EP3482384B1 - Determining laterally positioned parking spaces - Google Patents
Determining laterally positioned parking spaces Download PDFInfo
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- EP3482384B1 EP3482384B1 EP17723341.8A EP17723341A EP3482384B1 EP 3482384 B1 EP3482384 B1 EP 3482384B1 EP 17723341 A EP17723341 A EP 17723341A EP 3482384 B1 EP3482384 B1 EP 3482384B1
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- 238000000034 method Methods 0.000 claims description 32
- 238000005259 measurement Methods 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims 1
- 238000009825 accumulation Methods 0.000 description 10
- 230000035508 accumulation Effects 0.000 description 10
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Classifications
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- 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
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- 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]
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- 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
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- 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
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- 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
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
Definitions
- the invention relates to the scanning of a parking space from a motor vehicle.
- the invention relates to the scanning of a parking space on the left side of the motor vehicle when driving on the right or on the right side of the motor vehicle when driving on the left.
- a motor vehicle can be parked in a parking space that exists at the edge of a road between other parked motor vehicles.
- the use of the parking space can be free of charge or subject to a charge. Different approaches to finding, managing and searching for such parking spaces are known.
- DE 10 2009 028 024 A1 shows how a motor vehicle can be guided to a free parking space.
- DE 10 2006 036 423 A1 shows a method for determining a suitable parking space for a vehicle using sensors for measuring gaps between objects detected to the side of the vehicle.
- DE 10 2011 003 881 A1 shows a method for supporting a driver of a motor vehicle, in which, while driving, the surroundings to the side of the motor vehicle are detected in order to detect a parking space. If a parking space is detected, a trajectory is determined along which the motor vehicle can park in the parking space.
- DE 10 2013 211 632 A1 shows a method for providing parking information about free parking spaces, in which historical and current information about available, free parking spaces is determined for the at least one street, wherein at least one parking segment, which includes one or more streets, is determined from the information determined, and statistical parameters about free parking spaces are generated for each parking segment from the determined information.
- a motor vehicle includes side-directed sensors to detect a parking space. If a parking space is determined, the motor vehicle can use this or transmit information about the parking space to an administration system. If the motor vehicle is on a road network with right-hand traffic, i.e. it usually drives on the right-hand side of the road, scanning a parking space on the right-hand side of the motor vehicle is much easier and safer than scanning a parking space on the left-hand side of the motor vehicle , which is further away from the motor vehicle and may in the meantime be shaded by overtaking or oncoming motor vehicles.
- the object of the invention is to provide a technique for improved determination of a parking space.
- the invention solves this problem by means of the subject matter of the independent claims. Subclaims reflect preferred embodiments.
- a method comprises the steps of driving on a section of a road using a plurality of first motor vehicles in the same direction of travel; scanning a right side of the road by means of a first sensor pointing laterally to the right, and a left side of the road by means of a second, lateral left facing sensor on each first motor vehicle; determining right parking spaces at the right side of the road based on data from the first sensor and left parking spaces at the left side of the road based on data from the second sensor; determining a confidence value based on a first cumulative used to determine right parking spaces on the segment and a second cumulative used to determine left parking spaces on the segment; and associating the confidence value with the segment and its direction of travel.
- the invention is based on the finding that on certain streets, in particular on narrow streets or one-way streets, specific parking spaces on the left-hand side of the street are more pronounced or correspond better to parking spaces defined on the right-hand side.
- By scanning the parking spaces with a large number of first motor vehicles it can be estimated whether there is such a connection on a road or a section and whether a left-hand scan is likely to be realistic, or whether it cannot be assumed that a parking space determined on the left-hand side of the motor vehicle also actually exists.
- the higher the confidence value the more confidence the left-side determination of a parking space can enjoy.
- the method can be used in particular to create a data collection that assigns a confidence value to different sections of a road network.
- the confidence value is linked to the direction of travel, so that the first motor vehicle and a second motor vehicle looking for a parking space must drive in the same direction.
- the confidence value is determined such that the better the first and second clusters along the road match, the higher the confidence value.
- the road is likely to be relatively narrow or unidirectional, and the left-hand scans are subject to little error.
- the confidence value is determined in such a way that the higher the second accumulation of measurement noise, the lower it is. If certain parking spaces on the left differ only slightly from the measurement noise, the confidence value is therefore low. A signal-to-noise ratio can thereby be taken into account. In one embodiment, parking spaces determined on the left-hand side can be completely discarded if the second accumulation is below a predetermined threshold value with regard to the measurement noise.
- the first motor vehicles can drive on the road several times in a predetermined direction and determine parking spaces on the right-hand side.
- Third motor vehicles can drive on the road in the opposite direction—before, interlaced, or after—with parking spaces being determined on the left-hand side.
- the confidence value can be determined such that it is higher the better accumulations of the parking spaces determined by the first motor vehicles correspond to accumulations of the parking spaces determined by the third motor vehicles or correlate with one another.
- the measurement noise is preferably determined as an evenly distributed second accumulation along the road. These clusters are usually at relatively low levels.
- the measurement noise is the smaller, the greater the number of scans by means of the first motor vehicle. It is known that the measurement noise can be reduced by increasing the number of measurement processes that are as independent as possible from one another. The determination of the measurement noise can therefore depend on the number of scans of the first motor vehicle. In practice, it has been shown that a good differentiation between significant second accumulations and measurement noise is usually possible after scanning with approximately 500 first motor vehicles. In other implementation forums, good differentiation was also achieved with around 300 or even around 200 first motor vehicles.
- the confidence value is determined in such a way that the higher the second accumulation along the road, the higher it is.
- a further method comprises the steps of driving on a section of a road using a second motor vehicle in one direction of travel; scanning a normally distant roadside with a sideways-looking sensor; determining a parking space based on the sample; determining a confidence value regarding the segment and the direction of travel; and issuing an indication of the parking space if a confidence value associated with the section of the road with regard to the same direction of travel exceeds a predetermined threshold value.
- the roadside that is usually removed is the left-hand side of the road when traffic is on the right-hand side, and the right-hand side of the road when traffic is on the left-hand side.
