EP3655934B1 - Concept for monitoring a parking space - Google Patents

Description

The invention relates to a method and a device for monitoring a parking space. The invention also relates to a parking space. The invention also relates to a computer program.

State of the art

Parking spaces in which motor vehicles drive in a highly automated manner are usually monitored by environment sensors in order, for example, to determine whether there are obstacles on a planned target trajectory for the motor vehicles.

There is a need for a reliable detection of whether a route is free for the motor vehicles, while at the same time providing a high level of availability. This means that the number of false-negative object detections should be kept as small as possible. Negative here means that there is no object. False-negative means that no object is present, but the environment sensor has falsely recognized an object.

The disclosure document DE 10 2015 208 058 A1 discloses a method for determining a position of a motor vehicle on a traffic area of a parking lot.

The patent specification U.S. 5,173,692 A discloses a method of detecting vehicles using two ultrasonic sensors.

Disclosure of the invention

The object on which the invention is based is to be seen in providing a concept for the efficient monitoring of a parking space.

This object is achieved by means of the respective subject matter of the independent claims. Advantageous refinements of the invention are the subject matter of the respective dependent subclaims.

1. a) jeweiliges Erfassen des Bereichs mittels der mehreren Umfeldsensoreinrichtungen, um jeweilige Umfeldsensordaten zu ermitteln,
2. b) jeweiliges Ermitteln basierend auf den jeweiligen Umfeldsensordaten, ob der Bereich durch ein Kraftfahrzeug frei befahrbar ist, um ein jeweiliges Ergebnis zu erhalten,
3. c) Festlegen, dass der Bereich nicht durch ein Kraftfahrzeug frei befahrbar ist, nur dann, wenn alle jeweiligen Ergebnisse vorgeben, dass der Bereich nicht durch ein Kraftfahrzeug frei befahrbar ist, so dass bei unterschiedlichen Ergebnissen oder wenn alle Ergebnisse jeweils vorgeben, dass der Bereich durch ein Kraftfahrzeug frei befahrbar ist, festgelegt wird, dass der Bereich durch ein Kraftfahrzeug frei befahrbar ist.

According to one aspect, a method for monitoring a parking space using a plurality of surroundings sensor devices, the plurality of surroundings sensor devices being arranged in a stationary manner within the parking space and monitoring a common area of the parking space, comprising the following steps:

1. a) respective detection of the area by means of the multiple environment sensor devices in order to determine respective environment sensor data,
2. b) the respective determination based on the respective environment sensor data as to whether the area is freely accessible by a motor vehicle in order to obtain a respective result,
3. c) Determine that the area is not freely accessible by a motor vehicle, only if all the respective results indicate that the area is not freely accessible by a motor vehicle, so that if the results differ or if all results indicate that the area is freely passable by a motor vehicle, it is determined that the area is freely passable by a motor vehicle.

• mehrere Umfeldsensoreinrichtungen zum jeweiligen Erfassen eines Bereichs des Parkraums, um jeweilige Umfeldsensordaten zu ermitteln,
• einen Prozessor zum Ermitteln basierend auf den jeweiligen Umfeldsensordaten, ob der Bereich durch ein Kraftfahrzeug frei befahrbar ist, um ein jeweiliges Ergebnis zu erhalten, und
• wobei der Prozessor ausgebildet ist, festzulegen, dass der Bereich nicht durch ein Kraftfahrzeug frei befahrbar ist, nur dann, wenn alle jeweiligen Ergebnisse vorgeben, dass der Bereich nicht durch ein Kraftfahrzeug frei befahrbar ist,
• wobei der Prozessor ausgebildet ist, bei unterschiedlichen Ergebnissen oder wenn alle Ergebnisse jeweils vorgeben, dass der Bereich durch ein Kraftfahrzeug frei befahrbar ist, festzulegen, dass der Bereich durch ein Kraftfahrzeug frei befahrbar ist.

According to a further aspect, a device for monitoring a parking space is provided, comprising:

• several surroundings sensor devices for the respective detection of an area of the parking space in order to determine respective surroundings sensor data,
• a processor for determining, based on the respective environment sensor data, whether the area can be freely driven by a motor vehicle in order to obtain a respective result, and
• wherein the processor is designed to stipulate that the area is not freely accessible by a motor vehicle, only if all the respective results indicate that the area is not freely accessible by a motor vehicle,
• wherein the processor is designed, in the event of different results or if all of the results respectively specify that the area is freely drivable by a motor vehicle, to stipulate that the area is freely drivable by a motor vehicle.

