FR3050710A1 - Method and device for assisting the driving of a maneuvering vehicle for parking in a parking - Google Patents

Method and device for assisting the driving of a maneuvering vehicle for parking in a parking Download PDF

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Publication number
FR3050710A1
FR3050710A1 FR1653767A FR1653767A FR3050710A1 FR 3050710 A1 FR3050710 A1 FR 3050710A1 FR 1653767 A FR1653767 A FR 1653767A FR 1653767 A FR1653767 A FR 1653767A FR 3050710 A1 FR3050710 A1 FR 3050710A1
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FR
France
Prior art keywords
environment
vehicle
vi
el
parking
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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.)
Pending
Application number
FR1653767A
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French (fr)
Inventor
Vincent Chassefeyre
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.)
Peugeot Citroen Automobiles SA
Original Assignee
Peugeot Citroen Automobiles SA
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 Peugeot Citroen Automobiles SA filed Critical Peugeot Citroen Automobiles SA
Priority to FR1653767A priority Critical patent/FR3050710A1/en
Publication of FR3050710A1 publication Critical patent/FR3050710A1/en
Application status is Pending legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027Parking aids, e.g. instruction means
    • B62D15/028Guided parking by providing commands to the driver, e.g. acoustically or optically
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/168Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A device (DA) assists driving a communicating vehicle (V1) comprising analysis means (MA1) analyzing the environment to determine environment data. This device (DA) comprises own control means (MC), during a maneuver of the vehicle (V1) to a free location (EL) of a parking (PK), to trigger the transmission by wave, to an information source (V2) communicating and located in the parking (PK), a request for auxiliary data defining driving aids in the environment of the free location (EL), and processing means (MT) generating, from the environment data determined by the analysis means (MA1), environment images with augmented reality information resulting from at least received auxiliary data.

Description

The invention relates to vehicles, possibly of the automotive type, and more specifically to the devices and methods that make it possible to help drive such vehicles. BACKGROUND OF THE INVENTION

When the driver of a vehicle wants to park the latter in a free parking slot, he often has difficulty in maneuvering, especially since he gradually discovers the environment of this free space. These difficulties are further increased when the maneuvers are in reverse.

In order to facilitate these maneuvers, certain vehicles are equipped with a driver assistance device responsible for generating images of their environment from environmental data determined by on-board analysis means, these images being intended to be displayed on a screen for example of a central handset.

These means of analysis analyze the environment of their vehicle by means of radars, lidars, cameras, scanning lasers or ultrasound, in order to detect obstacles (objects or bodies) and thus allow the aid device the conduct of generating environmental images containing information representative of these obstacles (possibly in augmented reality (or virtual)).

However, these images can only show the free replacement portion that is observable by the vehicle analysis means, and therefore they do not constitute an optimal aid for the driver.

In order to improve the situation, it has been proposed to equip vehicles with means of communication by means of waves enabling them to exchange short-wave messages between themselves and / or with communicating electronic equipment. settled in the car parks. To do this, these communication means may, for example, use the wireless communication standard Car2X or Bluetooth or WiFi or 5G.

These exchanges allow vehicles that are parked on a parking space located next to the desired free space by a vehicle being maneuvered or electronic equipment installed in the parking to provide the driver of the vehicle maneuvering images of their environment and therefore at least part of this free location, built from the environment data determined by their analysis means. The device for assisting the driving of the maneuvering vehicle then generates environmental images by combining the environmental data provided by the analysis means of its vehicle and the received image data, which allows the driver to have access to a better view of the environment of the free location. The object of the invention is in particular to improve the situation even more.

It proposes for this purpose a method for helping to drive a communicating vehicle, circulating in a parking lot and comprising, on the one hand, analysis means for analyzing the environment of the vehicle to determine environmental data. and, secondly, processing means for generating environmental images representative of at least part of this environment from the determined environment data and intended to be displayed on a screen.

This assistance method is characterized in that it comprises: a first step in which, in the event of detection of a maneuver of the vehicle towards a free parking space, the vehicle requests auxiliary data by waves; , defining driving aids in the environment of that free space, at least one communicating source of information and located in the car park, and - a second stage in which, in the event of receipt of the requested auxiliary data, the means processing generates the environment images with augmented reality information resulting from at least received auxiliary data.

Thus, the driver has driving aids resulting from a combination (or fusion) of the driving aids of his own vehicle but also driving aids offered by the sources of information located in the car park and relating to the environment of the free location.

