WO2013171069A1 - Procédé de localisation d'un véhicule - Google Patents

Procédé de localisation d'un véhicule Download PDF

Info

Publication number
WO2013171069A1
WO2013171069A1 PCT/EP2013/058983 EP2013058983W WO2013171069A1 WO 2013171069 A1 WO2013171069 A1 WO 2013171069A1 EP 2013058983 W EP2013058983 W EP 2013058983W WO 2013171069 A1 WO2013171069 A1 WO 2013171069A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
determining
marking
marker
reflector
Prior art date
Application number
PCT/EP2013/058983
Other languages
German (de)
English (en)
Inventor
Frank Gensler
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
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 Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2013171069A1 publication Critical patent/WO2013171069A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs

Definitions

  • the present invention relates to a method for determining the position of a device and to a device adapted for this purpose.
  • the invention finds application, for example, in the automatic parking of motor vehicles.
  • GPS Global Positioning System
  • a position determined by GPS is used for various applications, for example for route guidance or navigation in vehicles.
  • the accuracy of positioning by GPS is variable and generally can not be considered sufficient to serve as the basis for motor vehicle parking.
  • the localization by GPS in buildings such as car parks is limited, since the reception of electromagnetic waves is severely limited there.
  • a device for moving a motor vehicle into a target position is known.
  • the device uses a sensor device with a first part in the motor vehicle and a second part in a stationarily defined position. With the aid of the sensor device according to document WO 2006/087002, the position of the first part of the sensor device with respect to the second part of the sensor device can be determined.
  • the positioning of the signal marks according to WO 2009/024129 is based on the complex evaluation of several photographs of the same signal marks in different photographs.
  • the object of the invention is thus to provide a method by means of which the position of a device with respect to a reference coordinate system, for example, the geographic coordinate system, can be determined.
  • a reference coordinate system for example, the geographic coordinate system
  • the object of the invention is achieved by a method for determining the position of a device according to claim 1 and a device for determining its position according to claim 12.
  • a device is set up to determine its position.
  • the device in particular a passenger car (PKW)
  • PKW passenger car
  • the device comprises a recording device, in particular a video camera, and a processing device, in particular a computer.
  • the device detects a marker, which may be a lenticular reflector, and determines its relative position with respect on this mark.
  • the device detects an identification device, in particular a sign or tablet, and information associated with the marking, which information is included in the information device and which permits a conclusion about the position of the marking in a reference coordinate system.
  • Each detection step, or all detection steps in common may comprise taking a picture by the recording device and processing the picture in the processing device.
  • the reference coordinate system is the latitude and longitude geographical coordinate system.
  • the marker and the information device may be attached to a wall or generally to an immovable object.
  • the device determines its position in the reference coordinate system using the relative position and the acquired information.
  • the system can be advantageously used for automatic or semi-automatic parking on a vacant floor space in a parking lot with multiple shelves.
  • a car when entering the parking lot, a car is given a trajectory, i. a sequence of positions in geographical coordinates or in another reference coordinate system, communicated to a free parking space.
  • Distributed in the parking lot are markers and information devices which are used together to determine the position of the vehicle.
  • the markings and information devices are spatially assigned to the parking spaces.
  • the car can take measures by means of the control device to maintain the predetermined trajectory, for example by issuing instructions for automatic steering and possibly accelerating or braking. Finally, the car can be spent in the free parking space.
  • the present invention Compared with other sensors that could be used for (semi-) automatic parking, such as 3D cameras or laser scanners, the present invention allows the use of nowadays often present in motor vehicles video cameras in combination with relatively inexpensive reflectors and signs. This avoids the use of more expensive 3D cameras or laser scanners.
  • the invention thus relies on already existing or inexpensive systems and thus provides an economically advantageous solution.
  • the accuracy of the positioning by means of the present invention is sufficient, in particular in comparison to the conventional positioning by means of GPS, at least insofar as a safe parking process for passenger cars can be ensured. For example, a positional accuracy of about 5cm can be achieved.
  • the device determines the angle between a direction associated with the marker and a direction defined by the device and the marker. Furthermore, the device determines the distance between the device and the marker. The relative position of the device for marking is determined by means of the determined angle and the determined distance, and the position of the device in the reference coordinate system is then determined by means of the detected information.
  • the directions can be represented by vectors, in particular unit vectors.