According to another aspect, a parking space is provided, comprising the device for monitoring a parking space, the plurality of surroundings sensor devices being arranged in a stationary manner within the parking space in order to monitor a common area of the parking space.

According to another aspect, a computer program is provided which comprises program code for performing the method for monitoring a parking space when the computer program is executed on a computer, for example on the processor of the device for monitoring a parking space.

The invention is based on the knowledge that the above object can be achieved by stipulating that the area cannot be freely driven by a motor vehicle if all of the environment sensor devices monitoring the area recognize that the area cannot be freely driven by a motor vehicle is.

This means that if only one of the surroundings sensor devices detects that the area is not freely accessible by a motor vehicle, it is further assumed that the area is freely accessible by a motor vehicle.

Usually, the environment sensor devices available today have a high detection quality, so that it can be assumed with a high degree of probability that the area is only occupied, i.e. not freely accessible by a motor vehicle, if all the environment sensor devices recognize the area as occupied.

This has the technical advantage, for example, that a number of false-negative object detections can be kept small. Negative here means that there is no object. False negative means to the extent that no object is present, but the environment sensor device has falsely recognized an object.

For example, the technical advantage is brought about that a number of false positive free space detections can be kept small. Positive here means that there is free space, that is, that the area is freely accessible for a motor vehicle. In this respect, false-positive means that there is free space, but the environment sensor device has incorrectly recognized no free space.

Thus, in particular, the technical advantage is brought about that a concept for efficient monitoring of a parking space is provided.

According to one embodiment, it is provided that the determination based on the respective environment sensor data as to whether the area is freely drivable by a motor vehicle comprises a search for a free space within the area that is drivable by the motor vehicle.

This has the technical advantage, for example, that the determination of whether the area can be freely driven by a motor vehicle can be carried out efficiently.

According to this embodiment it is therefore provided that a free space (free space) is searched for. A result of the corresponding determination includes, for example, the information that a free space is present or that a free space is not present.

According to a further embodiment, it is provided that the determination based on the respective environment sensor data as to whether the area is freely accessible by a motor vehicle includes a search for a potential collision object within the area.

This has the technical advantage, for example, that the determination of whether the area is freely accessible by a motor vehicle can be carried out efficiently.

According to this embodiment, it is provided that one or more objects (collision object) that are located or are 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 objects or no objects were found. A result therefore includes, in particular, the information that one or more objects are present within the area or that there are no or no objects with which a motor vehicle could collide within the area.

According to a further embodiment it is provided that steps a) and b), for example steps a) to c), are repeated several times in succession, it being determined whether there were respective different results for each repetition, and if so, it is determined that an error has occurred.

This has the technical advantage, for example, that it can be efficiently determined whether, for example, one of the plurality of surroundings sensor devices is malfunctioning. This is because the probability that faultlessly functioning environment sensor devices will deliver different results several times is low. If the surroundings sensor devices present different results several times, this is a strong indication that an error has occurred.

For example, according to one embodiment it is provided that the area is blocked from driving motor vehicles if it is determined that an error has occurred.

According to one embodiment, it is provided that motor vehicles that drive within the parking space in the direction of the area or that are already driving within the area are stopped or that a stop signal is output to these motor vehicles if it is determined that an error has occurred.

For example, an at least partially automated, for example highly automated, in particular autonomous, motor vehicle is switched on Remote control command sent, wherein the remote control command specifies that the motor vehicle should stop. The remote control command is sent to the motor vehicle, for example, via a wireless communication network, for example a WLAN communication network and / or a cellular network.

In one embodiment it is provided that a first environment sensor device of the plurality of environment sensor devices comprises a lidar sensor, so that the respective environment sensor data of the first environment sensor device are lidar data, and wherein a second environment sensor device of the plurality of environment sensor devices is a stereo camera or a mono camera, so that the respective environment sensor data is stereo image data or Are mono image data.

This has the technical advantage, for example, that the area can be monitored efficiently.

According to another embodiment, it is provided that the multiple environment sensor devices each include one or more of the following environment sensors: radar sensor, lidar sensor, video sensor, in particular video sensor of a stereo camera or a mono camera, ultrasonic sensor, infrared sensor and magnetic sensor.

According to one embodiment, the multiple surroundings sensor devices are each designed differently.

According to one embodiment, the plurality of surroundings sensor devices are designed identically.

In one embodiment it is provided that the device for monitoring a parking space is designed or set up to execute or carry out the method for monitoring a parking space.