- the method refers to the method described above, in which the confidence value used in the second method is generated using the first method.
- the second method can be used to subject measurements on the left-hand side on board the second motor vehicle to a plausibility check, so that measurements on the left-hand side can be permitted in an improved manner on certain streets and can be suppressed in an improved manner in other streets.
- a computer program product includes program code means for performing one of the methods described above when the computer program product runs on a processing device or is stored on a computer-readable data carrier. Some of the methods can also be carried out by different processing devices or stored on spatially separate data carriers.
- a device for determining a confidence value comprises a receiving device for receiving information from first motor vehicles which are driving on a section of a road in the same direction of travel; wherein on board the first motor vehicles a laterally directed first sensor for sensing a right roadside and a laterally directed second sensor for sensing a left roadside, a processing device for determining a first parking space on the right roadside on the basis of data from the first sensor and a second parking space on the left side of the road based on data from the second sensor, and a wireless transmission device for transmitting information relating to the specific parking spaces are provided.
- the device comprises a processing device which is set up to determine a first accumulation, with which first parking spaces on the right-hand side of the road were determined, and a second accumulation, with which second parking spaces on the left-hand side of the road were determined; and a confidence value based on the first and second clusters.
- a wireless transmission device is provided to provide the confidence value assigned to the section and the direction of travel.
- the device is implemented as a central device or server and can wirelessly receive information from the first motor vehicle described above, process it and make it available to the second motor vehicle described above.
- the second motor vehicle can also be taken from the set of first motor vehicles. In this sense, a first motor vehicle can coincide with the second motor vehicle.
- a device for determining a parking space in the area of a second motor vehicle, which drives on a section of a road in one direction of travel comprises a laterally directed sensor for scanning a roadside that is usually distant; a wireless transmitter for requesting and receiving a confidence value regarding the segment and the direction of travel; and a processing device configured to determine a parking space based on the scanning and to output an indication of the parking space if the confidence value exceeds a predetermined threshold value.
- the apparatus may enable the second motor vehicle to evaluate a left side roadside scan based on the previously determined confidence value. Unimportant or noisy measurements can thus be better suppressed. A number of incorrectly issued parking spaces determined on the left-hand side can be reduced.
- figure 1 shows a system 100 with a first motor vehicle 105, a second motor vehicle 110 and a central device 115, which can also be called a server.
- the motor vehicles 105, 110 are on a road 120 with a left and a right roadside 125.
- the motor vehicles 105, 110 drive on the road 120 in the same direction of travel and each scan their lateral surroundings to determine parking spaces 130 to park a motor vehicle 105, 110 are suitable.
- a large number of first motor vehicles 105 are required in order to determine a confidence value relating to the direction of travel and a section 135 of the road 120 from the scans of the first motor vehicles 105 .
- the confidence value is usually determined, stored or provided by the central facility 115 . Scans of the second motor vehicle 110 in the same direction of travel at the same section 135 can then be processed in an improved manner based on the confidence value.
- the first motor vehicle 105 comprises a first sensor 140 pointing laterally to the right, a second sensor 145 pointing laterally to the left, a processing device 150 and a wireless interface 155.
- the sensors 140, 145 can comprise ultrasonic, radar or LiDAR sensors, for example. They are set up to scan the respective right or left roadside 125 in order to detect a parking space 130 . The determination of the parking space 130 on the basis of measurement signals can be carried out by the processing device 150 .
- the wireless interface 155 is set up to exchange information with the central facility 115 . Any radio technology can be used, such as mobile radio or WLAN.
- the second motor vehicle 110 includes the same elements, it also being possible for the first sensor 140 to be dispensed with. If the second motor vehicle 110 is also to be able to operate as the first motor vehicle 105, then the first sensor 140 must be provided. Second motor vehicle 110 also includes an interface 160 for outputting a signal. An output device 165, which is aimed in particular at a driver of second motor vehicle 110 and can be optical, acoustic or haptic, is preferably connected to interface 160. However, the interface 160 can also lead to a further control device on board the second motor vehicle 110 .
- the central device 115 preferably includes a wireless interface 170 for communication with the wireless interface 155 of the first motor vehicle 105 or the second motor vehicle 110, a processing device 175 and preferably a storage device 180.
- the central device 115 is set up to receive information regarding parking spaces 130 from a To receive a plurality of first motor vehicles 105 and to determine on their basis a confidence value which is related to a section 135 of the road 120 and the direction of travel of the first motor vehicle 105 .
- a large number of confidence values can be stored in the memory 180 in order to characterize adjacent sections 135 of the road 120, an entire road 120 or a road network.
- the central facility 115 is set up to receive a request from a second motor vehicle 110, the request including a section 135 of the road 120 and a direction of travel. In response to the request, the central facility 115 may return an appropriate confidence score to the second motor vehicle 110 via the wireless interfaces 170 and 155 .
- figure 2 12 shows flowcharts of a first method 200, a second method 220, and a third method 250 that may be interleaved to improve sensing, processing, and use of parking space information.
- the first method 200 is preferably carried out in the first motor vehicle 105, the second method 220 in the central instance 115 and the third method 250 in the second motor vehicle 110.
- the first motor vehicle 105 drives on the section 135 of the road 120 in a predetermined direction of travel.
- the first sensor 140 is used to scan the right roadside 125 and in a step 206 the second sensor 145 is used to scan the left roadside 125 of the road 120 .
- parking spaces 130 on the right and left side of the first motor vehicle 105 are determined on the basis of the scans.
- information about specific parking spaces 130 is sent to the central device 115 using the wireless interface 155 .
- a frequency of parking spaces 130 determined on the right-hand side can be determined in particular in a step 224, a measurement noise of the determinations in a step 226, a number of scans of first motor vehicles 105 in a step 228, and frequencies of parking spaces 130 determined on the left-hand side in a step 230 become.
- a confidence is determined in a step 232, which expresses the probability with which a parking space 130 determined on the left-hand side of the road 125 of the road 120 actually corresponds to an existing parking space 130 and not just the result of a measurement error is.
- the section 135 of the road 120 is driven on by the second motor vehicle 110 .
- the second sensor 145 scans on the left side.
