WO2017036639A1 - Procédé et dispositif permettant de faire fonctionner plusieurs véhicules garés les uns derrière les autres - Google Patents

Procédé et dispositif permettant de faire fonctionner plusieurs véhicules garés les uns derrière les autres Download PDF

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Publication number
WO2017036639A1
WO2017036639A1 PCT/EP2016/065848 EP2016065848W WO2017036639A1 WO 2017036639 A1 WO2017036639 A1 WO 2017036639A1 EP 2016065848 W EP2016065848 W EP 2016065848W WO 2017036639 A1 WO2017036639 A1 WO 2017036639A1
Authority
WO
WIPO (PCT)
Prior art keywords
parked
motor vehicle
vehicles
motor vehicles
motor
Prior art date
Application number
PCT/EP2016/065848
Other languages
German (de)
English (en)
Inventor
Stefan Nordbruch
Gerrit QUAST
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2017036639A1 publication Critical patent/WO2017036639A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space

Definitions

  • the invention relates to a method and a device for operating a plurality of motor vehicles parked one behind the other.
  • the invention further relates to a parking space for motor vehicles.
  • the invention relates to a computer program.
  • the published patent application DE 10 2012 222 562 A1 shows a system for managed parking areas for transferring a vehicle from a start position to a destination position.
  • motor vehicles are usually fully automatically in a parking garage or generally in a parking lot and parked without human drivers need to drive the vehicles to the parking position respectively from the parking position away.
  • the motor vehicles are parked across the street in parking bays. Disclosure of the invention
  • the object underlying the invention is to provide an efficient concept for efficient operation of several consecutively parked motor vehicles. This object is achieved by means of the subject matter of the independent claims. Advantageous embodiments of the invention are the subject of each dependent subclaims.
  • a method for operating a plurality of motor vehicles parked one behind the other, wherein when a vehicle is parked from one of the motor vehicles, the motor vehicles parked behind the one motor vehicle are moved successively without a driver.
  • an apparatus for operating a plurality of vehicles parked one behind the other the apparatus being configured to perform the method of operating a plurality of vehicles parked one behind the other.
  • a parking space for motor vehicles comprising the device for operating a plurality of motor vehicles parked one behind the other.
  • a computer program comprising program code for performing the method of operating a plurality of consecutively parked vehicles when the computer program is run on a computer.
  • the invention thus includes, in particular and among other things, the idea that a queue of motor vehicles parked behind one another is operated such that when one of the motor vehicles leaves the queue, the motor vehicles parked behind this motor vehicle move up successively. This driverless, so without a human driver must lead to nach Wegenden motor vehicles respectively leads.
  • the technical advantage can be achieved that the several vehicles parked behind one another can be operated efficiently.
  • an available parking space can advantageously be used efficiently.
  • the motor vehicles can also be advantageously used in areas of a vehicle Park parking lots one behind the other, if the usual parking bays located across the street are already occupied. Even if in this case one of the parked vehicles leaves the vehicle and thus leaves a gap, no space is wasted, inasmuch as the vehicles parked behind this parked motor vehicle move up and thus close the gap.
  • the technical advantage can be achieved that the several vehicles parked behind one another can be operated efficiently.
  • Vehicles which have several parking spaces (for a parking lot on private land) or parking stands (for a public parking lot).
  • the parking lot is designed according to one embodiment as a parking garage.
  • the parking lot is designed according to one embodiment as a garage.
  • Vehicles in the sense of the present invention are motor vehicles.
  • a driverless motor vehicle thus refers to a motor vehicle which is not manually guided by a driver who is in the motor vehicle itself. For example, driverless descent involves the vehicle being remotely controlled.
  • the driverless follow-up includes that the motor vehicle is driving autonomously.
  • the driverless retracing comprises, for example, that the motor vehicle is remotely controlled a subsection and drives a further section autonomously.
  • the motor vehicle to be parked corresponds to that motor vehicle of the plurality of motor vehicles that is the first motor vehicle parked in relation to a forward direction of travel of the parked motor vehicles.
  • the first motor vehicle of the queue of vehicles parked behind one another leaves the queue, that is, it parks out.
