FR3087568A1 - METHOD FOR LOCATING A VEHICLE IN A STRUCTURE - Google Patents

Abstract

The method of locating a vehicle (100) in a structure (200), the structure (200) comprising reference marks (201) arranged in height relative to the vehicle (100), comprises: - a step of detecting at least one of the marks by the vehicle (100), a step of determining, by the vehicle (100), a position of the vehicle (100) in the structure (200) by using said at least one of the reference marks (201) detected.

Description

Description Title of the invention ô METHOD FOR LOCATING AN ICLE IN A STRUCTURE Technical field

The technical field of the invention relates to driving assistance for a vehicle, in particular in a parking lot.

In particular, the invention relates to a method for locating a vehicle in a structure.

PRIOR ART [00021 Currently, to find one's way in a car park where location by satellite (for example by GPS for “Global Positioning System” in English) is not possible, a driving assistance function is known. 'a motor vehicle using a fixed markers detection system to find its way around.

This detection system can be a front camera of the motor vehicle, camera belts or belts of laser remote sensing devices (also known under the term "lidar" for "light detection and ranging" in English), these belts being arranged horizontally to, for example, visualize what is at the front, rear, left and right of the vehicle.

A downside of. this spotting. is that the marks to be detected are placed in a detection zone of the detection system, therefore at the height of the vehicle, that is to say in places where they can be masked by objects or people moving in the environment outside the vehicle, thus making it difficult to locate the vehicle.

Disclosure of the invention

The object of the invention is to improve the determination of a position of the vehicle within a structure, in particular with the aim of helping the movement of the vehicle, for example in the context of autonomous driving of the vehicle. vehicle.

We tend towards this goal thanks to a method of locating a vehicle in a structure, the structure comprising markers arranged in height relative to the ieule, the locating method comprising 'detection step of at least the one of the landmarks by the vehicle, a step of determining, by the vehicle, a position of the vehicle in the structure by using said at least one of the detected landmarks.

[0005] Such a location method has the advantage of using marks placed in height relative to the vehicle.

The result is that such marks are less likely to be masked, thus improving the determination of the position of the vehicle.

[0006] The ecal.tsaoon process may include one or more of the following characteristics: the vehicle has a mapping of the structure, the marks of the structure being positioned in said mapping, and. the dice step! the determination includes a step of reading the map to determine the position of the vehicle; the step of determining comprises a step of identifying said at least one of the markers detected from a list of markers positioned in the map, and the step of reading the map uses said mark. at least one of the landmarks identified to determine the position of the vehicle; the mapping is provided by the structure, or the mapping is stored in a memory of the vehicle; - the structure is a parking lot, and the markers are arranged on the ceiling of the parking lot; the detection step comprises a step of acquiring data from a sensor having a field of view oriented towards a ceiling of the structure, said at least one of the marks being detected from the acquired data.

[0007] The invention also relates to a method of moving a vehicle in a structure, said method of moving comprising a step of implementing the method of locating the vehicle in the structure as described. The displacement method may include: - a step of developing a driving instruction by the vehicle, said elaboration step taking into account the determined position of the vehicle in the structure, and - a step of application of the driving instruction resulting in a controlled movement of the vehicle.

[0009] The displacement method may be such that said at least one of the detected landmarks comprises an indication, said indication being chosen from a traffic rule in the structure and an indication of a direction to be followed by the vehicle, and in this case the step of developing the driving instruction takes this indication into account.

[00 The invention also relates to a vehicle, in particular a motor vehicle, comprising a detection device configured to detect at least one of the marks of a structure and a processing element, the detection device having a field of vision configured to detect said at least one of the landmarks placed in height clans the structure relative to the vehicle, and the processing unit being configured to locate the vehicle using said at least one of the detected landmarks.

[00111] Other characteristics and advantages will emerge from the detailed description which follows.

Brief Description of the Drawings The invention will be better understood on reading the following detailed description of embodiments of the invention, given solely by way of non-limiting example and made with reference to the appended figures listed below. below.

Figure 1 shows a vehicle moving in a structure and seeking to locate there scion a particular embodiment of the invention. [00141] FIG. 2 represents the vehicle placed under a mark of the structure thus allowing the detection of the mark by the vehicle, then the location of this vehicle taking into account the detected mark.

[0015] [fig.3] FIG. 3 represents an example of the mapping of the structure. [0016; [fig, .4] FIG. 4 represents steps of a method for locating the vehicle according to one embodiment of the invention.

[0017] [fig.5] FIG. 5 represents a diagram of components of a vehicle and of the interaction according to one embodiment of the invention. [00181] FIG. 6 represents steps of a method for moving the vehicle according to one embodiment of the invention.