- a confidence or a confidence value is obtained which is related to the direction of travel of the second motor vehicle 110 and the section 135 of the road 120 on which the initially assumed parking space 130 is located.
- the second motor vehicle 110 can use the wireless interface 155 to send a corresponding request to the central entity 115 and receive a corresponding response.
- confidence values with regard to sections 135 of the road 120 can also be requested by the second motor vehicle 110 in advance from the central entity 115, so that the confidence values are present when the second motor vehicle 110 detects a parking space 130 on the left-hand side.
- an indication of the parking space 130 is output if the confidence at section 135 indicates that the measurement can be trusted. To this end, it can be checked whether the confidence exceeds a predetermined threshold value.
- figure 3 shows an example road network 300 to illustrate the presented technology. Streets 120 of the street network 300 are driven on in a predetermined direction of travel 305 by first and second motor vehicles 105, 110. Purely by way of example, the directions of travel 305 are combined here to form an endless loop. Right-hand and left-hand parking spaces 130 on streets 120 are entered symbolically as bars. In the following, two streets 120 are considered in more detail, of which a first street 310 runs vertically in the left area of the illustration and a second street 315 runs horizontally in the lower area.
- figure 4 shows abstract representations of frequencies of detected parking spaces 130 after the passage of a large number of first motor vehicles 105.
- Figure 4A shows frequencies of certain parking spaces 130 and on the right-hand side
- Figure 4B Frequencies of certain parking spaces 130 on the left-hand side.
- Each scan or parking space 130 relates to a section 135 of a road 120 and measurements by means of a large number of first motor vehicles 105.
- courses of the roads 120 are as shown in FIG figure 3 and the frequencies plotted in the vertical direction.
- a confidence value in sections 135 of the first road 310 is therefore high, while along the second road 315 low confidence values apply.
- a second motor vehicle 110 can accept a left-side measurement indicative of a parking space 130 in the first street 310 because of the high confidence value that applies there. In contrast, the same measurement result in the second street 315 can be discarded due to the low confidence value that applies there.
Description
Die Erfindung betrifft die Abtastung einer Parklücke von einem Kraftfahrzeug aus. Insbesondere betrifft die Erfindung die Abtastung einer Parklücke auf der linken Seite des Kraftfahrzeugs bei Rechtsverkehr bzw. auf der rechten Seite des Kraftfahrzeugs bei Linksverkehr.The invention relates to the scanning of a parking space from a motor vehicle. In particular, the invention relates to the scanning of a parking space on the left side of the motor vehicle when driving on the right or on the right side of the motor vehicle when driving on the left.
Ein Kraftfahrzeug kann in einer Parklücke abgestellt werden, die am Rand einer Straße zwischen anderen parkenden Kraftfahrzeugen besteht. Die Benutzung der Parklücke kann gebührenfrei oder gebührenpflichtig sein. Es sind unterschiedliche Ansätze zum Auffinden, Verwalten und Suchen solcher Parklücken bekannt.A motor vehicle can be parked in a parking space that exists at the edge of a road between other parked motor vehicles. The use of the parking space can be free of charge or subject to a charge. Different approaches to finding, managing and searching for such parking spaces are known.
Ein Kraftfahrzeug umfasst seitlich gerichtete Sensoren, um eine Parklücke zu detektieren. Wird eine Parklücke bestimmt, so kann das Kraftfahrzeug diese verwenden oder Informationen über die Parklücke an ein Verwaltungssystem übermitteln. Befindet sich das Kraftfahrzeug auf einem Straßennetz mit Rechtsverkehr, fährt es also üblicherweise auf der rechten Seite der Straße, so ist die Abtastung einer auf der rechten Seite des Kraftfahrzeugs gelegenen Parklücke wesentlich einfacher und sicherer als die Abtastung einer auf der linken Seite des Kraftfahrzeugs gelegenen Parklücke, die weiter vom Kraftfahrzeug entfernt ist und zwischenzeitlich durch überholende oder entgegenkommende Kraftfahrzeuge verschattet sein kann.A motor vehicle includes side-directed sensors to detect a parking space. If a parking space is determined, the motor vehicle can use this or transmit information about the parking space to an administration system. If the motor vehicle is on a road network with right-hand traffic, i.e. it usually drives on the right-hand side of the road, scanning a parking space on the right-hand side of the motor vehicle is much easier and safer than scanning a parking space on the left-hand side of the motor vehicle , which is further away from the motor vehicle and may in the meantime be shaded by overtaking or oncoming motor vehicles.
Der Erfindung liegt die Aufgabe zugrunde, eine Technik zur verbesserten Bestimmung einer Parklücke bereitzustellen. Die Erfindung löst diese Aufgabe mittels der Gegenstände der unabhängigen Ansprüche. Unteransprüche geben bevorzugte Ausführungsformen wieder.The object of the invention is to provide a technique for improved determination of a parking space. The invention solves this problem by means of the subject matter of the independent claims. Subclaims reflect preferred embodiments.
Ein Verfahren umfasst Schritte des Befahrens eines Abschnitts einer Straße mittels mehrerer erster Kraftfahrzeuge in der gleichen Fahrtrichtung; des Abtastens eines rechten Straßenrands mittels eines ersten, seitlich nach rechts gerichteten Sensors, und eines linken Straßenrands mittels eines zweiten, seitlich nach links gerichteten Sensors an jedem ersten Kraftfahrzeug; des Bestimmens von rechten Parklücken am rechten Straßenrand auf der Basis von Daten des ersten Sensors und linken Parklücken am linken Straßenrand auf der Basis von Daten des zweiten Sensors; des Bestimmens eines Konfidenzwerts auf der Basis einer ersten Häufung, mit der rechte Parklücken auf dem Abschnitt bestimmt wurden, und einer zweiten Häufung, mit der linke Parklücken auf dem Abschnitt bestimmt wurden; und des Zuordnens des Konfidenzwerts zum Abschnitt und dessen Fahrtrichtung.A method comprises the steps of driving on a section of a road using a plurality of first motor vehicles in the same direction of travel; scanning a right side of the road by means of a first sensor pointing laterally to the right, and a left side of the road by means of a second, lateral left facing sensor on each first motor vehicle; determining right parking spaces at the right side of the road based on data from the first sensor and left parking spaces at the left side of the road based on data from the second sensor; determining a confidence value based on a first cumulative used to determine right parking spaces on the segment and a second cumulative used to determine left parking spaces on the segment; and associating the confidence value with the segment and its direction of travel.