  • the technical advantage is caused that the parking of the motor vehicle can be carried out efficiently. Because there are no more motor vehicles before this first motor vehicle, a Ausparken, so leaving the queue of vehicles parked behind each other, is particularly easy. This by the car simply drives off without having to perform complex Ausparkmanöver.
  • the motor vehicle to be parked is guided without a driver, that is to say it is parked without a driver.
  • Designs that are made in connection with motor vehicles, which are adjusted without a driver, apply analogously to the motor vehicle, which leaves out driverless, and vice versa. This means that, for example, the motor vehicle to be parked autonomously parks or remote-controlled.
  • a motor vehicle to be parked is guided from a delivery position, at which a driver of the motor vehicle to be parked has parked his motor vehicle for an automatic parking operation, to that of the parked motor vehicle, relating to a forward direction of the parked motor vehicles corresponds to the last motor vehicle, and is parked without a driver behind the last parking motor vehicle.
  • the technical advantage is achieved that the motor vehicle to be parked can be efficiently added to the queue of vehicles parked one behind the other.
  • the parking of the motor vehicle to be parked can be carried out efficiently in an advantageous manner. This in particular because a simple parking behind the last motor vehicle is particularly easy to perform. This compared to parking in a gap within the queue of several consecutively parked vehicles. This means, therefore, that for the parking behind the last motor vehicle usually no time-consuming driving or parking maneuvers must be performed. As a result, for example, the parking process can be carried out quickly and efficiently.
  • the ausparkende motor vehicle is guided without driver to a pickup position and parked there, at which a person should pick up the parked at the pickup vehicle.
  • Remote control includes, for example, transmitting remote control commands over a communication network to the vehicle (s).
  • the motor vehicles may then move up in response to receipt of the remote control commands.
  • the driverless being retrofitted comprises transmitting driving data for an autonomous move-over via a communication network to one or more of the vehicles to be moved, so that they can autonomously move on to the following vehicles based on the driving data.
  • the technical advantage is caused that the vehicles can move up efficiently. In particular, no more computational capacity needed for remote control needs to be spent on such self-driving vehicles. Because these vehicles move autonomously. This means, for example, that it is sufficient, for example, to provide driving data corresponding to these motor vehicles, so that the computing capacities used for determining these driving data can subsequently be used for other tasks.
  • Driving data in the sense of the present invention refers to data that the motor vehicle requires for an autonomous retracement.
  • driving data comprise, for example, the following data: desired trajectory data of a target trajectory which the motor vehicle is to travel, target position data of a target position to which the motor vehicle is to travel, correction data for a correction target trajectory so that the motor vehicle can reach its target trajectory to be traversed.
  • the method for operating a plurality of vehicles parked in succession is carried out by means of the device for operating a plurality of vehicles parked in succession.
  • the device includes a communication interface for communication over a communication network with one or more of the motor vehicles.
  • the apparatus includes remote control means for remotely controlling one or more of the vehicles to be moved.
  • the device comprises a determination device for determining travel data for autonomous move-up.
  • the communication interface is configured to send the driving data to one or more of the motor vehicles via a communication network.
  • the communication interface is configured to send remote control commands over a communication network to one or more of the vehicles to be moved.
  • the communication network comprises a WLAN communication network and / or a mobile radio communication network and / or a LoRa communication network.
  • LoRa stands for "Low-Power Wide-Range Communication”.
  • the LoRa communication network thus designates a communication network according to the LoRa standard.
  • a communication via the communication network is encrypted respectively.
  • the driverless rearward movement of the motor vehicle or vehicles comprises, in particular, controlling or regulating a transverse and / or longitudinal guidance of the respective motor vehicle.
  • the driverless successive retracing comprises an automatic driverless successive retracement.
  • 1 is a flowchart of a method for operating a plurality of vehicles parked in succession
  • Fig. 2 shows an apparatus for operating a plurality of vehicles parked behind each other and Fig. 3 a parking lot for motor vehicles.
  • FIG. 1 shows a flowchart of a method for operating a plurality of vehicles parked in succession.
