Classifications

• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
• • 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
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/88—Sonar systems specially adapted for specific applications
  • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/88—Lidar systems specially adapted for specific applications
  • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
  • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Definitions

• the invention relates to a method for preparing an empty portion of a parking space on an operation of the parking space.
• the invention further relates to a method and a device for operating a parking space.
• the invention further relates to a parking space and a computer program.
• Time of flight measurement sensors are usually located within a parking space and scan for objects within the parking space. It may happen that a runtime measurement sensor incorrectly does not detect an object, although an object actually exists within the parking space.
• the object underlying the invention is to provide a concept which allows a motor vehicle within a parking space can drive efficiently at least partially automated. This object is achieved by means of the subject matter of the independent claims. Advantageous embodiments of the invention are the subject of each dependent subclaims.
• a method for preparing an empty portion of a parking space for operation of the parking space comprising the following steps:
• Runtime measurement sensor by a transit time measurement signal by means of
• Runtime measurement sensor is emitted in the direction of the section and it is checked whether a reflection signal associated with the emitted propagation time signal is received by the transit time measurement sensor, b) if no reflection signal associated with the emitted transit time measurement signal is received by the transit time measurement sensor, performing one or more measures intended to cause a reflection signal associated with a travel time measurement signal emitted by the transit time measurement sensor in the direction of the empty section, by means of the
• Runtime measurement sensor can be received.
• the invention is based on the realization that the above object can be achieved by measuring an empty section of the parking space in order to check whether a signal emitted by the transit time measurement sensor
• Runtime measurement signal always causes a reflection signal, which can be received by means of the transit time measurement sensor. If, for example, no reflection signal can be measured or received by means of the transit time measurement sensor, it is determined that the present situation is too vague to allow a motor vehicle to travel at least partially within the section. This is because, for example, it is unclear whether an object is present within the section, which the
• Runtime measurement sensor only can not detect. For example, such an object will reflect the runtime measurement signal too weak for reception, rather than back in the direction of the transit time measurement sensor.
• Runtime measurement sensor only can not detect. For example, such an object will reflect the runtime measurement signal too weak for reception, rather than back in the direction of the transit time measurement sensor.
• section may be partially out of range of the transit time measurement sensor. Again, then for the outside of the
• the section is at least partially open, so at least partially not by an infrastructure element, for example, a wall or a pillar is limited. So it is missing at least partially on a body on which the transit time measurement signal can reflect.
• an infrastructure element for example, a wall or a pillar is limited. So it is missing at least partially on a body on which the transit time measurement signal can reflect.
• no reliable statement based on the measurement by means of the transit time measurement sensor is possible is passable or not, so whether the section is free or not, if after emitting the transit time signal no the
• Runtime measurement signal associated reflection signal by means of
• Runtime measurement sensor can be received or measured.
• Runtime measurement sensor emitted in the direction of the empty section
• Runtime measurement signal associated reflection signal by means of
• Runtime measurement sensor can be received, the section can be prepared efficiently for operation of the parking space. This is because the ambiguities described above can be eliminated, so that a reliable statement can be made as to whether the section is freely passable or not.
• a motor vehicle can then drive efficiently and safely at least partially automatically within the parking space.
• An empty section of the parking space denotes a section that is free of road users. Road users are, for example, motor vehicles and / or persons. Ultimately, therefore, remain within the empty section, only the infrastructure elements of the parking space.
• infrastructure elements Includes infrastructure elements. This means that these infrastructure elements are always present, regardless of whether within the section
• Infrastructure elements include, for example, the following
• Infrastructure elements wall, pillar, ceiling, archway, ramp, barrier, curb, perimeter post, door, bollard, roadway lift. That is, an infrastructure element is, for example, an element selected from this group of infrastructure elements.