Den folgenden Ausführungen wird allgemein zugrunde gelegt, dass Rechtsverkehr herrscht, ein Kraftfahrzeug auf einer Straße also üblicherweise die rechte Spur benutzt. Die Erfindung ist jedoch in entsprechender Übertragung auch für Straßen mit Linksverkehr anwendbar.The following explanations are generally based on the fact that right-hand traffic prevails, ie a motor vehicle on a road usually uses the right-hand lane. However, the invention can also be applied to roads with left-hand traffic in a corresponding transfer.
Der Erfindung liegt die Erkenntnis zugrunde, dass auf bestimmten Straßen, insbesondere auf engen Straßen oder Einbahnstraßen, auf der linken Straßenseite bestimmte Parklücken ausgeprägter sind bzw. besser mit auf der rechten Seite bestimmten Parklücken übereinstimmen. Durch die Abtastung der Parklücken durch eine Vielzahl erster Kraftfahrzeuge kann eingeschätzt werden, ob an einer Straße bzw. einem Abschnitt ein solcher Zusammenhang vorliegt und eine linksseitige Abtastung voraussichtlich realistisch ist, oder nicht davon auszugehen ist, dass eine auf der linken Seite des Kraftfahrzeugs bestimmte Parklücke auch tatsächlich vorhanden ist. Je höher der Konfidenzwert ist, desto größeres Vertrauen kann die linksseitige Bestimmung einer Parklücke genießen. Das Verfahren kann insbesondere verwendet werden, um eine Datensammlung anzulegen, die unterschiedlichen Abschnitten eines Straßennetzes jeweils einen Konfidenzwert zuordnet. Dabei ist der Konfidenzwert an die Fahrtrichtung gebunden, sodass die ersten Kraftfahrzeuge und ein zweites, parkplatzsuchendes Kraftfahrzeug in der gleichen Richtung fahren müssen.The invention is based on the finding that on certain streets, in particular on narrow streets or one-way streets, specific parking spaces on the left-hand side of the street are more pronounced or correspond better to parking spaces defined on the right-hand side. By scanning the parking spaces with a large number of first motor vehicles, it can be estimated whether there is such a connection on a road or a section and whether a left-hand scan is likely to be realistic, or whether it cannot be assumed that a parking space determined on the left-hand side of the motor vehicle also actually exists. The higher the confidence value, the more confidence the left-side determination of a parking space can enjoy. The method can be used in particular to create a data collection that assigns a confidence value to different sections of a road network. The confidence value is linked to the direction of travel, so that the first motor vehicle and a second motor vehicle looking for a parking space must drive in the same direction.
In einer Ausführungsform wird der Konfidenzwert derart bestimmt, dass er umso höher ist, je besser die ersten und zweiten Häufungen entlang der Straße einander entsprechen. In diesem Fall ist die Straße wahrscheinlich relativ schmal oder wird nur in einer Richtung befahren und die linksseitigen Abtastungen sind nur geringen Fehlerquellen ausgesetzt.In one embodiment, the confidence value is determined such that the better the first and second clusters along the road match, the higher the confidence value. In this case, the road is likely to be relatively narrow or unidirectional, and the left-hand scans are subject to little error.
In einer weiteren Ausführungsform wird der Konfidenzwert derart bestimmt, dass er umso niedriger ist, je stärker die zweite Häufung aus Messrauschen besteht. Unterscheiden sich linksseitig bestimmte Parklücken nur wenig vom Messrauschen, so ist der Konfidenzwert also niedrig. Dadurch kann ein Signal-Rausch-Verhältnis berücksichtigt werden. In einer Ausführungsform können linksseitig bestimmte Parklücken vollständig verworfen werden, wenn die zweite Häufung unterhalb eines vorbestimmten Schwellenwerts bezüglich des Messrauschens liegt.In a further embodiment, the confidence value is determined in such a way that the higher the second accumulation of measurement noise, the lower it is. If certain parking spaces on the left differ only slightly from the measurement noise, the confidence value is therefore low. A signal-to-noise ratio can thereby be taken into account. In one embodiment, parking spaces determined on the left-hand side can be completely discarded if the second accumulation is below a predetermined threshold value with regard to the measurement noise.
In einer weiteren Ausführungsform können die ersten Kraftfahrzeuge die Straße mehrfach in einer vorbestimmten Richtung befahren und rechtsseitig Parklücken bestimmen. Dritte Kraftfahrzeuge können die Straße - vorher, verschränkt oder nachher - in der Gegenrichtung befahren, wobei linksseitig Parklücken bestimmt werden. Der Konfidenzwert kann derart bestimmt werden, dass er umso höher ist, je besser Häufungen der von den ersten Kraftfahrzeugen bestimmten Parklücken zu Häufungen der von den dritten Kraftfahrzeugen bestimmten Parklücken einander entsprechen bzw. zueinander korrelieren.In a further embodiment, the first motor vehicles can drive on the road several times in a predetermined direction and determine parking spaces on the right-hand side. Third motor vehicles can drive on the road in the opposite direction—before, interlaced, or after—with parking spaces being determined on the left-hand side. The confidence value can be determined such that it is higher the better accumulations of the parking spaces determined by the first motor vehicles correspond to accumulations of the parking spaces determined by the third motor vehicles or correlate with one another.
Das Messrauschen ist bevorzugt bestimmt als gleichverteilte zweite Häufungen entlang der Straße. Diese Häufungen haben üblicherweise ein relativ geringes Niveau.The measurement noise is preferably determined as an evenly distributed second accumulation along the road. These clusters are usually at relatively low levels.