Description of the embodiments

[0019] The invention relates to a method for locating, also called a positioning method, of a vehicle 100 in a structure 200, for example as shown in FIGS. I to 2.

In particular, this location method, and in particular a detection step E1 described below, is implemented during the movement of the vehicle 100.

The structure 200 includes reference marks 201, also called reference points, arranged in height relative to the vehicle 100.

These marks 201 are in particular visual marks. These marks 201 are in particular arranged in a fixed manner in the structure 200.

By "marks 201 arranged in height relative to the vehicle 100", it is understood that these marks 201 are placed at a height, relative to the ground 202 of the structure 200 on which the vehicle 100 moves, strictly greater than the height of the roof 101 of the vehicle 100 with respect to this same ground 202.

The structure 200 is in particular covered in the sense that it has a ceiling 205, thus making it impossible or difficult to receive a satellite signal by the vehicle '-.00 when it moves in the structure 200.

Preferably, the marks 201 are arranged on the ceiling 205 of the structure 200.

This makes it possible to facilitate the fixing of the marks and to facilitate the detection of a mark when the vehicle 100 passes under cc mark 201 (FIG. 2). [0023; The vehicle 100 is preferably a motor vehicle. [0024; The structure 200 can be a parking lot, in particular where vehicles 300 are parked as shown in Figures 1 and 2.

Such a structure. 200 can allow the vehicle 100 to locate itself, and in particular to move, for example autonomously, to park in the structure 200, [00251 A mapping. 203 of structure 200, also called. plan or map of the structure 200, is shown by way of example in Figure 3.

The cartography 203 may represent a set of data the use of which serves to locate the, that is to say to determine the position of the vehicle 100.

This cartography 203 shows the organization of the traffic lanes 204 of the structure. 200 and the placement of marks 201 at intersections marks the lanes 204 of traffic.

On the mapping example 203 shown in FIG. 3, twelve reference marks are shown by way of example.

The cartography 203 can be a three-dimensional grid of axes X, Y, Z orthogonal two by two making it possible to give a position of the vehicle along the X axis, known as the “longitudinal axis”, of the cartography 203 (we can speak of longitudinal component of the position of the vehicle 100 within the map 203) and along the Y axis called, "lateral axis u, of the map 203 (we can then speak of a lateral component of the position of the vehicle 100 within the cartography 203).

By the way, within. With this grid, the marks are placed along the Z axis, in particular at a precise position along the X and Y axes, these marks being able to indicate an available parking space, or even a direction of movement within the structure 200.

The location method comprises, for example as illustrated in FIG. 4, the step El of detecting at least one of the marks 201 by the vehicle 100, and a step E2 of determining, by the vehicle 100, d 'a position of the vehicle 100 in the structure 200 using said at least one of the detected landmarks 201 from which it follows that the vehicle 100 is located, that is to say positioned, in the structure 200.

The detection of one or more marks located in height relative to the vehicle 100 improves the determination of the positioning of the vehicle 100 because such marks are generally not masked by people or objects moving in the structure 200.

In fact, in order to determine the position of the vehicle 100, the detection of a mark may suffice, however, if the vehicle 100 simultaneously detects several landmarks 2.01, these detected landmarks 201 could all be used to determine the position of the vehicle 100 in the structure. 200.

For example, the simultaneous detection of several landmarks 201 can be used to determine the orientation of the vehicle 100 (its heading) in the structure 200, this heading information being able to be used in the context of autonomous driving of the vehicle to manage its movements. .

Subsequently, reference is made to the detected marker 201, but what is for this detected marker can be applied for several detected markers to allow localization, in this sense the terms “detected marker -” can be replaced. by "said at least one of the marks detected".

By "position of the vehicle 100 in the structure 200", it is understood in particular its position relative to the map 203, in particular in the map 203 of the structure 200 mentioned above.

The position of the vehicle 100 in the structure 200 can, for example, be used in combination with the cartography 203 to give the distances of the vehicle 100 with respect to elements of the structure 200, such as for example the traffic lanes of the structure 200 or pillars of the structure 200.

The position of the vehicle 100 can also be used to determine the orientation of the vehicle 100 within the structure 200.

In particular, these distances and orientation can be. determined in the vehicle benchmark 100.

Preferably., The vehicle 100 has the map 203 of the structure 200, the marks 201 of the structure 200 being positioned in said map 203, that is to say, the map 203 includes the positions of marks 201 of the structure 200, these positions of the marks 201 each being in particular fixed in the structure 200 and therefore in the map 203.

