WO2013050194A1 - Method for navigating a vehicle to a parking place - Google Patents

Method for navigating a vehicle to a parking place Download PDF

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Publication number
WO2013050194A1
WO2013050194A1 PCT/EP2012/065502 EP2012065502W WO2013050194A1 WO 2013050194 A1 WO2013050194 A1 WO 2013050194A1 EP 2012065502 W EP2012065502 W EP 2012065502W WO 2013050194 A1 WO2013050194 A1 WO 2013050194A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
information
parking lot
parking
data source
Prior art date
Application number
PCT/EP2012/065502
Other languages
German (de)
French (fr)
Inventor
Stefan Nordbruch
Soeren Kammel
Peter Busch
Gunther Schaaf
Kurt ECKERT
Werner Poechmueller
Jan Becker
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
Priority to DE102011084124.5 priority Critical
Priority to DE201110084124 priority patent/DE102011084124A1/en
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2013050194A1 publication Critical patent/WO2013050194A1/en

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146Traffic 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D1/00Steering controls, i.e. means for initiating a change of direction of the vehicle
    • 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
    • B62D15/0285Parking performed automatically
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3679Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • G01C21/3685Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291Fleet control
    • G05D1/0297Fleet control by controlling means in a control room
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/14Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0213Road vehicle, e.g. car or truck

Abstract

The invention relates to a calculation unit, a computer program product and a method for navigating a vehicle to a parking place, said vehicle collecting information relating to the vehicle surroundings by means of sensors. Said vehicle obtains information relating to the parking place from an external data source. The information from the external data source is obtained using sensors on other vehicles and transmits it to the external data sources. The vehicle takes into account the information from the individual sensors and the information from the external data sources during the navigation to the parking place.

Description

description

title

A method for navigating a vehicle in a parking lot, the invention relates to a method for navigating a vehicle on a

Parking according to claim 1, a computer program product according to claim 10 and an arithmetic unit, in particular a data server according to claim 1. 1 State of the art

In the prior art, various methods for navigating a vehicle in a car park are known. For example, describes

US 2010/0156672 A1 a system to be used in the installed in car parks or in the parking sensors to a vehicle provided for a

to lead parking and to identify unused parking.

Disclosure of Invention The object of the invention is to provide an improved method for navigating a vehicle in a parking lot.

The object of the invention is achieved by the method according to claim 1, by the computer program product according to claim 10 and by the arithmetic unit according to claim 1. 1

Further advantageous embodiments of the invention are specified in the dependent claims. The method according to claim 1 has the advantage that both the vehicle information detected by own sensors, as well as information an external data source when navigating in a parking lot considered. The information from the external data source have been partially covered by at least other vehicles. Thus can be considered when navigating in the parking lot additional information, such as free parking, the traffic situation, such as a traffic jam.

In a further embodiment, the vehicle has a driver assistance system, which preferably controls the vehicle by using the information autonomously to the parking lot. In this way, a driver can leave the vehicle after reaching the parking lot, the vehicle then drives a free place in the parking lot using the driver assistance system. In a corresponding manner, the vehicle can be controlled when picking up again to an input of the parking space of the driver assistance system. In another embodiment, the navigation of the vehicle is of a

Operator support via a wireless connection.

In another embodiment, the operator of the vehicle to be controlled information on the surroundings of the vehicle can be transmitted. For example, a surrounding image may be transmitted to a control device which is operated by the operator to transmit control commands or control recommendations to the vehicle or the driver assistance system of the vehicle. Thus, precise control of the vehicle or influencing the movement path of the vehicle by the operating person can be achieved.

a free space for parking and its location in another embodiment, is transmitted to the data source of a vehicle as information. Thus can be obtained a current picture of availability in the parking lot. A free space can for example be detected by a vehicle with appropriate sensors at a pass-by.

In a further embodiment, a vehicle transmits information about the traffic in the parking lot, in particular a traffic density or congestion to the data source. Thus, current information about the traffic can easily detected and taken into account when navigating in the parking lot.

