EP3655934A1 - Concept de surveillance d'un espace de stationnement - Google Patents

Concept de surveillance d'un espace de stationnement

Info

Publication number
EP3655934A1
EP3655934A1 EP18731017.2A EP18731017A EP3655934A1 EP 3655934 A1 EP3655934 A1 EP 3655934A1 EP 18731017 A EP18731017 A EP 18731017A EP 3655934 A1 EP3655934 A1 EP 3655934A1
Authority
EP
European Patent Office
Prior art keywords
area
motor vehicle
parking space
environment sensor
freely passable
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
EP18731017.2A
Other languages
German (de)
English (en)
Other versions
EP3655934B1 (fr
Inventor
Stefan Nordbruch
Andreas Lehn
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 EP3655934A1 publication Critical patent/EP3655934A1/fr
Application granted granted Critical
Publication of EP3655934B1 publication Critical patent/EP3655934B1/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
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
    • 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
    • G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • G—PHYSICS
    • 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

Definitions

  • the invention relates to a method and a device for monitoring a parking space.
  • the invention further relates to a parking space.
  • the invention further relates to a computer program.
  • Parking spaces within which motor vehicles drive in a highly automated manner are generally monitored by environment sensors in order to determine, for example, whether there are obstacles to a planned target trajectory for the motor vehicles.
  • the object underlying the invention is to provide a concept for efficiently monitoring a parking space.
  • a method of monitoring a parking space using one of a plurality of environmental sensor devices comprises the following steps:
  • Environment sensing means for detecting respective environmental sensor data; b) respectively determining, based on the respective environmental sensor data, whether the region is freely drivable by a motor vehicle to obtain a respective result,
  • an apparatus for monitoring parking space comprising:
  • a plurality of environment sensor means for respectively detecting a
  • a processor for determining based on the respective one
  • the processor is designed to determine that the area is not freely passable by a motor vehicle, only if all respective results pretend that the area is not freely passable by a motor vehicle,
  • the processor is formed, with different results or if all results each pretend that the area is freely passable by a motor vehicle, to specify that the area is freely passable by a motor vehicle.
  • a parking space comprising the device for monitoring a parking space, wherein the plurality Environment sensor devices are disposed within the parking space stationary to monitor a common area of the parking space.
  • a computer program comprising program code for performing the method of monitoring a parking space when the computer program is executed on a computer, for example on the processor of the parking space monitoring apparatus.
  • the invention is based on the finding that the above object can be achieved by only stipulating that the area is not freely passable by a motor vehicle when all the area monitoring
  • the technical advantage is caused that a number of false-negative object detections can be kept small.
  • the technical advantage is caused that a number of false positive free space detections can be kept small.
  • Positive means that a free space is available, so that the area for a motor vehicle free is drivable.
  • False-positive means that there is a free space, but the environment sensor device has erroneously detected no clearance.
  • the determination based on the respective environment sensor data, whether the area is freely passable by a motor vehicle includes a search for a free space within the area, which is passable by the motor vehicle.
  • the technical advantage is achieved that determining whether the area can be driven freely by a motor vehicle can be carried out efficiently.
  • a result of the corresponding determination includes, for example, the indication that a free space exists or that there is no free space.
  • Collision object within the range includes.
  • the technical advantage is achieved that determining whether the area can be driven freely by a motor vehicle can be carried out efficiently.
  • one or more objects which are respectively located within the area are searched for.
  • a corresponding result of the determination includes, for example, that one or more objects were found or that no or no objects were found.
  • a result thus includes in particular the indication that within the range one or more objects are present respectively that within the area no or no objects are present with which a motor vehicle could collide.
  • the steps a) and b), for example the steps a) to c), are repeated several times in succession, wherein it is determined whether there were respective different results for each repetition, wherein, if so, is determined that an error has occurred.
  • the area for driving on motor vehicles is blocked when it is determined that an error has occurred.
  • motor vehicles which travel within the parking space in the direction of the area or which are already driving within the area are stopped, respectively
  • a holding signal is output to motor vehicles when it is determined that a
  • an at least partially automated, for example highly automated, in particular autonomous, moving motor vehicle for example, an at least partially automated, for example highly automated, in particular autonomous, moving motor vehicle
  • the remote control command is sent to the motor vehicle via, for example, a wireless communication network, for example a WLAN communication network and / or a mobile radio network.
  • a wireless communication network for example a WLAN communication network and / or a mobile radio network.
  • Environment sensor means of the plurality of environment sensor means comprises a lidar sensor, so that the respective environment sensor data of the first environment sensor means are Lidar poems, and wherein a second
  • Stereo camera or a monocamera is, so the respective