According to one embodiment it is provided that the method for monitoring a parking space is implemented or executed by means of the device for monitoring a parking space.

Technical functionalities of the device for monitoring a parking space result analogously from corresponding technical functionalities of the method for monitoring a parking space.

This means that device features result directly from corresponding process features and vice versa.

According to one embodiment, the plurality of surroundings sensor devices are arranged in a stationary manner within the parking space.

In one embodiment, the multiple surroundings sensor devices are statically arranged within the parking space.

According to one embodiment, the multiple surroundings sensor devices monitor a common area of the parking space.

In one embodiment, the multiple surroundings sensor devices are each arranged on an infrastructure element of the parking space.

An infrastructure element is, for example, one of the following infrastructure elements: wall, ceiling, floor, archway, column, door, barrier, roadway.

The phrase “or” includes in particular the phrase “and / or”.

Fig. 1

ein Ablaufdiagramm eines Verfahrens zum Überwachen eines Parkraums,

Fig. 2

eine Vorrichtung zum Überwachen eines Parkraums und

Fig. 3

einen Parkraum.

The invention is explained in more detail below on the basis of preferred exemplary embodiments. Show here

Fig. 1

a flowchart of a method for monitoring a parking space,

Fig. 2

a device for monitoring a parking space and

Fig. 3

a parking space.

Fig. 1 FIG. 8 shows a flowchart of a method for monitoring a parking space using multiple surroundings sensor devices, the multiple surroundings sensor devices being arranged in a stationary manner within the parking space and monitoring a common area of the parking space.

According to this exemplary embodiment, exactly two environment sensor devices are provided for monitoring the area, which are referred to below as a first and a second environment sensor device. The concept can, however, also be expanded to include more than two surroundings sensor devices.

The method starts at block 100.

• Erfassen 101 des Bereichs mittels der ersten Umfeldsensoreinrichtung, um erste Umfeldsensordaten zu ermitteln,
• Erfassen 103 des Bereichs mittels der zweiten Umfeldsensoreinrichtung, um zweite Umfeldsensordaten zu ermitteln,
• Ermitteln 105 basierend auf den ersten Umfeldsensordaten, ob der Bereich durch ein Kraftfahrzeug frei befahrbar ist, um ein erstes Ergebnis zu erhalten,
• Ermitteln 107 basierend auf den zweiten Umfeldsensordaten, ob der Bereich durch ein Kraftfahrzeug frei befahrbar ist, um ein zweites Ergebnis zu erhalten, Prüfen 109, ob beide Ergebnisse vorgeben, dass der Bereich nicht durch ein Kraftfahrzeug befahrbar ist,
• Festlegen 111, dass der Bereich nicht durch ein Kraftfahrzeug frei befahrbar ist, nur dann, wenn beide Ergebnisse vorgeben, dass der Bereich nicht durch ein Kraftfahrzeug frei befahrbar ist, so dass bei unterschiedlichen Ergebnissen oder wenn beide Ergebnisse jeweils vorgeben, dass der Bereich durch ein Kraftfahrzeug frei befahrbar ist, festgelegt 113 wird, dass der Bereich durch ein Kraftfahrzeug frei befahrbar ist.

The following steps then follow:

• Detecting 101 the area by means of the first environment sensor device in order to determine first environment sensor data,
• Detecting 103 the area by means of the second environment sensor device in order to determine second environment sensor data,
• Determining 105 based on the first environment sensor data whether the area is freely accessible by a motor vehicle in order to obtain a first result,
• Determining 107 based on the second environment sensor data whether the area is freely accessible by a motor vehicle in order to obtain a second result, checking 109 whether both results indicate that the area cannot be driven by a motor vehicle,
• Define 111 that the area is not freely drivable by a motor vehicle, only if both results indicate that the area is not freely drivable by a motor vehicle, so that if the results are different or if both results indicate that the area is through a Motor vehicle is freely drivable, it is established 113 that the area is freely drivable by a motor vehicle.

The method then ends at block 115.

In one embodiment it is provided that the method starts again at block 100 after block 115 has been reached.

If more than two environment sensor devices are provided for monitoring the area, the extension includes stipulating that the area cannot be freely driven by a motor vehicle only if all the respective results indicate that the area is not freely driven by a motor vehicle so that in the case of different results or if all of the results specify that the area is freely drivable by a motor vehicle, it is established that the area is freely drivable by a motor vehicle.