  • the direction defined by the mark is perpendicular to the extent of the mark, which in turn is itself oriented in a vertical plane.
  • the direction defined by the device and the marker is based on a combination of a point of the marker, such as the centroid of the marker, and a point of the capture device, such as the lens center of a camera.
  • the center of area of the mark can be determined from the center of gravity of the mark in the picture.
  • a recording of the marking is made and processed.
  • a marking which has a different appearance in the receptacle of the receiving device. appearance for different viewing angles (with otherwise identical conditions, in particular lighting conditions). This difference in appearance may also be perceptible to the naked eye when viewing the mark at different viewing angles.
  • a lenticular image also referred to as Wackelbitd
  • a lenticular reflector or a reflector with lamellae, in particular with lamellae with variable angle of attack can be used.
  • the different appearance of the marking can be realized by a well detectable, essentially vertical bar, which is located at different lateral positions of the marking as a function of the viewing angle (with otherwise identical light conditions).
  • it can be concluded from the lateral position of the beam in the recording of the mark in a unique manner on the angle between a direction associated with the marking and a direction defined by the device and the marking.
  • the bar may have a different brightness than the rest of the mark.
  • the distance between the device and the label is preferably determined from the reduction factor of the image of the label in the image.
  • the actual size of the marking which can be included in the detected information, is taken into account.
  • the marking may be at a level whose non-consideration will only marginally affect the positioning for the purpose of parking a car (for example at a height that results in positioning errors less than 1cm or less than 5cm).
  • the marking is at the same or substantially the same height as the receiving device of the device. The device may disregard the height of the mark when determining the position.
  • the mark may be at a level whose disregard significantly affects the positioning for the purpose of parking a car.
  • the device may take into account the height of the mark when determining its position. This can be either already known or indicated by the information associated with the marking, for example in Reference to the ground on which the device or the vehicle is located or with respect to the reference coordinate system.
  • the device can determine the height difference between it and the mark by means of an additional angle measurement.
  • a marker is used, which allows the determination of the angle of the direction defined by the marking and the device to a horizontal plane and a vertical plane.
  • This can be realized, for example, by a marking which is formed from two adjacently arranged lenticular reflectors whose angular dependence of the appearance is oriented perpendicular to one another.
  • the appearance of the marker would thus be, for example, a vertical bar in one part of the marker and a horizontal bar in the other part of the marker.
  • the direction associated with the marker may be based on the horizontal and / or vertical orientation of the angular dependence of the appearance of the marker discussed above.
  • the horizontal orientation can be indicated for example by an angle to the north direction.
  • the angle between a direction associated with the device and the direction defined by the device and the marking can also be determined (possibly with separate consideration of sign and magnitude). This is done by the position of the center of gravity of the mark in the recording.
  • the device associated with the direction of the longitudinal axis of the device in particular the vehicle correspond.
  • the direction associated with the device in particular if it corresponds to the longitudinal axis of a vehicle, can be taken into account when maintaining the predetermined trajectory and during the automatic movement of the vehicle into a parking space.
  • the information device is, for example, a sign, a sticker, a poster or the like. It serves essentially as a carrier for the information associated with the marking.
  • the information device can be spatially related to Marking is arranged, in particular in the vicinity of the marking or adjacent to the marking or even included in the mark.
  • the information associated with the marking allows a conclusion about the position of the marker.
  • the information may be the position of the marker in the reference coordinate system. If the horizontal orientation of the marker or the orientation of its angular dependence of the appearance is not known, this may also be included in the information, for example as an angle with respect to the north direction.
  • the information may indicate the size or dimensions of the marking, the height of the arrangement of the marker, the sensitivity of the angular dependence of the appearance, the vertical orientation of the angular dependence of the appearance of the marker, the vertical orientation of the marker and / or the horizontal and / or or vertical orientation of the direction associated with the marker. This information may be used alone or in combination in determining the positioning of the device.
  • the information may be coded by a two-dimensional code with, for example, black and white fields.
  • the information can be reproduced by a Quick Response (QR) code.
  • QR Quick Response
  • the device may include a light source and / or be capable of activating a vehicle headlamp to provide illumination of the marker allowing for robust and accurate positioning.
  • the device may also be an airplane or a ship.