• a transit time measurement sensor refers to a sensor that has a
• Run-time measurement can perform by using the sensor
• Runtime measurement signal is emitted, wherein the transit time of the emitted transit time measurement signal associated and received by the sensor
• Reflection signal is detected. Based on the transit time measurement, ie on the determined transit time, thus a distance or a distance from the
• Runtime measurement sensor to an object, such as a
• a transit time measurement sensor is, for example, one of the following sensors:
• Radar sensor lidar sensor
• ultrasonic sensor infrared sensor
• a radar sensor emits a radar signal.
• a lidar sensor emits a radar signal.
• An ultrasonic sensor emits an ultrasonic signal.
• Infrared sensor emits an infrared signal.
• Reflection signals are then respectively a radar signal, a lidar signal, an ultrasound signal and an infrared signal.
• a plurality of transit time measurement sensors are provided which, for example, have the same or different design, for example.
• Embodiments made in connection with a transit time measurement sensor apply analogously to several transit time measurement sensors and vice versa.
• a plurality of empty sections are prepared. This means that if the singular is used for the section, the plural and vice versa should always be read.
• the complete empty parking space is prepared analogously to the one section.
• the technical advantage is caused that the section can be efficiently prepared.
• the technical advantage is achieved that all the ambiguities described above can be eliminated.
• the one or more measures include arranging a reflection body in the section. This causes, for example, the technical advantage that the
• Runtime measurement signal can be efficiently reflected in the direction of the transit time measurement sensor.
• the one or more measures include arranging a reflector for reflecting the
• Travel time signal to an infrastructure element of the parking area include.
• the one or more measures include application of a reflection color to an infrastructure element of the parking space.
• Runtime measurement signal can reflect back efficiently in the direction of the transit time measurement sensor.
• the reflector or the reflection color For example, the reflector or the reflection color
• Metal particles efficiently reflect, for example, radar waves.
• the reflector is a metal object.
• Metal objects efficiently reflect radar waves in the direction of a radar sensor.
• a plurality of reflectors are provided, which are for example the same or, for example, differently shaped. Designs that are made in the context of a reflector apply analogously to multiple reflectors and vice versa. According to one embodiment, it is provided that the one or more measures include aligning the transit time measurement sensor or arranging the transit time measurement sensor at a position different from its current position within the parking space.
• the technical advantage is caused that a part of the section that could not previously be detected by means of the transit time measurement sensor can be detected after the alignment by means of the transit time measurement sensor.
• the one or more measures include arranging an additional transit time measurement sensor for detecting the section. This means, for example, that the additional transit time measurement sensor is stationarily arranged within the parking space such that the additional transit time measurement sensor detects the section.
• the additional transit time measurement sensor is, for example, one of the sensors described above.
• Measures are successful, wherein, if the actions performed are successful, the empty portion is detected by the time of flight measurement sensor, the captured portion being considered as a reference space for the operation of the
• the method according to the first aspect is repeated. This means, for example, that if the infrastructure of the section changes, steps a) and b) are repeated until the measures implemented are successful.
• a change in the infrastructure of the section may, for example, result from a rebuilding of the section, for example because another infrastructure element has been installed or removed.
• Parking space which includes a section that according to a
• Embodiment of the method was prepared according to the first aspect, in which it is checked whether performing the one or more
• steps (a) and (b) are repeated until the actions taken are successful, and if the action taken is successful, the empty portion is detected by the runtime measurement sensor, the captured portion being identified as a reference space is set for the operation of the parking space.
• the method according to the second aspect comprises the following steps:
• Reference space are compared with each other, it being determined that the section for at least partially automated within the parking space driving Motor vehicle is freely passable, if the detected section is equal to the
• Reference clearance is within a predetermined tolerance range.
• Parking space which includes a section that according to a
• steps (a) and (b) are repeated until the actions taken are successful, and if the action taken is successful, the empty portion is detected by the runtime measurement sensor, the captured portion being identified as a reference space is set for the operation of the parking space.