The aid method according to the invention may comprise other characteristics that can be taken separately or in combination, and in particular: the driving aids may be chosen from (at least) limit coordinates, a minimum spacing to be respected a position of an object or fixed body relative to the free location, and a current trajectory of an object or body moving relative to the free location; each source of information can be chosen from (at least) a communicating vehicle parked on a parking space located next to the free space and communicating electronic equipment installed in the car park and having means of analysis capable of analyzing the environment in at least part of the parking area and means of assisting in the determination of auxiliary data defining driving aids in that environment; the augmented reality information may be chosen from (at least) a predefined representation of at least a part of an object or body to be avoided, a predefined representation of an area in which the vehicle must not roll, a representation of an object or fixed body in the environment of the free location, a representation of a current trajectory of an object or moving body in the environment of the free location, of the area dimensions, of object or body placed in the environment of the free location, and a representation of a trajectory that the vehicle must follow to park in free replacement; in its first step, the information source can transmit, by means of waves, image data defining images of at least part of the environment of the free space and containing the driving aids. In this case, in its second step the vehicle processing means can generate the environment images with augmented reality information by combining image data, defining environment images constructed from the environment data. provided by the associated analysis means, and received image data. The invention also proposes a driver assistance device intended to equip a communicating vehicle and comprising analysis means capable of analyzing the environment of the vehicle in order to determine environment data, and comprising processing means. adapted to generate environment images representative of at least part of this environment from the determined environment data and intended to be displayed on a screen of the vehicle.

This assistance device is characterized by the fact that: - it also comprises own control means, in case of detection of a maneuver of the vehicle to a free parking slot, to trigger the transmission by way of transmission by the vehicle, to at least one communicating information source and located in the car park, of a request for auxiliary data defining driving aids in the environment of this free space, and - that its means In addition, when the requested auxiliary data is received by the vehicle, it is also possible to generate the environment images with augmented reality information resulting from at least the auxiliary data received.

For example, its processing means may be arranged to generate the environment images with augmented reality information by combining image data, defining environmental images constructed from the environment data provided by the means. for analyzing the vehicle, and image data transmitted to the vehicle by a source of information, defining images of at least a part of the environment of the free space and containing the driving. The invention also proposes a vehicle, possibly of automotive type, and comprising analysis means capable of analyzing its environment in order to determine environment data, communication means suitable for exchanging messages by means of waves, and a driver assistance device of the type of that presented above. Other features and advantages of the invention will appear on examining the detailed description below, and the attached drawing, in which the single figure schematically and functionally illustrates a parking in which can circulate and park vehicles which for some include a driver assistance device according to the invention. The invention aims in particular to provide a method of assistance, and an associated DA assistance device for helping to drive a vehicle Vi during maneuvers to park in a free slot EL parking PK.

In what follows, it is considered, by way of non-limiting example, that the vehicles Vi are automotive type. This is for example cars. But the invention is not limited to this type of vehicle. It concerns any type of land vehicle that can make movements and maneuvers on the ground, including parking in a free parking slot. Thus, it also concerns motorcycles, coaches, trucks and commercial vehicles.

It is schematically represented in the single figure PK parking in which can circulate and park vehicles. In this example, the PK car park includes five parking spaces for five vehicles. An EL location is free and wants to be used by the driver of a first vehicle V1 (i = 1) and the other four locations are already occupied by other vehicles (among which second V2 (i = 2) and third V3 (i = 3) which are placed on either side of free replacement EL and which will be discussed later). The object of the invention is in particular to propose an assistance method intended to help to drive in a PK car park vehicles Vi which are equipped at least with means of communication (by means of waves) MON, means of analysis MA1 and a device for assisting driving DA.

It is important to note that the invention can be implemented only if there is present in the parking PK at least one communicating information source (and therefore comprising means of communication (by wave) MCN ). Such a source of information may, for example, be a vehicle Vi '(here i' ^ 1) communicating, parked on a parking slot PK site next to free replacement EL, and having own analysis means MA1 analyzing the environment and assisting means for determining auxiliary data defining driving aids in this environment, or communicating electronic equipment Ek installed in the parking PK and having means of analysis MA2 specific to analyzing the environment in at least a portion of the PK car park and assisting means MAS for determining auxiliary data defining driving aids in that environment.

It will be noted that in the example illustrated, not limitation, in the sole figure, the parking PK comprises three electronic equipments E1 to ES (k = 1 to S). But it might not include or include more or less than three (for example one or five). The MA2 analysis means Ek electronic equipment can analyze the environment of one or more (at least two) neighboring locations, depending on the places where they are respectively installed. Thus, in the example illustrated, the analysis means MA2 of the first electronic equipment E1 analyze the environment of a single location (the one in which the third vehicle V3 is parked), the analysis means MA2 of the second electronic equipment E2. analyze the environment of two locations (the one that is free (EL) and the one in which the second vehicle V2 is parked), and the analysis means MA2 of the third electronic equipment E3 analyze the environment of two locations (those in which park the other two vehicles not referenced).