Es ist weiterhin bevorzugt, dass das Messrauschen umso kleiner ist, je größer die Zahl der Abtastungen mittels erster Kraftfahrzeuge ist. Es ist bekannt, dass das Messrauschen verringert werden kann, indem eine Anzahl voneinander möglichst unabhängiger Messvorgänge gesteigert wird. Die Bestimmung des Messrauschens kann daher von der Anzahl der Abtastungen erster Kraftfahrzeuge abhängig sein. In der Praxis hat sich gezeigt, dass eine gute Unterscheidung zwischen signifikanten zweiten Häufungen und Messrauschen üblicherweise nach der Abtastung mittels ca. 500 erster Kraftfahrzeuge möglich ist. In anderen Ausführungsforen wurde auch eine gute Unterscheidbarkeit bei ca. 300 oder sogar ca. 200 ersten Kraftfahrzeugen erzielt.It is also preferred that the measurement noise is the smaller, the greater the number of scans by means of the first motor vehicle. It is known that the measurement noise can be reduced by increasing the number of measurement processes that are as independent as possible from one another. The determination of the measurement noise can therefore depend on the number of scans of the first motor vehicle. In practice, it has been shown that a good differentiation between significant second accumulations and measurement noise is usually possible after scanning with approximately 500 first motor vehicles. In other implementation forums, good differentiation was also achieved with around 300 or even around 200 first motor vehicles.
Es ist außerdem bevorzugt, dass der Konfidenzwert derart bestimmt wird, dass er umso höher ist, je stärker die zweite Häufung entlang der Straße ausgeprägt ist.It is also preferred that the confidence value is determined in such a way that the higher the second accumulation along the road, the higher it is.
Ein weiteres Verfahren umfasst Schritte des Befahrens eines Abschnitts einer Straße mittels eines zweiten Kraftfahrzeugs in einer Fahrtrichtung; des Abtastens eines üblicherweise entfernten Straßenrands mittels eines seitlich gerichteten Sensors; des Bestimmens einer Parklücke auf der Basis der Abtastung; des Bestimmens eines Konfidenzwerts bezüglich des Abschnitts und der Fahrtrichtung; und des Ausgebens eines Hinweises auf die Parklücke, falls ein dem Abschnitt der Straße zugeordneter Konfidenzwert bezüglich der gleichen Fahrtrichtung einen vorbestimmten Schwellenwert übersteigt.A further method comprises the steps of driving on a section of a road using a second motor vehicle in one direction of travel; scanning a normally distant roadside with a sideways-looking sensor; determining a parking space based on the sample; determining a confidence value regarding the segment and the direction of travel; and issuing an indication of the parking space if a confidence value associated with the section of the road with regard to the same direction of travel exceeds a predetermined threshold value.
Der üblicherweise entfernte Straßenrand ist bei herrschendem Rechtsverkehr der linke Straßenrand und bei herrschendem Linksverkehr der rechte Straßenrand. Das Verfahren nimmt Bezug auf das oben beschriebene Verfahren, in dem der Konfidenzwert, der im zweiten Verfahren verwendet wird, mittels des ersten Verfahrens generiert wird. Das zweite Verfahren kann dazu verwendet werden, linksseitige Messungen an Bord des zweiten Kraftfahrzeugs einer Plausibilitätskontrolle zu unterwerfen, sodass linksseitige Messungen in bestimmten Straßen verbessert zugelassen und in anderen Straßen verbessert unterdrückt werden können.The roadside that is usually removed is the left-hand side of the road when traffic is on the right-hand side, and the right-hand side of the road when traffic is on the left-hand side. The method refers to the method described above, in which the confidence value used in the second method is generated using the first method. The second method can be used to subject measurements on the left-hand side on board the second motor vehicle to a plausibility check, so that measurements on the left-hand side can be permitted in an improved manner on certain streets and can be suppressed in an improved manner in other streets.
Ein Computerprogrammprodukt umfasst Programmcodemittel zur Durchführung eines der oben beschriebenen Verfahren, wenn das Computerprogrammprodukt auf einer Verarbeitungseinrichtung abläuft oder auf einem computerlesbaren Datenträger gespeichert ist. Die Verfahren können auch teilweise von unterschiedlichen Verarbeitungseinrichtungen durchgeführt oder auf räumlich getrennten Datenträgern gespeichert sein.A computer program product includes program code means for performing one of the methods described above when the computer program product runs on a processing device or is stored on a computer-readable data carrier. Some of the methods can also be carried out by different processing devices or stored on spatially separate data carriers.
Eine Vorrichtung zur Bestimmung eines Konfidenzwerts umfasst eine Empfangseinrichtung zum Empfangen von Informationen von ersten Kraftfahrzeugen, die einen Abschnitt einer Straße in der gleichen Fahrtrichtung befahren; wobei an Bord der ersten Kraftfahrzeuge ein seitlich gerichteter erster Sensor zur Abtastung eines rechten Straßenrands und ein seitlich gerichteter zweiter Sensor zur Abtastung eines linken Straßenrands, eine Verarbeitungseinrichtung zur Bestimmung einer ersten Parklücke am rechten Straßenrand auf der Basis von Daten des ersten Sensors und einer zweiten Parklücke am linken Straßenrand auf der Basis von Daten des zweiten Sensors, sowie eine drahtlose Übertragungseinrichtung zur Übertragung von Informationen bezüglich der bestimmten Parklücken vorgesehen sind. Ferner umfasst die Vorrichtung eine Verarbeitungseinrichtung, die dazu eingerichtet ist, eine erste Häufung zu bestimmen, mit der erste Parklücken am rechten Straßenrand bestimmt wurden, und eine zweite Häufung, mit der zweite Parklücken am linken Straßenrand bestimmt wurden; sowie eines Konfidenzwerts auf der Basis der ersten und der zweiten Häufung. Darüber hinaus ist eine drahtlose Übertragungseinrichtung zur Bereitstellung des den Abschnitt und der Fahrtrichtung zugeordneten Konfidenzwerts vorgesehen.A device for determining a confidence value comprises a receiving device for receiving information from first motor vehicles which are driving on a section of a road in the same direction of travel; wherein on board the first motor vehicles a laterally directed first sensor for sensing a right roadside and a laterally directed second sensor for sensing a left roadside, a processing device for determining a first parking space on the right roadside on the basis of data from the first sensor and a second parking space on the left side of the road based on data from the second sensor, and a wireless transmission device for transmitting information relating to the specific parking spaces are provided. Furthermore, the device comprises a processing device which is set up to determine a first accumulation, with which first parking spaces on the right-hand side of the road were determined, and a second accumulation, with which second parking spaces on the left-hand side of the road were determined; and a confidence value based on the first and second clusters. In addition, a wireless transmission device is provided to provide the confidence value assigned to the section and the direction of travel.
