015215693.1A DE102015215693A1 (de) 2015-08-18 2015-08-18 Verfahren und Vorrichtung zum Bestimmen eines Straßenrand-Parkplatzes
PCT/EP2016/069247 WO2017029220A1 (fr) 2015-08-18 2016-08-12 Procédé et dispositif de détermination d'une place de stationnement au bord d'une route

Publications (2)

Publication Number Publication Date
EP3338263A1 true EP3338263A1 (fr) 2018-06-27
EP3338263B1 EP3338263B1 (fr) 2024-03-27

Family

ID=56851547

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16758104.0A Active EP3338263B1 (fr) 2015-08-18 2016-08-12 Procédé et dispositif de détermination d'une place de stationnement au bord d'une route

Country Status (3)

Country Link
EP (1) EP3338263B1 (fr)
DE (1) DE102015215693A1 (fr)
WO (1) WO2017029220A1 (fr)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100376895B1 (ko) 1996-09-20 2003-03-19 도요다 지도샤 가부시끼가이샤 위치 정보 제공 시스템 및 장치
CN101010710A (zh) * 2005-07-07 2007-08-01 松下电器产业株式会社 地图信息校正装置、地图信息校正方法、程序、和使用地图信息校正装置的信息提供装置和信息获取装置
DE102007002262A1 (de) * 2007-01-16 2008-08-21 GM Global Technology Operations, Inc., Detroit Verfahren und Vorrichtung zur Unterstützung des Fahrers eines Kraftfahrzeugs beim Einparken
DE102008012411A1 (de) * 2008-03-04 2009-09-10 Universität Konstanz Interaktive Methode zur integrierten Darstellung schematischer Netzpläne und geographischer Karten
DE102008046367A1 (de) * 2008-09-09 2010-03-11 Valeo Schalter Und Sensoren Gmbh Verfahren und Vorrichtung zur Unterstützung eines Einparkvorgangs eines Fahrzeugs
DE102009029553A1 (de) * 2009-09-17 2011-03-24 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erfassung der Orientierung einer Parklücke für ein Fahrzeug
US8606499B2 (en) * 2011-12-16 2013-12-10 Navteq B.V. Method and apparatus for determining parking area location information
DE102012219233A1 (de) * 2012-10-22 2014-04-24 Felix Huljus Verfahren und/oder Vorrichtung zur Erfassung und Darstellung einer Fahrzeugplatzauslastung
JP5975172B2 (ja) * 2013-04-26 2016-08-23 トヨタ自動車株式会社 駐車支援装置
DE102014212843A1 (de) * 2014-07-02 2016-01-07 Robert Bosch Gmbh Verfahren zur Parkplatzvermittlung und Freier-Parkplatz-Assistenzsystem

Also Published As

Publication number Publication date
EP3338263B1 (fr) 2024-03-27
DE102015215693A1 (de) 2017-02-23
WO2017029220A1 (fr) 2017-02-23

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