Thus, step P2 of determining the position of the vehicle 100 in the structure 200 preferably comprises the use of the mapping 203 of the structure 100.

In particular, the step P2 of determining the position of the vehicle 100 comprises a step E2-1 of reading the map 203, using the mark 201 detected, to determine the position of the vehicle 100, in particular relative to the map 203 and therefore in structure 200 (Figure 4).

Thus, from the position of the mark detected in the map 203, it is possible to deduce therefrom the position of the vehicle i00 in the structure 200.

The use of the cartography 203 here makes it possible to precisely locate the vehicle 1.00.

[00291 In order to facilitate the positioning of the vehicle 100 using the map 203, the determination step E2 may include a step E2-2 to identify the mark 201 detected from a list of marks 201 positioned in the map 203 (figure 4).

In particular, the vehicle 100 has this list, the reading step E2-1 of the mapping 203 then uses the identified mark 201 (where appropriate said at least one of the identified marks) to determine the position of the vehicle 100 that the one seeks to determine by step E2.

For example, the reading of the map 203 can be carried out on the basis of an input datum (the mark 20! Identified) d.e so as to output the position that it is sought to determine.

In particular, the mapping 203, and where appropriate the list of marks positioned in the mapping 203, are provided by the structure 100, for example via a wireless link.

Alternatively, the map 203, and where appropriate the list of markers positioned in the. cartography 203, are stored in a memory 112 of the vehicle ts 100 (FIG. 5).

These two solutions are suitable for making the cartography 203, and the list if necessary, available to the vehicle 100. [0031; It has been described above that it is the vehicle 100 which is positioned in the structure 200.

There is therefore a need to judiciously integrate the components necessary for this location in the vehicle 100 in order to perform a function of assisting the driving of the vehicle 100. To meet this need, the invention also relates to the vehicle 100 which comprises a detection device 102 configured to detect at least one of the marks 201 of the structure, and a processing unit 103 (respectively shown in dotted lines in FIG. 5).

The detection device 102 is in particular configured to detect one of the marks or several of the marks at the same time.

The detection device 102 has a field of view 104 (shown schematically by a cone in FIGS. 1 and 2) configured to detect one or more of the marks 201 (that is to say said at least one of the marks 201) placed in height in the structure 200 relative to the vehicle 100, this making it possible to avoid hazards due to the masking of the marks placed at the height of the vehicle, that is to say in particular frontally to the vehicle or laterally to the left or to the right of the vehicle ..

Furthermore, the processing unit 103 is configured to locate the, that is to say determine the position of the vehicle 100 in the structure 200 by using said at least one of the detected landmarks, and preferably the mapping 203 of the. structure 100.

Preferably, the processing unit 103 is also configured to recognize / identify each marker 201 detected and to read the map 203 using the identified marker (s) from which the position of the vehicle 100 results in the determination of the position of the vehicle 100.

In particular, the field of vision is such that the mark 201 is detected when the vehicle 100 passes under this mark: the possibility of an object masking the mark 201 is further limited here.

[00321 In order to present a suitable field of vision, the detection device 102 may include a sensor 105 oriented in a suitable manner, preferably towards the ceiling 205 of the structure 200 when the vehicle 100 moves in the structure 200.

This sensor 105 can be a camera or a receiver of a lidar, for example mounted on the roof 101 of the vehicle 100 or at least oriented towards the ceiling 205 of the structure 200.

In particular, the detection step E1 comprises an acquisition step E1 -1 (FIG. 4) of data from the sensor 105, in particular belonging to the vehicle 100, having the field of view oriented towards the ceiling 205 of the structure 200, the mark being detected on the basis of the data acquired, that is to say by analyzing these data for example using a computer 109 of the vehicle 100.

Thus, the detection step E1 can then also include an analysis step E1 -2 (FIG. 4) of the data acquired in order to detect the presence of the marker 201 therein.

Such data acquisition according to the oriented field of view 104 makes it possible to avoid the passage of objects in the field of view 104 capable of masking a mark which must be delicited. [) 033] According to a particular embodiment illustrated by way of example in FIG. 5, the detection device 102 comprises a detection module 106 configured to detect the presence of one or more marks 201 from data supplied to its input EM1 by sensor 105.

The processing unit 103 comprises a module 107 for recognizing the detected marker and a module for locating the vehicle 100.

The marker recognition module 107 takes as inputs the marker detected by the detection module 106 (input En2), and a list of references of the structure 200 (input En3), this making it possible to identify the marker detected within a predetermined list in order to then find its position in the cartography 203.