Die Vorrichtung ist als zentrale Einrichtung oder Server implementiert und kann drahtlos Informationen der oben beschriebenen ersten Kraftfahrzeuge empfangen, verarbeiten und dem oben beschriebenen zweiten Kraftfahrzeug zur Verfügung stellen. Allgemein kann das zweite Kraftfahrzeug auch aus der Menge der ersten Kraftfahrzeuge entnommen sein. In diesem Sinne kann ein erstes mit dem zweiten Kraftfahrzeug zusammenfallen.The device is implemented as a central device or server and can wirelessly receive information from the first motor vehicle described above, process it and make it available to the second motor vehicle described above. In general, the second motor vehicle can also be taken from the set of first motor vehicles. In this sense, a first motor vehicle can coincide with the second motor vehicle.
Eine Vorrichtung zur Bestimmung einer Parklücke im Bereich eines zweiten Kraftfahrzeugs, das einen Abschnitt einer Straße in einer Fahrtrichtung befährt, umfasst einen seitlich gerichteten Sensor zur Abtastung eines üblicherweise entfernten Straßenrands; eine drahtlose Übertragungseinrichtung zum Anfordern und Empfangen eines Konfidenzwerts bezüglich des Abschnitts und der Fahrtrichtung; und eine Verarbeitungseinrichtung, die dazu eingerichtet ist, eine Parklücke auf der Basis der Abtastung zu bestimmen und einen Hinweis auf die Parklücke auszugeben, falls der Konfidenzwert einen vorbestimmten Schwellenwert übersteigt. Die Vorrichtung kann das zweite Kraftfahrzeug in die Lage versetzen, eine linksseitige Abtastung des Straßenrands auf der Basis des zuvor bestimmten Konfidenzwerts zu bewerten. Unwichtige oder verrauschte Messungen können dadurch verbessert unterdrückt werden. Eine Anzahl falsch ausgegebener linksseitig bestimmter Parklücken kann verringert sein.A device for determining a parking space in the area of a second motor vehicle, which drives on a section of a road in one direction of travel, comprises a laterally directed sensor for scanning a roadside that is usually distant; a wireless transmitter for requesting and receiving a confidence value regarding the segment and the direction of travel; and a processing device configured to determine a parking space based on the scanning and to output an indication of the parking space if the confidence value exceeds a predetermined threshold value. The apparatus may enable the second motor vehicle to evaluate a left side roadside scan based on the previously determined confidence value. Unimportant or noisy measurements can thus be better suppressed. A number of incorrectly issued parking spaces determined on the left-hand side can be reduced.
Die Erfindung wird nun mit Bezug auf die beigefügten Figuren genauer beschrieben, in denen:
- Fig. 1
- ein System mit einem ersten Kraftfahrzeug, einem zweiten Kraftfahrzeug und einer zentralen Einrichtung;
- Fig. 2
- Ablaufdiagramme von Verfahren auf dem System von
Fig. 1 ; - Fig. 3
- beispielhafte Straßen; und
- Fig. 4
- beispielhafte Häufungen von bestimmten Parklücken auf den Straßen von
Fig. 3
- 1
- a system with a first motor vehicle, a second motor vehicle and a central facility;
- 2
- Flowcharts of procedures on the system from
1 ; - 3
- exemplary roads; and
- 4
- exemplary accumulations of certain parking spaces on the streets of
3
Das erste Kraftfahrzeug 105 umfasst einen seitlich nach rechts gerichteten ersten Sensor 140, einen seitlich nach links gerichteten zweiten Sensor 145, eine Verarbeitungseinrichtung 150 und eine drahtlose Schnittstelle 155. Die Sensoren 140, 145 können beispielsweise Ultraschall-, Radar- oder LiDAR-Sensoren umfassen. Sie sind dazu eingerichtet, den jeweils rechten oder linken Straßenrand 125 abzutasten, um eine Parklücke 130 zu erfassen. Die Bestimmung der Parklücke 130 auf der Basis von Messsignalen kann mittels der Verarbeitungseinrichtung 150 durchgeführt werden. Die drahtlose Schnittstelle 155 ist dazu eingerichtet, Informationen mit der zentralen Einrichtung 115 auszutauschen. Dabei kann eine beliebige Funktechnik verwendet werden, etwa Mobilfunk oder WLAN.The first motor vehicle 105 comprises a
Das zweite Kraftfahrzeug 110 umfasst die gleichen Elemente, wobei auf den ersten Sensor 140 auch verzichtet werden kann. Soll das zweite Kraftfahrzeug 110 auch als erstes Kraftfahrzeug 105 arbeiten können, so ist der erste Sensor 140 jedoch vorzusehen. Ferner umfasst das zweite Kraftfahrzeug 110 eine Schnittstelle 160 zur Ausgabe eines Signals. Eine Ausgabeeinrichtung 165, die insbesondere an einen Fahrer des zweiten Kraftfahrzeugs 110 gerichtet sein und optisch, akustisch oder haptisch ausgebildet sein kann, ist bevorzugt mit der Schnittstelle 160 verbunden. Die Schnittstelle 160 kann jedoch auch zu einem weiteren Steuergerät an Bord des zweiten Kraftfahrzeugs 110 führen.The second motor vehicle 110 includes the same elements, it also being possible for the
Die zentrale Einrichtung 115 umfasst bevorzugt eine drahtlose Schnittstelle 170 zur Kommunikation mit der drahtlosen Schnittstelle 155 des ersten Kraftfahrzeugs 105 oder des zweiten Kraftfahrzeugs 110, eine Verarbeitungseinrichtung 175 und bevorzugt eine Speichervorrichtung 180. Die zentrale Einrichtung 115 ist dazu eingerichtet, Informationen bezüglich Parklücken 130 von einer Vielzahl erster Kraftfahrzeuge 105 entgegenzunehmen und auf deren Basis einen Konfidenzwert zu bestimmen, der auf einen Abschnitt 135 der Straße 120 und die Fahrtrichtung des ersten Kraftfahrzeugs 105 bezogen ist. Im Speicher 180 kann eine Vielzahl Konfidenzwerte abgelegt werden, um aneinander angrenzende Abschnitte 135 der Straße 120, eine gesamte Straße 120 oder ein Straßennetz zu charakterisieren. Außerdem ist die zentrale Einrichtung 115 dazu eingerichtet, eine Anforderung eines zweiten Kraftfahrzeugs 110 entgegenzunehmen, wobei die Anforderung einen Abschnitt 135 der Straße 120 und eine Fahrtrichtung umfasst. Als Antwort auf die Anforderung kann die zentrale Einrichtung 115 einen passenden Konfidenzwert mittels der drahtlosen Schnittstellen 170 und 155 an das zweite Kraftfahrzeug 110 zurückliefern.The