The communication means MCN Vi vehicles and electronic equipment Ek are arranged to exchange messages by wave. Preferably, these communication means MCN are arranged to emit messages with a short range, for example using the wireless communication standard Car2X or Bluetooth or WiFi or 5G.

The analysis means MA1 and MA2 of the vehicles Vi and electronic equipment Ek can include any type of data acquisition means relating to their environment. Thus, they may, for example, comprise at least one camera and / or at least one radar and / or at least one lidar and / or at least one scanning laser and / or at least one ultrasound generator. What is important is that they are able to provide environmental data representative of their environment and for example object (s) and / or fixed body (s) or mobile (s).

Here we mean by "object" any material thing forming a whole. Therefore, it may be, for example, at least part of a building (such as a wall or a shelter or swimming pool), or a sidewalk, or a barrier, or a fence, or equipment, or table, or chair, or bench, or tent, or balloon. Similarly, here "body" is understood to mean both a person's body and an animal's body.

The (driving) aid method according to the invention comprises first and second steps which can be implemented at least partially by a driver assistance device DA belonging to a vehicle Vi .

As illustrated without limitation in the single figure, a device DA, according to the invention, comprises at least control means MC and processing means MT. This assistance device DA can, as illustrated, be implanted in a computer CA which possibly provides at least one other function within its vehicle Vi. But in an alternative embodiment, the help device DA could constitute electronic equipment, such as a computer. Consequently, the help device DA (and in particular its control means MC and its processing means MT) can be implemented in the form of software modules (or computer or "software"). ), or a combination of electronic circuits (or "hardware") and software modules.

In the following it is considered that the aid method is intended to help the driver of the first vehicle V1 (i = 1) to park the latter (V1) in free replacement EL of the PK car park.

The first step of the aid method, according to the invention, is implemented in the event of detection of a maneuver of the first vehicle V1 to a free location EL of the parking PK. This detection is done internally in the first vehicle V1, possibly by the help device DA (by analysis of the environmental data provided by the analysis means MA1 associated), and possibly following a request for assistance by the driver.

Note that in the example shown in non-limiting manner in the single figure, the first vehicle V1 flows in the forward direction according to the arrow F1 on a path to the parking spaces PK. But it could move in reverse. It is considered here that the invention applies to parking maneuvers performed in reverse as in forward (which requires that the MA1 analysis means of the first vehicle V1 are capable of providing environmental data. relating to the areas in front of and behind the first vehicle V1). However, in alternative embodiments, the invention could be applied to parking maneuvers performed in reverse (which requires that the analysis means MA1 of the first vehicle V1 be capable of providing at least one relative environment data. to the area behind the first vehicle V1) or to the only parking maneuvers performed in the forward direction (which requires that the analysis means MA1 of the first vehicle V1 are capable of providing environmental data relating to at least the area in front of the first vehicle V1).

In the first step, once the operation of the first vehicle V1 has been detected, the first vehicle V1 requests, by waves, at least one information source Ek or Vi '(i' Φ 1), data auxiliaries that define driving aids in the EL free replacement environment.

More precisely, the control means MC of the assistance device DA of the first vehicle V1 trigger the transmission by waves by the communication means MCN of the first vehicle V1, intended for at least one information source Ek or Vi ', a request (or request) for auxiliary data defining driving aids in the EL free replacement environment. On receipt of such a request, the information source Ek or Vi 'will transmit, by means of waves, with its communication means MCN and to the first vehicle V1 (in particular), auxiliary data intended to assist driving. in its environment that encompasses free replacement EL. The position of the free location EL can either be provided by the first vehicle V1 in its auxiliary data request, or determined by the information source Ek or Vi 'depending on the current position of the first vehicle V1 provided in its auxiliary data request (it is considered here that the free location EL concerned is the one which is closest to the first vehicle V1). The first vehicle V1 can arbitrate the various auxiliary data received. For example, the auxiliary data from the information source Ek can be prioritized over those provided by a vehicle Vi 'parked, and in the absence of information source Ek the first vehicle V1 can prioritize the auxiliary data received from the vehicle Vi 'which is the closest.