Fig. 2 shows a device 201 for monitoring a parking space.

• mehrere Umfeldsensoreinrichtungen 203, 205 (Im vorliegenden Ausführungsbeispiel sind eine erste Umfeldsensoreinrichtung 203 und eine zweite Umfeldsensoreinrichtung 205 schematisch dargestellt.) zum jeweiligen Erfassen eines Bereichs des Parkraums, um jeweilige Umfeldsensordaten zu ermitteln,
• einen Prozessor 207 zum Ermitteln basierend auf den jeweiligen Umfeldsensordaten, ob der Bereich durch ein Kraftfahrzeug frei befahrbar ist, um ein jeweiliges Ergebnis zu erhalten, und
• wobei der Prozessor 207 ausgebildet ist, festzulegen, dass der Bereich nicht durch ein Kraftfahrzeug frei befahrbar ist, nur dann, wenn alle jeweiligen Ergebnisse vorgeben, dass der Bereich nicht durch ein Kraftfahrzeug frei befahrbar ist,
• wobei der Prozessor 207 ausgebildet ist, bei unterschiedlichen Ergebnissen oder wenn alle Ergebnisse jeweils vorgeben, dass der Bereich durch ein Kraftfahrzeug frei befahrbar ist, festzulegen, dass der Bereich durch ein Kraftfahrzeug frei befahrbar ist.

The device 201 comprises:

• several surroundings sensor devices 203, 205 (in the present exemplary embodiment a first surroundings sensor device 203 and a second surroundings sensor device 205 are shown schematically.) for the respective detection of an area of the parking space in order to determine respective surroundings sensor data,
• a processor 207 for determining, based on the respective environment sensor data, whether the area can be freely driven by a motor vehicle in order to obtain a respective result, and
• wherein the processor 207 is designed to determine that the area is not freely accessible by a motor vehicle, only if all the respective results indicate that the area is not freely accessible by a motor vehicle,
• wherein the processor 207 is designed to determine that the area is freely drivable by a motor vehicle in the event of different results or if all of the results specify that the area is freely drivable by a motor vehicle.

Fig. 3 shows a parking space 301.

The parking space 301 comprises the device 201 according to FIG Fig. 2 .

The multiple surroundings sensor devices 203, 205 are arranged in a stationary manner within the parking space 301 in order to monitor a common area of the parking space 301.

The parking space 301 comprises, for example, several parking spaces for motor vehicles.

In one embodiment, the multiple surroundings sensor devices 203, 205 are each arranged on an infrastructure element of the parking space 301.

An infrastructure element is, for example, one of the following infrastructure elements: wall, ceiling, floor, archway, column, door, barrier, roadway.

In summary, the concept according to the invention is based, among other things, on the use of the following algorithm:
If one of the plurality of surroundings sensor devices already recognizes that the area is freely drivable for a motor vehicle, then the overall result established is that the area is freely drivable for a motor vehicle. This also applies if the remaining surroundings sensor devices do not recognize any free space.

If all the surroundings sensor devices detect that the area is freely drivable for a motor vehicle, then the overall result established is that the area is freely drivable for a motor vehicle.

Only if all the surroundings sensor devices recognize that the area is not freely accessible by a motor vehicle, then the overall result established is that the area is not freely accessible by a motor vehicle.

In this way, a high level of safety with simultaneous high availability for at least partially automated, in particular highly automated, for example autonomously driving motor vehicles is guaranteed in an advantageous manner.

This means that an overall result only then specifies that the area is not freely accessible by a motor vehicle if all environment sensor devices that monitor the area return or report a "not free", that is, if all environment sensor devices do not detect any free space.

It is assumed here that, due to the high detection quality of each individual environment sensor device, it can be assumed that the area is only occupied, i.e. not freely accessible by a motor vehicle, if all environment sensor devices detect or report back that the area is not free by a motor vehicle is passable.

The high detection quality is due, among other things, to the fact that the environment sensor devices are arranged in a stationary manner within the parking space, so that they always detect or monitor a known and manageable environment. For example, the environment sensor devices monitor an area with a maximum area of 10 m × 10 m.

For example, it is provided that the empty area is measured once, that is to say precisely when it is known that there are no motor vehicles within the area.

The surroundings sensor data corresponding to this detection are used, for example, as a reference, which is compared with the surroundings sensor data then obtained during operation of the parking space in order to identify whether the area is free or not.