The data source can in particular be formed as a unit, for example, in another vehicle or stationary data source. The term computing unit any type of data processing system is understood to memory, which is formed, for example, as a data server, or as a computer system and is connected via a communication device in a position to receive information and make information to vehicles.

The invention further relates to a computing unit, in particular a data server with an interface for receiving and outputting information, said data server is adapted to receive vehicle information about their environment, said computing unit is adapted to provide information about the parking spaces, e.g. to communicate the location of free parking to vehicles. In this way, vehicles can collect information about the parking lot and transmit them to the processing unit. The processing unit can in turn transmitted to other vehicles the information. In particular, the processing unit can collect information from multiple vehicles, process and output back to more vehicles.

In a further embodiment, the computing unit to static data on or several parking spaces, in particular a card with specification of the routes and / or the spaces for parking vehicles. These data a driver assistance system of the vehicle, in particular a navigation system of a vehicle can be provided. Thus can be currently transmitted from the computer unit to the vehicles detailed information about the classification of the parking lot.

In a further embodiment of the computing unit is configured to output a function of an occupancy status of a parking lot that is reported from vehicles to the processing unit a busy information to the vehicles. Thus, from a vehicle a recent busy information can be obtained. This can be taken into account when navigating in the parking lot. The invention is explained in more detail below with reference to FIGS. The figure shows a schematic structure of a system for navigating a vehicle in a parking lot.

There are a first and a second vehicle 1, 2, for example, are identical in structure and move in a parking lot. 3 Each vehicle 1, 2 has a driver assistance system 4 and an interface 5 for transmitting and / or receiving data. The driver assistance system 4 may represent, for example, a navigation system with map data, a tracking system, an automatic parking system, a speed control and / or automatic distance guide etc.. In addition, each vehicle 1, 2 sensors 6, which are used to detect a state of the vehicle and / or a state of the environment of the vehicle. The sensors 6 may be formed, etc. For example, in the form of a camera, a distance sensor, an ultrasonic sensor, a GPS sensor, a radar sensor, a lidar sensor.

The driver assistance system 4 may be formed in such a way that an automatic traveling of the vehicle can be 6 and / or performed depending on information transmitted from the sensors, depending on detected information. For example, the driver assistance system 4 may comprise an electric steering system, an electric motor controller and an electric brake.

The interface 5 may be formed as an interface, which is designed for transmission of information via a wireless connection such as mobile telephony, wireless or mobile Internet (LTE).

Further, in the figure, a processing unit 7 is shown with a further interface 8, the processing unit 7 is connected to a data memory. 9 The further interface 8 serves for receiving and outputting information, for example through radio-oriented way, such as cellular, WLAN or mobile internet (LTE).

A database 10 may be provided, which has a third interface 1. 1 In the database 10 static parking space information may be stored off, which are maintained, for example, via the third interface 1 1 of a parking operator or from a land registry / a city administration. The arithmetic unit 7 can communicate with the database 10 information and store it in this way current static or slowly changing parking data store information. 9

The arithmetic unit 7 is configured to process the static parking lot information on and to transmit to the vehicles 1; 2. In addition, the vehicles 1, 2 are designed to capture using sensors 6 of the vehicles 1, 2 information on the parking lot, in particular information on availability in the parking lot and their location and to transmit to the computing unit. 7 The arithmetic unit 7 processes the received and transmitted by a vehicle information back to other vehicles. Thus, access to information other vehicles with regard to the situation in the car park the vehicles on the computing unit. 7 Depending on the selected embodiment the vehicles 1, 2 can exchange information on the situation in the parking lot directly. In this case, a traffic information such as traffic density, traffic jams and locations of open spaces in the parking lot, both to another vehicle and also to the computing unit 7 can be transmitted in particular.