Furthermore, the location module 108 takes as inputs the map 203 of the structure 200 (input DA) and the recognized / identified marker (input En5) to output the position Pos of the vehicle 100 in the structure 200.

The recognition 107, detection 106 and location 108 modules are in particular integrated into the computer 109 of the vehicle 100.

According to a particular embodiment, the vehicle 100 has the mapping 203 of the structure 200 which is a parking lot and the list of visual references.

This map 203 and this list are sent to the vehicle 100 by the structure 200 or stored in the vehicle 100, for example in an electronic control unit (ECU) of the vehicle 100.

When the vehicle 100 is moving in the parking lot, the detection device 102 is active and searches if a mark is in its field of vision.

When one or more landmarks are detected, they are identified / recognized and the vehicle 100 can hold its position, using the map 203, relatively in this map 203 and therefore in the parking lot.

[00371 The marks 201 of the structure 200 are in particular all different so that each mark 201 can correspond to a single point of the structure 200 and in particular of the map 203.

The marks 201 can, for example, be differentiated by specific patterns / shapes, colors, letters, markings or materials which can be detected using, for example, the camera or the lidar. When the position Pos of the vehicle 100 in the structure 200 is known, the latter can be transmitted using a transmission member 110 (FIG. 5) of the vehicle 100, such as a data transfer bus, to d '' other modules of the driving assistance function (such as for example navigation, trajectory planning and control) which can allow the vehicle 100 to reach a destination in the structure 200, such as for example a parking space on which he must park.

In FIG. 5, the transmission member 110 transfers the position Pos to a working member 111 capable of using the position of the vehicle 100 in the structure 200.

For example, this working member Ill can cause the automatic and controlled movement of the vehicle 100 by taking into account the position Pos of the vehicle 100 in the structure 200.

In this sense, the invention also relates to a method of moving the vehicle 100 in the structure 200.

Such a movement method comprises (FIG. 6) a step E100 of implementing the method for locating the vehicle 100 in the structure 200 as described.

Such a movement method is very particularly advantageous in the sense that the movement of the vehicle 100, in particular autonomously, will be better managed due to an efficient location of the vehicle 100 during its movement.

As mentioned., In the event of autonomous movement of the vehicle 100, the detection of several landmarks 201 (in particular simultaneously) can allow the vehicle 100 to define its heading in order to work out its movement.

Thus, the location method preferably allows a location of the vehicle 100 several times during its movement in the structure 200.

In particular, on each new detection of one or more of the marks 201 of the structure 200, step E2 described above is implemented.

[0039] The displacement method may include a step E1 01 of developing a driving instruction by the vehicle 100, the step 17,101 of developing the driving instruction taking into account the determined position of the vehicle. 100 in structure 200.

This step 101 is then followed by a step E102 for applying the driving instruction, in particular to control the movement of the vehicle 100, from which a controlled movement of the vehicle 100 results (FIG. 6).

This makes it possible to efficiently move a vehicle autonomously.

The driving instruction can correspond to a planning of the trajectory of the vehicle 100 and to its control.

Steps E101 and E102 can be implemented by the work unit 111.

[0041] According to. a particular embodiment of the displacement method, the detected mark 201 comprises an indication.

In this case, the step E102 for developing the driving instruction takes this indication into account.

This allows the structure 100 to impose certain rules to be followed by the vehicle 100.

The indication can be chosen from a traffic rule in the structure 200. in other words an indication relating to the driving rules to be observed by the vehicle 100 in the structure 200, and an indication of a direction to be followed by the vehicle 100, for example to reach an available space in order to park the vehicle 100 there when the structure 200 is a parking lot.

For example, a driving rule can be an authorized speed or an authorized direction: if the structure 200 is not two-way, the reference 201 can indicate which are the directions in which the vehicle 100 can travel.

The marker 201 may also include several different indications which may be taken into account in developing the driving instruction.

10042] When the reference marks 201 of the structure 200 make it possible to indicate y the direction to be followed by the vehicle 100, the method of moving the vehicle 100 allows the vehicle 100 to locate itself, in particular using the cartography 203, and to follow the 201 markers to, for example, reach an available parking space. [0043; According to a particular embodiment, the vehicle 100 may include a state of the spaces available in the structure 200, for example provided by the structure 200, when the latter is a parking lot.

In this case, the vehicle 100 is configured to prepare the driving instruction by taking into account this state of the available places to develop a movement to be implemented to reach one of the available places.

The marks 201 of the structure 200 can be static marks or dynamic marks.

A static benchmark is a benchmark that does not change; it remains fixed and unchanged over time.