  • Environment sensor data is stereo image data or mono image data.
  • the technical advantage is brought about that enables efficient monitoring of the area.
  • the plurality of environment sensor devices each one or more of the following
  • Environment sensors includes: radar sensor, lidar sensor, video sensor, in particular video sensor of a stereo camera or a monocamera, ultrasonic sensor,
  • Infrared sensor and magnetic sensor are Infrared sensor and magnetic sensor.
  • the plurality of environment sensor devices are each formed differently.
  • the plurality of environment sensing devices are the same.
  • the device for monitoring a parking space is designed or set up, the method for
  • Monitoring a parking space is performed or carried out by means of the device for monitoring a parking space.
  • the plurality of environmental sensing devices are stationary within the parking space.
  • the plurality of environmental sensor devices are statically arranged within the parking space. In one embodiment, the plurality of monitors
  • the plurality of environment sensor devices are each arranged on an infrastructure element of the parking space.
  • an infrastructure element is one of the following:
  • Infrastructure elements wall, ceiling, floor, archway, pillar, door, barrier, carriageway.
  • the phrase "respectively” includes in particular the formulation
  • 1 is a flowchart of a method for monitoring a
  • FIG. 2 shows a device for monitoring a parking space and FIG. 3 shows a parking space.
  • FIG. 1 shows a flowchart of a method for monitoring a parking space using a plurality of environment sensor devices, wherein the plurality of environment sensing devices are stationary within the parking space and monitor a common area of the parking space.
  • exactly two surroundings sensor devices are provided for monitoring the area, which are referred to below as a first and a second surroundings sensor device.
  • the concept can also be extended to more than two environment sensor devices.
  • the method starts at block 100.
  • Motor vehicle is freely passable 113 is determined that the area is freely passable by a motor vehicle. The method then ends at block 1 15.
  • the method starts again at block 100 after reaching block 1 15. If more than two environment sensor devices are provided for monitoring the area, then the extension comprises a determination that the area can not be driven freely by a motor vehicle, only if all the respective results specify that the area can not be freely driven by a motor vehicle so if results are different or if all
  • Fig. 2 shows a device 201 for monitoring a parking space.
  • the device 201 includes:
  • a first environment sensor device 203 and a second environment sensor device 205 are shown schematically.) For detecting each area of the parking space to each respective
  • a processor 207 for determining based on the respective one
  • the processor 207 is configured to determine that the area is not freely passable by a motor vehicle, only if all the respective results pretend that the area is not by a
  • the processor 207 is formed, in different results or if all results each pretend that the area is freely passable by a motor vehicle, to specify that the area is freely passable by a motor vehicle.
  • 3 shows a parking space 301.
  • the parking space 301 comprises the device 201 according to FIG. 2.
  • the plurality of environment sensor devices 203, 205 are within the
  • Parking space 301 stationarily arranged to monitor a common area of the parking space 301.
  • the parking space 301 includes, for example, several parking spaces for
  • the plurality of environment sensor devices 203, 205 are each arranged on an infrastructure element of the parking space 301.
  • an infrastructure element is one of the following:
  • Infrastructure elements wall, ceiling, floor, archway, pillar, door, barrier, carriageway.
  • concept according to the invention is based inter alia on the use of the following algorithm:
  • Motor vehicle is freely passable, then it is determined as an overall result that the area for a motor vehicle is freely passable.
  • the high detection quality is partly due to the fact that the
  • Environment sensor devices are arranged stationary within the parking space, so they always capture a known and manageable environment and monitor. For example, the environmental sensor devices monitor an area with a maximum area of 10 m x 10 m.
  • the empty area is measured once, that is precisely when it is known that there are no motor vehicles within the area.
  • the environment sensor data corresponding to this detection will be used, for example, as a reference, which is compared in operation of the parking space with then obtained environmental sensor data to detect whether the area is free or not.
  • the environment sensor devices are thus fixed in particular statically within the parking space.
  • the determined results are provided according to an embodiment with a measurement error.
  • the measurement error is, for example, a probability or inaccuracy. Such probabilities respectively
  • Inaccuracies include the following: “maybe free”, “80% free”, “60% not free”, “unknown”, “free with a predetermined percentage”, “not free with a predetermined percentage”.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un concept de surveillance d'un espace de stationnement à l'aide d'une pluralité de moyens de détection d'environnement, la pluralité de moyens de détection d'environnement étant immobiles dans l'espace de stationnement et surveillent une zone commune de l'espace de stationnement. Ce n'est que tous les moyens de détection d'environnement détectent que la zone ne peut pas être librement empruntée par un véhicule automobile que l'on détermine comme résultat global que la zone ne peut pas être empruntée librement par un véhicule automobile.
EP18731017.2A 2017-07-19 2018-06-06 Concept de surveillance d'un espace de stationnement Active EP3655934B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017212374.5A DE102017212374A1 (de) 2017-07-19 2017-07-19 Konzept zum Überwachen eines Parkraums
PCT/EP2018/064887 WO2019015849A1 (fr) 2017-07-19 2018-06-06 Concept de surveillance d'un espace de stationnement

