EP3655936A1 - Procédé et système de détection d'une zone libre dans un parking - Google Patents

Procédé et système de détection d'une zone libre dans un parking

Info

Publication number
EP3655936A1
EP3655936A1 EP18731018.0A EP18731018A EP3655936A1 EP 3655936 A1 EP3655936 A1 EP 3655936A1 EP 18731018 A EP18731018 A EP 18731018A EP 3655936 A1 EP3655936 A1 EP 3655936A1
Authority
EP
European Patent Office
Prior art keywords
detected
area
parking
parking lot
parking space
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18731018.0A
Other languages
German (de)
English (en)
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 EP3655936A1 publication Critical patent/EP3655936A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—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
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
    • 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

Definitions

  • the invention relates to a method for detecting a free area within a parking lot, for example a parking garage, in particular a free area within a driving tube of a parking lot.
  • the invention further relates to a system for detecting a free area within a parking lot, for example parking garage, in particular a free area within a driving tube of a parking lot.
  • the invention further relates to a parking lot.
  • the invention further relates to a
  • the published patent application DE 10 2015 201 209 A1 shows a valet parking system for the automatic transfer of a vehicle from a transfer zone to an assigned parking space within a predetermined parking space.
  • the known system comprises a parking space monitoring system with at least one stationarily arranged sensor unit.
  • the parking lot monitoring system is designed to run within the given parking space
  • driver assistance systems and systems for highly automated (autonomous) driving are known from the prior art.
  • Such systems may, for example, use one or more sensors incorporating a
  • Measure and / or analyze three-dimensional space The goal here is that any objects and obstacles are detected. Furthermore, the dimensions (height, width, depth) of the detected objects with high security or accuracy can be determined. High accuracy is required, for example, when trajectories for passing the vehicle on the object must be determined. The basis or condition for this
  • the object underlying the invention is to provide a concept for efficiently detecting a free area within a parking lot, for example, a parking garage, in particular a free area within a driving tube of a parking lot.
  • a method of detecting a free area within a parking lot using at least one of the parking spaces is stationary
  • Surface sensor in particular a 2D laser scanner, provided, wherein the surface sensor has a scanning plane which is parallel to a road surface, in particular at a height of less than 15 cm,
  • the invention is based on the finding that the above object can be achieved by arranging within the parking space at least one area sensor which can detect a section of the parking space, wherein a section is understood to mean, in particular, a plane above the roadway which corresponds to a scanning plane of the parking space Area sensor corresponds. If through the
  • a free area in the sense of the invention is an area within the parking space in which a vehicle can safely move under normal conditions.
  • the invention is thus based on the idea that a section of a parking space can be detected as being free, that is to say in particular free of obstacles, if acquiring measurement data of the section using the area sensor does not result in any change with respect to reference measurement data.
  • a section of the parking space is detected as "free” if no change to the reference measurement data is detected.
  • it is not intended to detect objects by means of the area sensor, but initially to detect only changes with respect to the reference measurement values does not matter, which causes a change in subsequent optional
  • Steps, the cause of a detected change can optionally be specified.
  • a surface sensor is to be understood as meaning a sensor which monitors at least one specific area section of a plane in a room and, for example, can detect and measure objects within this area section.
  • a surface sensor can be designed as a 2D laser scanner or 2D LIDAR sensor.
  • a system for detecting a free area within a parking lot comprising at least:
  • At least one surface sensor stationarily arranged within the parking space, in particular a 2D laser scanner, which is designed to acquire measurement data from at least one section of the parking space, wherein the area sensor has a scan plane which runs parallel to a road plane, in particular at a height of less than 15 cm,
  • a parking lot which includes the system for detecting a free area within a parking lot.
  • a computer program comprising program code for performing the method of detecting a free area within a parking lot when the computer program is run on a computer.
  • a free area is in particular an area of the parking lot in which no object is located.
  • An object in the sense of the invention is any object that is temporarily within the parking space, in particular within a driving tube of a vehicle and at least potentially represents a risk of collision for a vehicle that moves within the parking lot.
  • An object can For example, be another vehicle or a person, an animal or an object.
  • An object is in particular only temporarily available within the parking lot.
  • the stationary structures of the parking lot such as walls, columns, walls, etc. apply.
  • the comparison with the reference measurement data can, for example, by
  • an object can be detected when a change is detected.
  • the acquired measurement data are distance values.
  • the reference measurement data are, for example, measurement data acquired with the area sensor in question at an earlier point in time under defined conditions, for example at a time when no object was certainly located in the monitored section.