It will be noted that these auxiliary data can be determined either directly by the assistance means MAS of an electronic equipment Ek (here E1 or E2) or by the assistance device DA of a vehicle Vi '(here V2 or V3 ) if it (DA) is in operation, either beforehand by the aid device DA of a vehicle Vi '(here V2 or V3) before stopping the latter (Vi') and if it (DA) is no longer fully operational. In the latter case, the last auxiliary data, determined before stopping the vehicle Vi ', are stored in a memory in order to be made available to other vehicles Vi. In all cases, it is necessary for the communication means MCN and at least part of the device DA of the vehicle Vi '(which constitutes a source of information) to be in operation, in order to be able to provide auxiliary data to the first vehicle V1.

Any driving aid useful to the driver of a vehicle maneuvering Vi may be defined by auxiliary data. Thus, a driving aid may be, for example: boundary coordinates, for example defining at least part of a contour or a particular point of a parked vehicle Vi 'or an object or body to which it must be very careful, - a minimum distance to be respected between the first vehicle V1 and a vehicle parked Vi 'or an object or body, - a position of an object or fixed body relative to the free location EL, this position possibly being located inside a free replacement EL, - a current trajectory of an object or body moving relative to free replacement EL, this path possibly being located inside the free location EL.

The second step of the aid method is implemented when the first vehicle V1 receives auxiliary data requested in the first step. In this case, the processing means MT of the assistance device DA of the first vehicle V1 generate environment images representative of at least part of the environment of the first vehicle V1 and the free location EL, from determined environmental data and auxiliary data received. It is important to note that these generated environment images include augmented reality (or virtual) information that results in at least received auxiliary data. They can indeed also and possibly include augmented reality information (or virtual) determined by the processing means MT of the first vehicle V1.

Each image of environment thus generated is displayed on a screen of the first vehicle V1 to help the driver of the latter (V1) to perform the parking maneuvers in the free slot EL.

Any augmented reality information useful to the driver of a vehicle maneuvering Vi may be contained in an environment image generated by the MT processing means. Thus, it may be, for example: - a predefined representation of at least part of an object or body to avoid. This representation can be conventional or fanciful or close to reality. Thus, it may be a geometric shape or an envelope (or contour) of the object or body. a predefined representation of a zone in which the first vehicle V1 must not roll. This area may, for example, be hatched with brightly colored lines (such as red) or be filled with a bright color (such as red), - a representation of an object or body fixed in the free replacement environment EL, this representation possibly being located inside the free location EL, of a representation of a current trajectory of an object or body in motion in the environment of the free location EL, this representation possibly being located inside a free replacement EL, the dimensions of a zone, an object or a body placed in the environment of the free location EL (possibly inside the latter (EL)), - a representation of a path that must follow the first vehicle V1 to park in the free slot EL.

It should be noted that in one option, an information source Ek or Vi 'may transmit in waveform, in the first step, image data that defines images of at least part of the replacement environment. free EL and containing driving aids. In this case, in the second step, the processing means MT of the assistance device DA of the first vehicle V1 generate the environment images with augmented reality information by combining image data, defining images of the environment. constructed from the environment data provided by the analysis means MA1 of the first vehicle V1, and image data received from each information source Ek or Vi '. Any combination technique (or fusion) of images, known to those skilled in the art, can be used by the processing means MT.

Thanks to the invention, a driver has driving aids that allow him to better know the free location in which he wants to park his vehicle, which allows him to better maneuver. In addition, since part of the driving aids is determined by at least one information source present in the car park, the treatments that must be performed internally by the vehicle maneuvering to personally determine driving aids may be reduced, which improves the responsiveness and possibly reduce its computing resources dedicated to driving aids.

Claims (9)