A dynamic marker is a marker which is liable to change, for example by indicating a direction to take to reach a space available for the parking of the vehicle 100.

Static cues can be used by simply helping the vehicle to locate itself.

Dynamic benchmarks have the advantage of assisting the. vehicle for example in the search for an available space, in particular by giving it a suitable indication.

According to a particular embodiment, the location method, or where appropriate the movement method before the step of implementing the location method, comprises an initialization step (Figures 4 and 6) allowing the vehicle 100 to establish the map 203.

For example, the vehicle 100 can, in the context of manual driving, move around the structure 200 to record data allowing it to establish the map 203, to detect the landmarks 201 in particular to establish the list and to position them. these landmarks in the cartography 203.

This can, for example, be implemented in the case of a residential car park where the driver will have to manually park his vehicle 100 the very first time to allow the vehicle 1.00 to map this car park while positioning the marks 201 of the car park during of the realization of the cartography 203.

Subsequently, the vehicle 100 can park it autonomously using its detection device 102 and the map 203 that it will itself have established.

[00461 The marks 201 can be positioned at intersections of the structure 200 as illustrated in Figures 1 to 3.

Alternatively, the marks 201 can be positioned in a manner different from the. as long as they allow participation in the implementation of the desired driving assistance function. 10047j In the present description, everything that is determined, or detected, by the vehicle 100, is determined in particular by its computer 109. [004.81 fi results from what has been described above that the invention also relates to a computer program comprising program code instructions for executing the steps of the described location method and / or the described movement method, [0049; The location method, the movement method, and the vehicle described have an industrial application, in particular in the automotive field, in particular for the autonomous driving of a vehicle in a parking-type structure.

11 [Claim 1] [Revendicatio [Claim 3] [Claim 5] [Claim 6] [Claim 7]

Claims (10)

[Claim 1] Method for locating a vehicle (100) in a structure (200), characterized in that the structure (200) includes markers (201) arranged in height relative to the vehicle (100), the method of location including: a step (E1) of detection of at least one of the marks (201) by the vehicle (100), a step (E2) of determination, by the vehicle (100), of a position of the vehicle (100 ) in the structure (200) using said at least one of the detected marks (201). [Claim 2] Localization method according to claim 1, characterized in that the vehicle (100) has a map (203) of the structure (200), the pins (201) of the structure (200) being positioned in said map (203), and in that the step (E2) of determining comprises a step (E2-1) of reading the map (203) to determine the position of the vehicle (100). [Claim 3] Localization method according to the preceding claim, characterized in that the determining step (E2) comprises a step (E2-2) of identifying said at least one of the benchmarks detected from a list of benchmarks (201) positioned in the map (203), and in that the step (E2-1) of reading the map (203) uses said at least one of the marks (201) identified to determine the position of the vehicle (100 ). [Claim 4] Localization method according to any one of claims 2 to 3, characterized in that the cartography (203) is provided by the structure (200), or in that the cartography (203) is stored in a memory of the vehicle (100). [Claim 5] Localization method according to any one of the preceding claims, characterized in that the structure (200) is a parking lot, and in that the pins (201) are arranged on the ceiling (205) of the parking lot. [Claim 6] Localization method according to any one of the preceding claims, characterized in that the detection step (El) comprises a step (El -1) of data acquisition from a sensor (105) having a field of vision oriented towards a ceiling (205) of the structure (200), said at least one of the marks being detected from the acquired data. [Claim 7] Method for moving a vehicle (100) in a structure (200), characterized in that it comprises a step (E100) of implementing the method for locating the vehicle (100) in the structure ( 200) according to any one of the preceding claims. [Claim 8] Method of movement according to the preceding claim, characterized in that it comprises: a step (E101) of preparation of a driving instruction by the vehicle (100), said step (E101) of preparation taking takes into account the determined position of the vehicle (100) in the structure (200), and - a step (E102) of application of the driving instruction from which a controlled movement of the vehicle (100) results. [Claim 9] Movement method according to the preceding claim, characterized in that said at least one of the detected marks (201) comprises an indication, said indication being chosen from: a traffic rule in the structure (200) and an indication of 'A direction to be followed by the vehicle (100), and in that the step (E101) of developing the driving instruction takes this indication into account. [Claim 10] Vehicle (100) comprising a detection device (102) configured to detect at least one of the marks (201) of a structure (200) and a processing unit (103), characterized in that the device detection (102) has a field of vision (104) configured to detect said at least one of the marks placed high in the structure (200) relative to the vehicle (100), and in that the processing unit (103) is configured to locate the vehicle (100) using said at least one of the detected marks (201).