  • the reference measurement data may also include average values or mean values of such measured data acquired at defined conditions.
  • the area sensor since the area sensor is arranged at a certain height that determines the height of the scan plane above the road surface, an existing object can only be detected if it has a height that is equal to or greater than the height of the scan plane. For this reason, it is preferable to arrange the area sensor in such a way that the scan plane runs as closely as possible above the roadway plane.
  • the height of the scan plane above the road surface is less than 15 cm, more preferably less than 10 cm. So that we achieve the technical advantage that even objects with low height can be reliably detected.
  • Measurement data at least one distance measurement.
  • the area sensor is to be designed for example as a LIDAR sensor or laser scanner.
  • Such sensors are well known from the prior art and detect distance values by evaluating transit times of the laser beams reflected by objects. For example, to build a trade fair level pulsed laser beam are deflected by a rotating mirror.
  • Embodiments with a plurality of laser sources arranged in a row or a matrix are also known.
  • the detection of a free area or the detection of an object is performed by comparing at least one currently measured distance value with a reference measured value, in particular an expected distance value.
  • a change is detected when, in particular at a predetermined minimum number of measuring points, a distance value is measured which differs from an expected distance value, in particular if the measured distance value is smaller than an expected distance value, in particular at least smaller by a predetermined tolerance value. So according to the expected distance values
  • remission values of the area sensor can also be compared with expected values.
  • measured distance values are evaluated and assigned to one or more objects, wherein the object and / or the scene constructed from a plurality of objects is classified based on the evaluation. For example, by evaluating successive measurements, a direction of movement and / or
  • a classification of the object type or the scene can be performed.
  • a car can be detected if the area sensor detects four objects (corresponding to the tires of the car) at a defined distance or a defined distance range.
  • a two-wheeler such as a bicycle
  • a motorcycle or a bicycle are detected on the basis of the two tires and the specific distance of the tires.
  • a walking person may be recognized when two objects (corresponding to the legs of the person) are detected at a defined varying distance (according to the steps).
  • a speed information for the verification of the classification can be additionally determined.
  • a recommendation for action can be derived for vehicles that move within the parking lot. This can be transmitted to the vehicles, for example.
  • a plurality of surface sensors may be provided, which have scan edges, each extending at different heights.
  • the area sensors may preferably be arranged such that a portion of the parking space of at least two
  • Surface sensors can be detected, wherein the at least two surface sensors Sc Scans have that extend parallel to each other at different heights.
  • the use of a surface sensor is conceivable, the more, so at least two parallel Scinkenen
  • a parking space according to the invention is in particular a parking lot for
  • the parking lot is for example a parking garage or a
  • An object to be detected is located, for example, within a driving corridor of the parking lot.
  • the object is located on a floor of the parking lot, for example, on a roadway or within a driving range, so for example within a driving tube, the parking lot.
  • Area sensors together cover an area of the parking area in which vehicles usually move during the entry and / or Ausparkvorgangs. This area can also be referred to as the driving range of the parking lot.
  • the system for detecting a free area located within a parking space is set up or designed to carry out or carry out the method for detecting a free area located within a parking space.
  • Technical functionalities of the system are analogous
  • the processor is optionally designed to detect an object if at least one current distance value measured by means of the area sensor is smaller than an expected one
  • Distance value is smaller, in particular at least by a predetermined tolerance value.
  • Expected distance values can be stored in a designated space
  • the parking space is set up or designed to carry out or carry out the method for detecting a free area located within a parking space on the floor of the parking space.
  • the parking lot includes a parking lot management system configured to perform an action if a section on a
  • the action may preferably include one or more of the following actions:
  • AVP Automated Valet Parking
  • a central infrastructure eg a server
  • the vehicle in question can then be stopped, eg until the object returns disappeared.
  • an alternative route and / or an evasive maneuver for the vehicle can also be calculated, which no longer leads via the bottom section of the parking space on which the object was detected, ie the area which was not detected as free.
  • 1 is a flowchart of a method for detecting a free area located within a parking lot
  • 2 b is a schematic side view of a system according to the invention, a section of a parking lot and an object,
  • FIG. 3 is a schematic view of a parking lot having a plurality of area sensors for detecting free areas located within the parking lot;
  • 1 shows a method for detecting a free area located within a parking space using at least one area sensor stationarily arranged within the parking space, which is designed as a 2D LIDAR sensor, the scanning plane of the 2D LIDAR sensor
  • the method comprises the following steps: Scanning 101 the portion of the parking lot by means of the 2D LIDAR sensor by detecting distance values,
  • the information that a free area or a change is detected can be passed to a higher-level control system.