Publications (2)

Publication Number Publication Date
EP3655934A1 true EP3655934A1 (fr) 2020-05-27
EP3655934B1 EP3655934B1 (fr) 2021-12-22

Family

ID=62599565

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18731017.2A Active EP3655934B1 (fr) 2017-07-19 2018-06-06 Concept de surveillance d'un espace de stationnement

Country Status (3)

Country Link
EP (1) EP3655934B1 (fr)
DE (1) DE102017212374A1 (fr)
WO (1) WO2019015849A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114512019B (zh) * 2021-12-30 2023-06-27 浙江创泰科技有限公司 一种智能停车识别群控方法及系统

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5173692A (en) * 1990-08-13 1992-12-22 Ai Computer Services, Inc. System and method of vehicle detection
US6426708B1 (en) * 2001-06-30 2002-07-30 Koninklijke Philips Electronics N.V. Smart parking advisor
DE102006044002A1 (de) * 2006-09-19 2008-03-27 Siemens Ag Parkleitsystem
DE102010013878A1 (de) * 2010-02-16 2011-08-18 Niechoj electronic GmbH, 88085 Fahrbahnintegrierter Radarsensor
DE102011075412A1 (de) * 2011-05-06 2012-11-08 Deutsche Telekom Ag Verfahren und System zum Erfassen einer statischen Szene, zum Bestimmen von Rohereignissen und zum Erkennen von freien Flächen in einem Beobachtungsgebiet
EP3020032B1 (fr) * 2013-07-09 2021-03-17 Signify Holding B.V. Procédés et systèmes pour suivre la position d'un véhicule à l'aide d'une pluralité de capteurs de lumière
DE102015201810A1 (de) * 2015-02-03 2016-08-04 Siemens Aktiengesellschaft Verkehrsüberwachungssystem zur Überwachung einer Verkehrsfläche
DE102015208058B4 (de) * 2015-04-30 2017-06-29 Robert Bosch Gmbh Automatisiertes Parksystem

Also Published As

Publication number Publication date
WO2019015849A1 (fr) 2019-01-24
DE102017212374A1 (de) 2019-01-24
EP3655934B1 (fr) 2021-12-22

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