This means that the detection areas, for example what and how do the environment sensor devices look, and the changes in the environment, for example due to light or motor vehicle movements, mostly known. This is done, for example, by reference measurements, that is to say by measurements that are carried out when the area of the parking space is not being used by motor vehicles, that is to say when the area is free.

It is therefore known, for example, what the area looks like when there are no motor vehicles within the area. For example, it is known how the area changes in the course of the day or year, and these changes can result, for example, from different lighting.

This is possible because the surroundings sensor devices are arranged in a stationary manner within the parking space and thus always cover a fixed area.

The surroundings sensor devices are therefore, in particular, statically attached within the parking space.

According to one embodiment, it is provided that in addition to or instead of a search for a free space, a search is made for objects within the area with which motor vehicles could potentially collide. If no object can be recognized here, this means, conversely, that the area can be freely driven into by a motor vehicle.

According to one embodiment, the determined results are provided with a measurement error. The measurement error is, for example, a probability or inaccuracy. Such probabilities or inaccuracies are, for example, the following: "perhaps free", "80% free", "60% not free", "unknown", "free with a predetermined percentage", "not free with a predetermined percentage".

In one embodiment it is provided that if results that are not identical are repeated, it is determined that an error has occurred.

This has the technical advantage, for example, that it is possible to react efficiently to such a situation. This means in particular that, for example, an incomprehensible result can be present.

As measures when such an error occurs, provision is made, for example, for service personnel or an employee of the parking space to be sent to the surroundings sensor devices so that they can control them or so that they can control the situation.

For example, it is provided that, if such an error has occurred, motor vehicles are prevented from continuing to drive, or motor vehicles are stopped, for example by sending the remote control command described above.

Claims (8)

1. Method for monitoring a parking area (301) using a plurality of environmental sensor devices (203, 205), wherein the plurality of environmental sensor devices (203, 205) are arranged in a stationary manner inside the parking area (301) and monitor a common region of the parking area (301), comprising the following steps of:

   a) respectively capturing (101, 103) the region by means of the plurality of environmental sensor devices (203, 205) in order to determine respective environmental sensor data,

   b) respectively determining (105, 107), on the basis of the respective environmental sensor data, whether the region can be freely used by a motor vehicle, in order to obtain a respective result,

   c) stipulating (111) that the region cannot be freely used by a motor vehicle only when all respective results specify that the region cannot be freely used by a motor vehicle, with the result that, in the event of different results or if all results each specify that the region can be freely used by a motor vehicle, it is stipulated (113) that the region can be freely used by a motor vehicle.
2. Method according to Claim 1, wherein the determination, on the basis of the respective environmental sensor data, of whether the region can be freely used by a motor vehicle comprises searching for a free area within the region which can be used by the motor vehicle.
3. Method according to Claim 1 or 2, wherein the determination, on the basis of the respective environmental sensor data, of whether the region can be freely used by a motor vehicle comprises searching for a potential collision object inside the region.
4. Method according to one of the preceding claims, wherein steps a) and b) are repeated several times in succession, wherein it is determined whether there were respective different results for each repetition, wherein, if so, it is stipulated that an error has occurred.
5. Method according to one of the preceding claims, wherein a first environmental sensor device (203) of the plurality of environmental sensor devices (203, 205) comprises a lidar sensor, with the result that the respective environmental sensor data from the first environmental sensor device (203) are lidar data, and wherein a second environmental sensor device (205) of the plurality of environmental sensor devices (203, 205) is a stereo camera or a mono camera, with the result that the respective environmental sensor data are stereo image data or mono image data.
6. Apparatus (201) for monitoring a parking area (301), comprising:

   - a plurality of environmental sensor devices (203, 205) for respectively capturing a region of the parking area (301) in order to determine respective environmental sensor data,

   - a processor (207) for determining, on the basis of the respective environmental sensor data, whether the region can be freely used by a motor vehicle, in order to obtain a respective result, and

   - wherein the processor (207) is designed to stipulate that the region cannot be freely used by a motor vehicle only when all respective results specify that the region cannot be freely used by a motor vehicle,

   - wherein the processor (207) is designed, in the event of different results or if all results each specify that the region can be freely used by a motor vehicle, to stipulate that the region can be freely used by a motor vehicle.
7. Parking area comprising the apparatus according to Claim 6, wherein the plurality of environmental sensor devices (203, 205) are arranged in a stationary manner inside the parking area (301) in order to monitor a common region of the parking area (301) .
8. Computer program comprising program code for carrying out the method according to one of Claims 1 to 5 when the computer program is executed on a computer.

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