• the device according to the third aspect comprises:
• a processor for determining, based on the detected portion and on the reference space, whether or not the portion for a motor vehicle traveling at least partially automated within the parking space is freely passable
• an output device for outputting a stop signal to the at least partially automated motor vehicle if the section is not freely passable for the at least partially automated motor vehicle.
• the output device comprises a wireless
• Communication interface for sending a stop command as a stop signal via a wireless communication network to the at least partially automated moving motor vehicle.
• a wireless communication network includes, for example, a WLAN communication network and / or a mobile radio network.
• the output device comprises an optical or acoustic signal generator for outputting an optical or acoustic signal as a stop signal.
• Runtime measurement sensor is arranged stationary within the parking space.
• the transit time measurement sensor is arranged statically stationary within the parking space. This means, for example, that the transit time measurement sensor can not be moved.
• the method for operating the parking space is carried out or carried out by means of the device for operating the parking space.
• the device for operating the parking space is designed or set up to execute or carry out the method for operating the parking space.
• a parking space comprising the
• the transit time measurement sensor is arranged stationary within the parking space.
• a computer program which program code for carrying out the method according to the second aspect comprises when the computer program is executed on a computer, for example on the processor of the device according to the third aspect.
• a parking space according to one embodiment comprises several parking spaces for motor vehicles.
• the transit time measurement sensor is arranged stationary on an infrastructure element.
• phrases "at least partially automated” includes, for example, the phrase “highly automated” or “remotely controlled”.
• 1 is a flowchart of a method for preparing an empty portion of a parking space
• FIG. 2 shows a device for operating a parking space
• FIG. 3 shows a parking space
• 5 shows a transit time measurement sensor when detecting a section of a parking space.
• 1 shows a flow chart of a method for preparing an empty section of a parking space.
• the method comprises the following steps:
• Runtime measurement sensor by a transit time measurement signal by means of
• Time of flight measurement sensor is emitted in the direction of the section and it is checked whether a reflection signal associated with the emitted transit time signal is received by the transit time measurement sensor when no reflection signal associated with the emitted transit time signal is received by the transit time measurement sensor, performing 103 one or more measures intended to cause a one emitted by means of the transit time measurement sensor in the direction of the empty section
• Runtime measurement signal associated reflection signal by means of
• Runtime measurement sensor can be received.
• FIG. 2 shows an apparatus 201 for operating a parking space comprising a section prepared according to an embodiment of the method according to the first aspect, in which it is checked whether the execution of the one or more measures has been successful, wherein no, steps a) and b) are repeated until completed
• Measures are successful, wherein, if the actions performed are successful, the empty portion is detected by means of the transit time measurement sensor, wherein the detected portion is set as a reference space for the operation of the parking space.
• the device 201 includes: a travel time measurement sensor 203 for acquiring the section, a processor 205 for determining based on the detected section, and on the reference clearance, whether the section for being within the parking space at least partially automated moving motor vehicle is freely passable or not, and an output device 207 for outputting a stop signal to the at least partially automated motor vehicle when the section is not freely passable for at least partially automated motor vehicle.
• 3 shows a parking space 301.
• the parking space 301 comprises the device 201 according to FIG. 2, wherein the transit time measurement sensor 203 is arranged stationary within the parking space 301.
• Parking space (301) comprising a section that according to a
• steps (a) and (b) are repeated until the actions taken are successful, and if the action taken is successful, the empty portion is detected by the runtime measurement sensor, the captured portion being identified as a reference space is set for the operation of the parking space.
• the method for operating the parking space comprises the following steps:
• FIG. 5 shows a transit time measurement sensor 501, which is arranged stationary within a parking space.
• the transit time measurement sensor 501 detects or misses a portion 503 of the parking space.
• a wall 505 Within section 503 is a wall 505 as a
• This wall 505 is detected by the transit time measurement sensor 501. This is due to the fact that transit time measurement signals, which by means of the
• Runtime measurement sensor 501 are emitted, are reflected by the wall 505 back in the direction of the transit time measurement sensor 501.