  • This control system can, in the event that an object has been detected
  • control system is for example comprised of a parking lot management system.
  • FIG. 2 schematically illustrates a system for detecting a free area located within a parking space 20 according to an embodiment of the invention.
  • the system includes an area sensor 30, which in this example is a 2D LIDAR sensor, and a processor 62 and a memory unit 64.
  • the system is shown in plan view.
  • the area sensor 30 is arranged on a wall 60 of the parking space 20.
  • the surface sensor 30 has a scanning plane 33, which extends above a road surface 34 and covers a portion 32 of the parking lot. In other words, that is
  • Surface sensor 30 is arranged so that the portion 32 can be scanned by the surface sensor.
  • a plurality of laser beams 36 are shown in FIG. 2 a). Each laser beam 36 may be reflected by an object or obstacle become.
  • the area sensor receives in a known manner, for example by means of a photodiode (not shown), the reflected portion of the laser beam and, for example by means of the light transit time, a distance value can be determined, which represents the distance between the area sensor 30 and the obstacle.
  • a vehicle 12 is located within the section 32 of the parking space 20.
  • the area sensor detects the tire 11 of the vehicle 12, for example by comparing the measured distance value d with the distance value expected at this measuring point. The comparison is performed by the processor 62.
  • the expected distance value is stored in the memory unit 64 and with the measuring point.
  • a measuring point is defined, for example, by a deflection angle of the laser beam.
  • the section 32 is not detected according to the invention as free.
  • FIG 2 b the situation shown in Figure 2 a) is shown again in side view.
  • the surface sensor is mounted on the wall 60 in such a way that a scan plane 33 results, which runs at a specific height h above the roadway plane 34.
  • the height h is chosen so that even very small objects, such as e.g. Small children or babies who are lying on the floor or crawling reliably detected.
  • the height h is chosen smaller than 15 cm, more preferably smaller than 10 cm.
  • the processor 62 and the memory 64 are integrated into a control unit 66 of the area sensor 30.
  • the control unit 66 may be provided within, as an integral part of the area sensor 30.
  • the processor 62 and / or memory 64 may be part of a separate unit separate from the area sensor 30.
  • the processor 62 and / or the memory 64 may be part of a
  • Parking management system 15 may be formed.
  • processor 62 and / or memory 64 may be embodied as part of a cloud computing system.
  • the information as to whether a section 32 of the parking space 20 has been detected as free can be made available via an appropriate interface For example, a vehicle moving in the parking lot 20 and / or a parking lot management system 15.
  • the information may be transmitted wirelessly, for example.
  • the inventive concept can be used advantageously in so-called AVP systems.
  • the inventive concept has particular advantages over conventional driver assistance and the methods used in conventional driver assistance systems
  • Object recognition has the advantages that the area sensors provided for object detection are mounted statically or stationarily in the parking space, e.g. on walls or columns.
  • the field of view ie the environment to which the sensor looks, is known, in particular in the event that no object is present. Therefore, it only has to be determined whether the area into which the AVP vehicle is to enter is free, ie has no object. Since an AVP vehicle does not necessarily have to drive an evasive maneuver because of the driving range which is normally prescribed for AVP systems, but as a rule a stop of the vehicle is sufficient, it is not absolutely necessary to
  • speeds of AVP vehicles in the parking lot are much lower (e.g., less than 10 km / h) than on the road (e.g., over 200 km / h).
  • FIG. 3 shows by way of example a section of a parking space 20 which is part of an AVP system.
  • the parking lot has various parking spaces 23 for AVP vehicles.
  • the parking space 20 comprises a transfer zone 18, at which a vehicle 10 can be handed over to the operator of the parking space 20.
  • the driver of the vehicle 10 drives his vehicle 10 into the transfer zone 18, leaves his vehicle 10 and transfers his vehicle 10 to the operator of the parking space 20.
  • the parking lot 20 is associated with a parking lot monitoring system comprising a plurality of area sensors 30 formed as LIDAR sensors.
  • the area sensors 30 are preferably arranged distributed in the parking lot 10 that the vehicle 10 during its automated
  • Each of the area sensors 30 is configured to detect one or more sections 32 of the parking space 20 and to detect them as free if no change with respect to predetermined reference measurement data is detected.
  • the information as to whether the section is currently vacant or not can be transmitted to a parking lot management system 15.
  • the vehicle 10 After the transfer of the vehicle 10 to the parking lot operator, the vehicle 10 is cleared of the possible free spaces by a parking lot management system 15
  • the vehicle 10 After allocation of the parking position, the vehicle 10 is on as
  • the vehicle 10 is configured, for example, to execute a driving maneuver autonomously with the aid of a parking assistance system.
  • the parking management system 15 is allowed access to the
  • Park assistance system granted so that the vehicle 10 can move autonomously in the parking lot 10 and autonomously controls the parking position 24.
  • the parking management system 15 According to the parking management system 15
  • Trajektorie 40 can be performed within the parking lot 20.
  • the vehicle 10 may be remotely controlled along the trajectory 40 to the park position 24.
  • the vehicle 10 may be stopped and / or an evasion trajectory may be calculated by the parking management system 15 and the vehicle 10 may be guided along the evasion trajectory.