Depending on the chosen embodiment, a control unit 12 with an output 13 and an input 14 may be provided at the parking lot. 3 The parking lot can for example be designed as a car park. The control unit 12 comprises a fourth interface 15, can be received via the information from the vehicles 1, 2 and / or by the computing unit. 7 For example, a vehicle 1, 2 information about the current environment of the vehicle, in particular a picture of the surroundings of the vehicle 1, 2 transmit to the control unit 12th The control unit 12 displays the image in the output 13, which is for example designed as a screen. An operator may issue a corresponding input 14 information to the vehicle, in particular control commands or control recommendations to assist in navigating the vehicle on the parking lot. For example, a remote control of the vehicle by using the control unit 12 may be performed in order to move a vehicle independently or with the assistance of a driver assistance system 4 in the car park to drive and in particular to a free space or to bring about a free space back to a transfer station. At the transfer station, the vehicle is taken over again by the driver of the vehicle. Using the system described, for example, a remote-controlled

Parking in and out of the vehicle by an operator using the control unit are performed 12th In addition, the vehicle may NEN 4 taking into account the infor- supplied by the sensors 6 and by the computing unit 7 using corresponding driver assistance systems automatically switching over the parking or to be parked. Thus, the driver can release the vehicle to a transfer point at the car park 3 and the vehicle automatically and / or with the assistance of an operator via a remote control system in availability and parked. Thus, the time for searching and parking, and the time is reduced to leave a parking area or the time to enter, for retrieving the vehicle and exiting the car park. Furthermore, accidents can be avoided because the driver no longer has to enter the parking lot, such as a car park. In addition, parking is done in particular several vehicles more environmentally friendly, since shorter distances because of the information provided are possible to a free space and in particular the engine running unnecessarily, for example in a traffic jam is avoided. Detects the vehicle for example based on the information from the arithmetic unit 7 that currently is jammed and the extension for the next 10 minutes is not possible, then the motor for the time of the jam can be turned off.

The arithmetic unit 7, which is formed for example as a server, a hand, has static and slowly varying parking information, such as detailed maps of parking or the slip situation of the parking area, and on the other hand, dynamic information such as the exact location and other data to be parked vehicles. The vehicles 1, 2 can access the information from the processing unit 7, for example by radio and generate together with the existing or in the vehicle located in the park sensors an accurate picture of their environment. Furthermore, the generation of the environmental image can also be performed by the arithmetic unit 7 on the basis of existing in the processing unit 7 information and sensor data in addition provided by the vehicles, and in turn, the vehicles 1 are provided. 2

The static and slowly changing data of the parking lot are managed, for example, in the database 10th The database 10 provides open data interfaces that handed over the data suppliers such as car park operators or land registry offices or municipal governments the data to the database 10th In addition, the information provided by the vehicles 1, 2 can be used to update and improve the information contained in the database 10th For this purpose, there is a bi-directional data interface between the computer unit 7 and the database 10th

Based on this system concept different variations can be made in relation to a concrete implementation of the parking process, have different complexity and are progressively realized. For example, in a first expression of the vehicle can be monitored by an employee of a service by using the available data such as the information from the sensors 6 of the vehicle, an occupancy situation of the parking and the parking geometry remote controlled or automatic parking by driver assistance systems 4 of the vehicle. 1

Another expression includes the autonomous parking the vehicle by suitable driver assistance systems with use of appropriate actuators, such as electrically operated steering, engine control and brake. Here, the vehicle is based on the information from the sensors 6 of the vehicle, the occupancy situation and the parking lot geometry autonomously its way inside the parking lot to the next free space and when you pick up back to the transfer station. The occupancy situation and finding a parking space geometry is provided, for example, by the computing unit 7 is available. In a further embodiment, a vehicle is formed as CAR Elektrof, automatically moved to a place which is designed for electrically charging the electric vehicle. In addition, an electric charging process of the vehicle is automatically started after parking the vehicle on the place. The information transmitted from a vehicle to the arithmetic unit 7 or another vehicle can be for example a picture or a video, or a geographical position of the vehicle with information about the spatial extent of the vehicle.