Im ersten Verfahren 200 befährt das erste Kraftfahrzeug 105 in einem ersten Schritt 202 den Abschnitt 135 der Straße 120 in einer vorbestimmten Fahrtrichtung. In einem Schritt 204 wird mittels des ersten Sensors 140 der rechte Straßenrand 125 und in einem Schritt 206 mittels des zweiten Sensors 145 der linke Straßenrand 125 der Straße 120 abgetastet. Auf der Basis der Abtastungen werden in Schritten 208 und 210 Parklücken 130 auf der rechten bzw. linken Seite des ersten Kraftfahrzeugs 105 bestimmt. Informationen über bestimmte Parklücken 130 werden in einem Schritt 212 mittels der drahtlosen Schnittstelle 155 an die zentrale Einrichtung 115 ausgesandt.In the
Im zweiten Verfahren 220 werden in einem Schritt 222 mittels der drahtlosen Schnittstelle 170 Informationen des ersten Kraftfahrzeugs 105 empfangen. Auf der Basis der empfangenen Informationen können insbesondere in einem Schritt 224 eine Häufigkeit rechtsseitig bestimmter Parklücken 130, in einem Schritt 226 ein Messrauschen der Bestimmungen, in einem Schritt 228 eine Anzahl von Abtastungen erster Kraftfahrzeuge 105 und in einem Schritt 230 Häufigkeiten linksseitig bestimmter Parklücken 130 bestimmt werden. Auf der Basis einiger oder mehrerer dieser Ergebnisse und Informationen wird in einem Schritt 232 eine Konfidenz bestimmt, die ausdrückt, mit welcher Wahrscheinlichkeit eine am linken Straßenrand 125 der Straße 120 bestimmte Parklücke 130 auch tatsächlich zu einer vorhandenen Parklücke 130 korrespondiert und nicht nur Resultat eines Messfehlers ist.In the
Im dritten Verfahren 250 wird der Abschnitt 135 der Straße 120 in einem Schritt 252 mittels des zweiten Kraftfahrzeugs 110 befahren. In einem Schritt 254 erfolgt eine linksseitige Abtastung mittels des zweiten Sensors 145. Auf der Basis der Abtastung wird in einem Schritt 256 eine Parklücke 130 am linken Straßenrand 125 der Straße 120 bestimmt. In einem Schritt 258 wird eine Konfidenz bzw. ein Konfidenzwert beschafft, der auf die Fahrtrichtung des zweiten Kraftfahrzeugs 110 und den Abschnitt 135 der Straße 120 bezogen ist, an dem sich die zunächst vermeintliche Parklücke 130 befindet. Dazu kann das zweite Kraftfahrzeug 110 mittels der drahtlosen Schnittstelle 155 eine korrespondierende Anforderung an die zentrale Instanz 115 aussenden und eine entsprechende Antwort empfangen. Selbstverständlich können Konfidenzwerte bezüglich Abschnitten 135 der Straße 120 seitens des zweiten Kraftfahrzeugs 110 auch vorausschauend von der zentralen Instanz 115 angefordert werden, sodass die Konfidenzwerte vorliegen, wenn das zweite Kraftfahrzeug 110 eine linksseitige Parklücke 130 detektiert. In einem Schritt 260 wird ein Hinweis auf die Parklücke 130 ausgegeben, falls die Konfidenz am Abschnitt 135 darauf hinweist, dass der Messung zu trauen ist. Dazu kann überprüft werden, ob die Konfidenz einen vorbestimmten Schwellenwert übersteigt.In the
Es ist zu sehen, dass in der ersten Straße 310 die links- und rechtsseitigen Häufungen einander ähneln, während an der zweiten Straße 315 ein derartiger Zusammenhang nicht gilt. Ein Konfidenzwert in Abschnitten 135 der ersten Straße 310 ist daher hoch, während entlang der zweiten Straße 315 niedrige Konfidenzwerte gelten. Ein zweites Kraftfahrzeug 110 kann eine auf eine Parklücke 130 hinweisende linksseitige Messung in der ersten Straße 310 aufgrund des dort geltenden hohen Konfidenzwerts akzeptieren. Das gleiche Messergebnis in der zweiten Straße 315 kann aufgrund des dort geltenden niedrigen Konfidenzwerts hingegen verworfen werden.It can be seen that in the
Claims (7)
- Method (200, 220), comprising the following steps:- travelling (202) along a section (135) of a road (120) by way of a plurality of first motor vehicles (105) in the same direction of travel (305);- scanning (204) a right-hand roadside (125) by way of a first sensor (140), directed laterally to the right, and a left-hand roadside (125) by way of a second sensor (145), oriented laterally to the left, on each first motor vehicle (105);- determining (208) right-hand parking spaces (130) on the right-hand roadside (125) on the basis of data from the first sensor (140) and left-hand parking spaces (130) on the left-hand roadside (125) on the basis of data from the second sensor (145);characterized by the following steps:- transmitting (212) information about the determined parking spaces (130) to a central unit by way of a wireless interface (155) of each first motor vehicle (105) ;- receiving (222) the information about the determined parking spaces (130) by way of a wireless interface (170) of the central unit (115);- determining (232) a confidence value on the basis of a first frequency at which right-hand parking spaces (130) were determined on the section (135) and a second frequency at which left-hand parking spaces (130) were determined on the section (135), wherein the confidence value expresses the probability of a parking space (130) determined on the left-hand roadside (125) of the road (120) actually corresponding to a parking space (130) that is present, wherein the confidence value is higher the more the first and second frequencies along the road (120) correspond to one another and wherein the confidence value is lower the greater the second frequency consists of measurement noise; and- assigning (232) the confidence value to the section (135) and the direction of travel (305) and providing the confidence value by way of the central unit (115),- travelling (252) along a section (135) of a road (120) by way of a second motor vehicle (110) in a direction of travel (305);- scanning (254) a usually distant roadside (125) by way of a laterally directed sensor (145) of the second motor vehicle (110), wherein the usually distant roadside is the left-hand roadside when right-hand traffic is applicable and the right-hand roadside when left-hand traffic is applicable;- determining (256) a parking space (130) on the basis of the scanning;- the second motor vehicle (110) requesting and receiving (258) a confidence value in relation to the section (135) and the direction of travel (305) from the central unit (115); and- outputting (260) an indication of the parking space (130) if a confidence value assigned to the section (135) of the road (120) in relation to the same direction of travel (305) exceeds a predetermined threshold value.