Landscapes

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

Abstract

Selon un aspect, l'invention concerne un procédé de détection d'une zone libre dans un parking (20) à l'aide d'au moins un capteur de surface (30), en particulier un scanner laser 2D, disposé de manière fixe dans le parking. Le capteur de surface (30) présente un plan de balayage (33) parallèle à une surface de route (34), en particulier à une hauteur (h) de moins de 15 cm. Le procédé comprend au moins les étapes suivantes: - détecter au moins une partie (32) du parking (20) au moyen du capteur de surface (30), - détecter la partie comme étant une zone libre lorsqu'aucun objet (11) n'est détecté dans la partie (32).
EP18731018.0A 2017-07-19 2018-06-06 Procédé et système de détection d'une zone libre dans un parking Withdrawn EP3655936A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017212376.1A DE102017212376A1 (de) 2017-07-19 2017-07-19 Verfahren und System zum Detektieren eines freien Bereiches innerhalb eines Parkplatzes
PCT/EP2018/064901 WO2019015852A1 (fr) 2017-07-19 2018-06-06 Procédé et système de détection d'une zone libre dans un parking

Publications (1)

Publication Number Publication Date
EP3655936A1 true EP3655936A1 (fr) 2020-05-27

Family

ID=62599566

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18731018.0A Withdrawn EP3655936A1 (fr) 2017-07-19 2018-06-06 Procédé et système de détection d'une zone libre dans un parking

Country Status (4)

Country Link
EP (1) EP3655936A1 (fr)
CN (1) CN110945576B (fr)
DE (1) DE102017212376A1 (fr)
WO (1) WO2019015852A1 (fr)

Families Citing this family (6)

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Publication number Priority date Publication date Assignee Title
RU2764708C1 (ru) 2020-01-20 2022-01-19 Общество с ограниченной ответственностью "Яндекс Беспилотные Технологии" Способы и системы для обработки данных лидарных датчиков
US11860315B2 (en) * 2020-01-20 2024-01-02 Direct Cursus Technology L.L.C Methods and systems for processing LIDAR sensor data
TWI750673B (zh) * 2020-05-26 2021-12-21 恆景科技股份有限公司 環境光估算系統
DE102020215537A1 (de) 2020-12-09 2022-06-09 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum zumindest teilautomatisierten Führen eines Kraftfahrzeugs
CN112802346B (zh) * 2020-12-28 2022-04-15 苏州易航远智智能科技有限公司 基于云端共享和地图融合的自主泊车系统和方法
CN113284342B (zh) * 2021-05-17 2022-09-06 上海欧菲智能车联科技有限公司 空车位检测方法及装置、车辆和计算机设备

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US6437692B1 (en) * 1998-06-22 2002-08-20 Statsignal Systems, Inc. System and method for monitoring and controlling remote devices
US6107942A (en) * 1999-02-03 2000-08-22 Premier Management Partners, Inc. Parking guidance and management system
DE19953009C2 (de) * 1999-10-27 2003-11-27 Sick Ag Vorrichtung zur Überwachung der Belegung von Kraftfahrzeug-Stellplätzen
JP2002197597A (ja) * 2000-12-23 2002-07-12 Masahito Kageyama 駐車場誘導システム
JP4036119B2 (ja) * 2003-03-12 2008-01-23 オムロン株式会社 車両検知装置および車両検知方法
US9858816B2 (en) * 2014-05-21 2018-01-02 Regents Of The University Of Minnesota Determining parking space occupancy using a 3D representation
DE102015201209A1 (de) 2015-01-26 2016-07-28 Robert Bosch Gmbh Valet Parking-Verfahren und Valet-Parking System
DE102015204366A1 (de) * 2015-03-11 2016-09-15 Robert Bosch Gmbh Freigabesteuerung eines Parkplatzes
JP6447820B2 (ja) * 2015-03-12 2019-01-09 三菱重工機械システム株式会社 タイヤパターン判定装置、車種判別装置、タイヤパターン判定方法及びプログラム
CN204463467U (zh) * 2015-03-25 2015-07-08 北京万集科技股份有限公司 一种激光式停车位检测系统
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Also Published As

Publication number Publication date
DE102017212376A1 (de) 2019-01-24
CN110945576B (zh) 2023-09-05
CN110945576A (zh) 2020-03-31
WO2019015852A1 (fr) 2019-01-24

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