Furthermore, the functionality provided by the processing unit 7 information may be, for example, a machine-readable detailed survey of the parking area. In addition, the processing unit 7 may include an identification of the available free spaces of the parking lot.

One advantage of the system described is that not only information will be used for parking the vehicle, which are detected by the vehicle itself, but that information is used by the computer unit acquired from other vehicles located in the parking lot or have found. These vehicles thus serve as additional sources of information for determining the overall environment. In this way, a more accurate determination of the actual environment can be made on the one hand, on the other hand, obstacles can be detected earlier and more appropriate measures such as Dodge, alternative routes for the guidance of the vehicle are carried out in the parking lot. This can be particularly advantageous if a parking lot has, for example, in a parking garage several levels. In addition, the vehicle can already see uncertainties or obstacles based on the received data before it actually arrived at the uncertainties and obstacles as they are received from other vehicles running ahead, for example, directly or via the computer unit 7 to the vehicle. The system described has information on all preferably located in the parking vehicles so that a vehicle can thus respond more effectively. In addition, obstacles such as heavy traffic, congestion or free parking can be recognized by several vehicles and checks by the computing unit. 7 Furthermore, an information to vehicles can be output for example via the computing unit 7, that a parking overloaded or is full.

Claims

claims
1 . A method for navigating a vehicle in a parking lot, the vehicle using sensors information about the surroundings of the vehicle captured, the vehicle obtains information on the parking lot of an external data source, wherein the information of the external data source by using a sensor at least one other vehicle detected and was transmitted to the external data source, and the vehicle takes into account the information from its own sensors and the information from the external data source when navigating in the parking lot.
2. The method of claim 1, wherein the vehicle has a driver assistance system, and wherein the vehicle is controlled using the information of the driver assistance system autonomously in the parking lot.
3. The method according to any one of the preceding claims, wherein the vehicle is supported by an operator via a wireless connection during navigation.
4. The method of claim 3, wherein the vehicle transmits information about the environment to a control device which is operated by the operator to transmit control commands to the vehicle or the driver assistance system.
5. The method according to any one of the preceding claims, wherein information is recorded as a surrounding image of the vehicle and transmitted to the data source or the control device.
6. The method according to any one of the preceding claims, wherein from the
Vehicle information is transmitted as a free space and its location to the data source.
7. A method according to any one of claims 1 to 6, wherein information about the traffic in the parking lot, in particular a traffic density or congestion is transmitted to the data source from the vehicle.
8. The method according to any one of claims 1 to 7, wherein the external data source is arranged in a vehicle or is configured as a stationary data source, in particular as a unit.
9. The method according to any one of claims 1 to 8, wherein an electric vehicle to a free space with a loading station for automatic charging of the electric vehicle is driven and charged.
10. Computer program product with program code means which are adapted to perform a method according to any one of the preceding claims if the program code means run on a computing unit.
1. 1 Computing unit, in particular data server with an interface for receiving, for processing and for outputting information, said data server is adapted to receive vehicle information about their environment, said computing unit is configured to process information about parking and to vehicles to transfer.
12. A calculation unit according to claim 8, wherein the computing unit comprises static data on parking.
13. A calculation unit according to claim 8 or 9, wherein the computing unit is configured to depend on a congestion state of a parking lot that is reported from vehicles to the computing unit to output an allocation information to vehicles.
14. A calculation unit according to any one of claims 8 to 10, wherein the computing unit receives data on the parking lot of different vehicles, this data is processed and combines and transmits the combined data to the vehicles.
PCT/EP2012/065502 2011-10-07 2012-08-08 Method for navigating a vehicle to a parking place WO2013050194A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE102011084124.5 2011-10-07
DE201110084124 DE102011084124A1 (en) 2011-10-07 2011-10-07 Method for navigating a vehicle in a parking lot

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FR3032673A1 (en) * 2015-02-12 2016-08-19 Bosch Gmbh Robert Device and method for improving the management of a vehicle
EP3142091A1 (en) * 2015-09-04 2017-03-15 Robert Bosch Gmbh Method for planning a supported parking process
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