  • the marking is then to be attached, for example, to the terminal or to the quay wall, while the receiving device is to be attached to the aircraft or ship.
  • the recording device may be a camera for taking still or moving pictures that can work with infrared or visible light, or both.
  • FIG. 1 shows a device 1 according to an exemplary embodiment of the invention, which is set up to determine its position in an environment arranged for determining the position according to the invention in a view from above.
  • FIGS. 2 a to 2 c and 3 a to 3 c show various markings formed as reflectors at different viewing angles according to an exemplary embodiment of the invention.
  • FIG. 4 shows an exemplary information device according to the invention, here a poster 9, with covered information which is reproduced as two-dimensional code. DESCRIPTION OF A PREFERRED EMBODIMENT
  • Figure 1 shows, in a view from above, a passenger car (PKW) 1 according to a preferred embodiment, which is adapted to determine its position in an environment established for determining the position of the invention.
  • the car 1 comprises a video camera 2 and a computing unit 5.
  • the car 1 receives a lenticular reflector 3 and a shield 4 mithiife the video camera 2 and determines its relative position with respect to this reflector 3 mithiife the arithmetic unit 5.
  • the shield 4 and the reflector 3 associated information mithiife the arithmetic unit 5 is determined and evaluated.
  • the information encompassed by the shield indicates for the reflector 3 its latitude and longitude, the altitude in the geographic coordinate system, and the angular orientation with respect to the north direction.
  • the reflector 3 and the shield 4 are in this embodiment on a wall 7 attached.
  • the car 1 finally determined using the arithmetic unit 5 its position in the coordinate system using the relative position and the information to the reflector. 3
  • the car 1 determines the angle ⁇ between the direction R1 assigned to the reflector 3 and the direction R2 defined by the car 1 and the marking 3. Further, the car 1 determines the distance D between the car 1 and the reflector 3. Using the specific angle ß and the specific distance D, the relative position of the car 1 to the reflector 3 is determined and using the detected latitude and longitude, altitude and the angular orientation of the reflector 3 is then determined the position of the car 1 in the geographic coordinate system.
  • the direction R2 defined by the car 1 and the shield 3 is based on a connection of the center of area of the reflector 3 in the captured image and the lens center of the video camera.
  • the centroid of the reflector 3 is determined based on the center of gravity of the surface of the reflector 3 in the recording.
  • a recording of the reflector 3 is made and processed by means of the video camera.
  • a reflector 3 a lenticular image, also referred to as Wacke image used. This has a different appearance for different viewing angles.
  • the different appearance of the reflector is realized by a well detectable, substantially vertical bar, which is located at different lateral positions of the reflector 3 as a function of the viewing angle (with otherwise the same lighting conditions).
  • the lateral positions of the beam in the receptacle are uniquely associated with an angle ⁇ between the directions R1 and R2.
  • Figures 2a to 2c and 3a to 3c show photographs of an exemplary reflector 3 at different viewing angles (but identical, substantially uniform incidence of light).
  • FIGS. 2a and 2 c each show a receptacle of the reflector 3 in the middle viewing or viewing from the left. Depending on the viewing angle, a bar of increased brightness appears at different lateral positions in the reflector 3.
  • Figures 3a to 3c show photographs of the reflector 3 when viewed from the right, from the center and from the left. Here, a bar of reduced brightness appears at different lateral positions of the reflector 3.
  • the distance D is determined from the reduction factor of the image of the reflector 3 in the image taken by the video camera 2. If the actual size of the reflector 3 is not known or deviates from the usual size, the size in the information from the plate 4 is indicated.
  • the car 1 also determines the angle ⁇ between the longitudinal direction R3 of the car 1 and the direction R1 defined by the reflector 3. This is done by the position of the center of gravity of the surface of the reflector 3 in the captured image.
  • the direction R3 is taken into account when maintaining the predetermined trajectory and the automatic movement of the vehicle in a parking space.
  • FIG. 4 shows an exemplary shield 4 which, in the form of a QR code, indicates exemplary GPS coordinates, an exemplary height, angular orientation and size of the reflector 3.
  • the shield 4 is located next to the mark 3.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé de détermination de la position d'un dispositif, en particulier d'un véhicule, au moyen d'un dispositif d'enregistrement et d'un dispositif de traitement. Ledit procédé comprend les étapes suivantes consistant à : détecter un marquage ; déterminer la position relative par rapport au marquage ; détecter un dispositif d'information qui comporte une information associée au marquage ; détecter l'information, l'information permettant de déduire la position du marquage dans un système de coordonnées de référence ; déterminer la position du dispositif dans le système de coordonnées de référence à l'aide de la position relative et de l'information détectée.
PCT/EP2013/058983 2012-05-15 2013-04-30 Procédé de localisation d'un véhicule WO2013171069A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012208132A DE102012208132A1 (de) 2012-05-15 2012-05-15 Verfahren zur Fahrzeuglokalisierung
DE102012208132.1 2012-05-15