• Runtime measurement sensor 501 thus receives or measures, respectively
• the wall 505 can be assigned measurement points 507 at which the transit time measurement signals are reflected back in the direction of travel time measurement sensor 501.
• a motor vehicle 509 drives at least
• the motor vehicle 509 drives autonomously.
• the motor vehicle 509 is also detected by the transit time measurement sensor 501. Again, analogous to the wall 505 the motor vehicle 509 a
• Measuring point 507 are assigned, at which the transit time measurement signals are reflected back in the direction of the transit time measurement sensor 501. As part of a process for preparing section 503
• the parking space is then empty.
• the motor vehicle 509 is then absent.
• an object 513 is within section 503. At the object
• 513 is another infrastructure element.
• the method for preparing the section 503 it was determined based on the corresponding measurement that the object 513 was not detected by the transit time measurement sensor 501. As part of the Method for preparing the section 503 so the motor vehicle 509 is not present within the section 503.
• the fact that the object 513 was not detected may be due, for example, to the fact that the object 513 is outside a measuring distance of the object
• Runtime measurement sensor 501 is located.
• the object 513 has been so far due to the non-detection with a
• the object 513 can not be detected by means of the transit time measurement sensor 501, no measurement points can be assigned to the object 513, as could be carried out for the wall 505 and the motor vehicle 509. So there is a lack of measurement points for the object 513.
• the wall 505 sufficiently reflects the transit time measurement signals back in the direction of the travel time measurement sensor 501, another reliable and secure one can hereby reliably and safely be used in the context of the method for preparing the section 503
• Part of the section 503 are set, which is passable for the motor vehicle 509.
• This further partial area is identified by the reference numeral 517 and has a comparison with the partial area 515
• the method for preparing the section 503 provides for performing one or more measures which are intended to enable a reflection signal associated with a transit time measurement signal emitted by the transit time measurement sensor 501 in the direction of the section 503 to be received by the transit time measurement sensor 501.
• the object 513 is painted with a reflection color.
• Runtime measurement sensor 501 detected.
• the detected empty portion 503 is set as a reference space for the operation of the parking space.
• FIG. 5 has been omitted in such a way that the entire section 503 has been successfully measured. That is, although there are still undrawn portions according to the illustration of FIG. Nevertheless, it is provided to measure the section 503 and to carry out appropriate measures until the entire section 505 can be provided with a hatch analogous to the further section 517 until the entire section 503 has been prepared such that the transit time measurement sensor 501 always enters
• Reflection signal is received when the transit time measurement sensor 501 turns on
• Runtime measurement sensor 501 detected, based on the detected
• Section is determined on the reference space, whether the section 503 for an at least partially automated driving within the parking space motor vehicle is passable or not. If not, then spending is one
• Stop signal provided to the at least partially automated motor vehicle. For example, determining whether or not the at least partially automated motor vehicle driving section 503 is freely passable or not comparing the parking space detected portion 503 with the reference clearance, wherein to detect a difference, wherein if the difference is greater than a predetermined difference threshold, it is determined that the section is not free.
• Numeral 511 provided with a hatching which is different from the hatching of the subregions 515 and 517.
• the other portion 51 1 is determined as not free, so far the momentarily
• Motor vehicle 509 drives through section 503. Unless a motor vehicle 509 would drive through the section 503, of course, the other section 511 would also be set as free.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Remote Sensing (AREA)
• Radar, Positioning & Navigation (AREA)
• General Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• Electromagnetism (AREA)
• Aviation & Aerospace Engineering (AREA)
• Automation & Control Theory (AREA)
• Acoustics & Sound (AREA)
• Traffic Control Systems (AREA)
• Radar Systems Or Details Thereof (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=62530249

Family Applications (1)

Country Status (6)

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Family Cites Families (25)

• 2017
  • 2017-07-19 DE DE102017212375.3A patent/DE102017212375A1/de active Pending
• 2018
  • 2018-06-06 JP JP2020502301A patent/JP2020527268A/ja active Pending
  • 2018-06-06 CN CN201880047911.6A patent/CN110945575B/zh active Active
  • 2018-06-06 US US16/631,220 patent/US11398157B2/en active Active
  • 2018-06-06 EP EP18729423.6A patent/EP3655935A1/de not_active Ceased
  • 2018-06-06 WO PCT/EP2018/064885 patent/WO2019015848A1/de unknown

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