- Method (200, 220) according to Claim 1, wherein the measurement noise is defined as equally distributed second frequencies along the road (120).
- Method (200, 220) according to Claim 2, wherein the measurement noise is smaller the greater the number of sampling operations performed by first motor vehicles (105) .
- Method (200, 220) according to one of the preceding claims, wherein the confidence value is higher the more pronounced the second frequency along the road (120).
- Computer program product comprising program code means for performing a method (200, 220, 250) according to one of the preceding claims when the computer program product runs on a processing unit (150, 175) or is stored on a computer-readable data carrier.
- Device (115) for determining a confidence value, for use as central unit in a method according to one of Claims 1 to 4, wherein the device (115) comprises the following:- a reception unit (170) for receiving information from first motor vehicles (105) that are travelling along a section (135) of a road (120) in the same direction of travel (305);- wherein the following is provided on board the first motor vehicles (105):• a laterally directed first sensor (140) for scanning a right-hand roadside (125) and a laterally directed second sensor (145) for scanning a left-hand roadside (125);• a processing unit (150) for determining first parking spaces (130) on the right-hand roadside (125) on the basis of data from the first sensors (140) and second parking spaces (130) on the left-hand roadside (125) on the basis of data from the second sensors (145); and• a wireless transmission unit (155) for transmitting information in relation to the determined parking spaces (130);- a processing unit (175) that is configured to determine a first frequency at which first parking spaces (130) were determined on the right-hand roadside (125), and a second frequency at which second parking spaces (130) were determined on the left-hand roadside (125); and a confidence value on the basis of the first and the second frequency, wherein the confidence value expresses the probability of a parking space (130) determined on the left-hand roadside (125) of the road (120) actually corresponding to a parking space (130) that is present, wherein the confidence value is higher the more the first and second frequencies along the road (120) correspond to one another and wherein the confidence value is lower the greater the second frequency consists of measurement noise;- a wireless transmission unit (170) for providing the confidence value assigned to the section (135) and the direction of travel (305).
- Device (115) according to Claim 6, wherein the following is provided on board a second motor vehicle in order to determine a parking space (130) in the region of the second motor vehicle (110) that is travelling along a section (135) of a road (120) in a direction of travel (305):- a laterally directed sensor (145) for scanning a usually distant roadside (125), wherein the usually distant roadside is the left-hand roadside when right-hand traffic is applicable and the right-hand roadside when left-hand traffic is applicable;- a wireless transmission unit (155) for requesting and receiving a confidence value in relation to the section (135) and the direction of travel (305); and- a processing unit (150) that is configured to determine a parking space (130) on the basis of the scanning and to output an indication of the parking space (130) if the confidence value exceeds a predetermined threshold value.
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DE102015211514B4 (en) * | 2015-06-23 | 2022-01-05 | Robert Bosch Gmbh | Method and device for driver assistance |
CN105035075B (en) * | 2015-06-24 | 2018-08-21 | 合肥中科自动控制系统有限公司 | A kind of paths planning method for autonomous Parallel parking |
US20170025008A1 (en) * | 2015-07-20 | 2017-01-26 | Dura Operating, Llc | Communication system and method for communicating the availability of a parking space |
KR102032666B1 (en) * | 2015-10-22 | 2019-10-15 | 닛산 지도우샤 가부시키가이샤 | Parking Assistance Method and Parking Assistance Device |
US9996080B2 (en) * | 2016-02-26 | 2018-06-12 | Ford Global Technologies, Llc | Collision avoidance using auditory data |
KR101832466B1 (en) * | 2016-06-14 | 2018-04-13 | 엘지전자 주식회사 | Parking Assistance Apparatus and Vehicle Having The Same |
US10055675B2 (en) * | 2016-06-15 | 2018-08-21 | Ford Global Technologies, Llc | Training algorithm for collision avoidance using auditory data |
-
2016
- 2016-07-08 DE DE102016212505.2A patent/DE102016212505A1/en not_active Withdrawn
-
2017
- 2017-05-10 CN CN201780042476.3A patent/CN109416882B/en active Active
- 2017-05-10 EP EP17723341.8A patent/EP3482384B1/en active Active
- 2017-05-10 WO PCT/EP2017/061207 patent/WO2018007054A1/en unknown
- 2017-05-10 US US16/099,231 patent/US10629076B2/en active Active
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US10629076B2 (en) | 2020-04-21 |
WO2018007054A1 (en) | 2018-01-11 |
DE102016212505A1 (en) | 2018-01-11 |
CN109416882B (en) | 2022-06-14 |
CN109416882A (en) | 2019-03-01 |
EP3482384A1 (en) | 2019-05-15 |
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