Publications (1)

Publication Number Publication Date
WO2013171069A1 true WO2013171069A1 (fr) 2013-11-21

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Application Number Title Priority Date Filing Date
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DE (1) DE102012208132A1 (fr)
WO (1) WO2013171069A1 (fr)

Cited By (2)

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CN112509375A (zh) * 2020-10-20 2021-03-16 东风汽车集团有限公司 一种泊车动态显示方法及系统
WO2023151975A1 (fr) * 2022-02-09 2023-08-17 Robert Bosch Gmbh Marquage, procédé de détermination de position, et système de caméra associé

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DE102014211106A1 (de) * 2014-06-11 2015-12-17 Volkswagen Aktiengesellschaft Marker sowie Vorrichtung zur Positionsbestimmung, zur Positionierung, zum Bewegen eines Fahrzeugs und zur Bestimmung eines Knickwinkels
DE102015219439A1 (de) * 2015-10-07 2017-04-13 Db Systel Gmbh Verfahren zur Steuerung eines Fahrzeuges sowie Steuerungsvorrichtung eines Fahrzeuges
DE102016102065A1 (de) * 2016-02-05 2017-08-10 Valeo Schalter Und Sensoren Gmbh Verfahren zum Unterstützen einer autonomen Fahrt eines Kraftfahrzeugs, Steuereinrichtung sowie Parkassistenzsystem
WO2018041408A1 (fr) 2016-08-31 2018-03-08 Sew-Eurodrive Gmbh & Co. Kg Système et procédé de détection de position
DE102018106472A1 (de) 2018-03-20 2019-09-26 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren und Vorrichtung zur Lokalisierung eines Fahrzeugs auf einem Parkgelände zur Unterstützung einer autonomen Fahrt des Fahrzeugs auf dem Parkgelände
DE102019003374A1 (de) 2018-05-29 2019-12-05 Sew-Eurodrive Gmbh & Co Kg Anlage und Verfahren zum Betreiben einer Anlage
CN110798793B (zh) * 2019-08-23 2022-08-05 腾讯科技（深圳）有限公司 车辆间相对位置确定方法、装置
DE102021208892B3 (de) 2021-08-13 2022-11-17 HELLA GmbH & Co. KGaA Kraftfahrzeug, Verfahren zur Eigenlokalisierung eines Kraftfahrzeugs und digitale Karte

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CN112509375A (zh) * 2020-10-20 2021-03-16 东风汽车集团有限公司 一种泊车动态显示方法及系统
CN112509375B (zh) * 2020-10-20 2022-03-08 东风汽车集团有限公司 一种泊车动态显示方法及系统
WO2023151975A1 (fr) * 2022-02-09 2023-08-17 Robert Bosch Gmbh Marquage, procédé de détermination de position, et système de caméra associé

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