1. A method for driving a communicating vehicle (Vi) circulating in a parking area (PK) and comprising i) analysis means (MA1) capable of analyzing the environment of said vehicle (Vi) in order to determining environment data, and ii) processing means (MT) capable of generating environmental images representative of at least a part of said environment from said determined environment data and intended to be displayed on a screen , characterized in that it comprises a first step in which, in the event of detection of a maneuver of said vehicle (Vi) towards a free location (EL) of said parking (PK), said vehicle (Vi) requests by way of auxiliary data waves, defining driving aids in the environment of said free location (EL), at least one information source (Ek, Vi ') communicating and located in said parking (PK), and a second stage in which on receipt of requested auxiliary data, said processing means (MT) generates said environment images with augmented reality information resulting from at least said received auxiliary data.
2. Method according to claim 1, characterized in that said driving aids are selected from a group comprising limit coordinates, a minimum spacing to be respected, a position of an object or fixed body relative to said free location (EL) , and a current trajectory of an object or moving body with respect to said free location (EL).
3. Method according to one of claims 1 and 2, characterized in that each source of information (Ek, Vi ') is selected from a group comprising another vehicle (Vi') communicating and parked on a location of said parking (PK) located next to said free location (EL) and communicating electronic equipment (Ek) installed in said car park (PK) and having analysis means (MA2) capable of analyzing the environment in at least a part of said parking (PK) and help means (MAS) for determining ancillary data defining driving aids in this environment.
4. Method according to one of claims 1 to 3, characterized in that said augmented reality information is selected from a group comprising a predefined representation of at least part of an object or body to be avoided, a predefined representation of an area in which said vehicle (Vi) is not to roll, a representation of an object or fixed body in the environment of said free location (EL), a representation of a current trajectory of an object or body in motion in the environment of said free location (EL), area, object or body dimensions placed in the environment of said free location (EL), and a representation of a path to be followed by said vehicle (Vi) for parking in said free location (EL).
5. Method according to one of claims 1 to 4, characterized in that in said first step said source of information (Ek, Vi ') transmits by wave image data defining images of a part at least from the environment of said free location (EL) and containing said driving aids, and in said second step said vehicle processing means (MT) (Vi) generate said environment images with augmented reality information by combining image data defining environment images constructed from environment data provided by said associated analysis means (MA1), and said received image data.
6. A device (DA) for driving a vehicle (Vi) communicating and comprising analysis means (MA1) capable of analyzing the environment of said vehicle (Vi) in order to determine environment data, said device (DA) comprising processing means (MT) capable of generating environmental images representative of at least a part of said environment from said determined environmental data and intended to be displayed on a screen of said vehicle (Vi ), characterized in that it further comprises own control means (MC), in case of detection of a maneuver of said vehicle (Vi) to a free location (EL) of a car park (PK), to be triggered the transmission by waves by said vehicle (Vi), to at least one information source (Ek, Vi ') communicating and located in said parking (PK), a request for auxiliary data defining aids to the conduit e in the environment of said free location (EL), and in that said processing means (MT) are furthermore clean, in the event of reception by said vehicle (Vi) of requested auxiliary data, of generating said environment images with augmented reality information resulting from at least said received auxiliary data.
7. Device according to claim 6, characterized in that said processing means (MT) are arranged to generate said environment images with augmented reality information by combining image data defining images of the environment built to from the environment data provided by said vehicle analysis means (MA1), and image data transmitted by waves to said vehicle (Vi) by an information source (Ek, Vi ' ), defining images of at least part of the environment of said free location (EL) and containing said driving aids.
8. Vehicle comprising i) analysis means (MA1) able to analyze its environment in order to determine environment data, and ii) communication means (CMM) capable of exchanging messages by wave, characterized in that it further comprises a driver assistance device (DA) according to one of claims 6 and 7.
9. Vehicle according to claim 8, characterized in that it is automotive type.
FR1653767A 2016-04-28 2016-04-28 Method and device for assisting the driving of a maneuvering vehicle for parking in a parking Pending FR3050710A1 (en)

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Application Number Priority Date Filing Date Title
FR1653767A FR3050710A1 (en) 2016-04-28 2016-04-28 Method and device for assisting the driving of a maneuvering vehicle for parking in a parking

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FR1653767A FR3050710A1 (en) 2016-04-28 2016-04-28 Method and device for assisting the driving of a maneuvering vehicle for parking in a parking

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040193347A1 (en) * 2003-03-26 2004-09-30 Fujitsu Ten Limited Vehicle control apparatus, vehicle control method, and computer program
JP2008046744A (en) * 2006-08-11 2008-02-28 Sumitomo Electric Ind Ltd Approaching mobile body displaying apparatus, system, and method
EP2184208A1 (en) * 2007-07-31 2010-05-12 Kabushiki Kaisha Toyoda Jidoshokki Parking assistance device, vehicle-side device for parking assistance device, parking assistance method, and parking assistance program
WO2015001677A1 (en) * 2013-07-05 2015-01-08 ルネサスエレクトロニクス株式会社 Safety assistance system and safety assistance device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040193347A1 (en) * 2003-03-26 2004-09-30 Fujitsu Ten Limited Vehicle control apparatus, vehicle control method, and computer program
JP2008046744A (en) * 2006-08-11 2008-02-28 Sumitomo Electric Ind Ltd Approaching mobile body displaying apparatus, system, and method
EP2184208A1 (en) * 2007-07-31 2010-05-12 Kabushiki Kaisha Toyoda Jidoshokki Parking assistance device, vehicle-side device for parking assistance device, parking assistance method, and parking assistance program
WO2015001677A1 (en) * 2013-07-05 2015-01-08 ルネサスエレクトロニクス株式会社 Safety assistance system and safety assistance device

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