  • a step 101 it is detected that one of the vehicles parked one behind the other parked.
  • This motor vehicle which is to be parked is, for example, that motor vehicle which, in relation to a forward direction of travel, parks the parked motor vehicle as the first motor vehicle.
  • the parked motor vehicle thus leaves a gap in the queue of several consecutively parked vehicles.
  • a step 103 it is provided that remote control commands and / or driving data for the motor vehicles parked one behind the other are determined in such a way that the motor vehicles parked one behind the other can be successively adjusted in a driverless manner based on the remote control commands or the driving data.
  • a step 105 it is provided that the determined remote control commands or driving data are sent via a communication network to the motor vehicles parked behind each other.
  • Motor vehicles that are technically capable of driving autonomously can thus autonomously move up based on the driving data.
  • Motor vehicles that are technically unable to drive autonomously but are technically designed to be remotely controlled can be remotely controlled based on the remote control commands so as to move without a driver.
  • FIG. 2 shows a device 201 for operating a plurality of motor vehicles parked in succession.
  • the device 201 comprises a remote control device 203 for the remote control of motor vehicles.
  • the remote control device 203 is designed To determine remote control commands for the consecutively parked motor vehicles, based on soft the successively parked vehicles can move up without a driver successively.
  • the device 201 further comprises a determination device 205, which is designed to determine driving data for the motor vehicles parked one behind the other. Based on these driving data, the motor vehicles to follow can drive autonomously, ie move up autonomously.
  • the device 201 further comprises a communication interface 207 to the
  • the communication interface 207 is configured to communicate individually with each of the consecutive parked vehicles.
  • the remote control device 203 is designed, for example, to determine individual remote control commands for a specific motor vehicle.
  • the determination device 205 is designed, for example, to determine individual driving data for a specific motor vehicle.
  • the communication interface 207 is configured to send the individual remote control commands or the individual driving data via the communication network to the corresponding motor vehicle or vehicles.
  • Fig. 3 shows a parking lot 301 for motor vehicles.
  • the parking lot 301 includes an area 303 within which a plurality of motor vehicles 305, 306, 307, 309 can park one behind the other. This
  • pearl necklace parking One behind the other parking of several vehicles can be referred to in particular as a pearl necklace parking.
  • a forward direction of travel of the motor vehicles 305, 306, 307, 309 is indicated by an arrow with the reference numeral 313.
  • the motor vehicle 305 is thus the first motor vehicle of the four motor vehicles 305, 306, 307, 309.
  • the motor vehicle 306 is the second motor vehicle 305.
  • the motor vehicle 307 is the third motor vehicle and the motor vehicle 309 is the last motor vehicle in the queue or row of several consecutively parked motor vehicles 305, 306, 307, 309.
  • the parking lot 301 includes a dispensing position 31 1, at which motor vehicles for performing an automatic parking operation can be parked by a driver. This means that a driver who turns off his motor vehicle at the delivery position 31 1, then leaves his vehicle, so that the motor vehicle can automatically perform a parking operation.
  • Such an automatic parking operation may be referred to as an AVP operation.
  • AVP stands for "Automated Valet Parking” and can be translated as “automatic parking”.
  • the motor vehicle drives from the delivery point or delivery position 31 1, which can also be referred to as a drop zone, automatically, so for example autonomously or remotely controlled, to the area 303 to be parked there.
  • the parking lot 301 further comprises a pick-up position 317.
  • pick-up position 317 persons parked there can take over vehicles parked there after the end of an AVP operation. This means that, for example, the first motor vehicle 305 leaves the area 303 and is guided without driver to the pick-up position 317. A person can then take over the motor vehicle 305, which is then parked at the pick-up position 317 again.
  • the pickup position 317 may be referred to as a pick-up zone.
  • the parking space 301 further comprises the device 201 of FIG. 2 in order to guide the remaining vehicles parked behind each other in such a way that they park out of the area 303 during a parking out of one of the motor vehicles 305, 306, 307, 309 in such a way that they move up successively and one due to the parking close the resulting gap.
  • a driveway from the drop zone 31 1 to the area 303 is marked with an arrow with the reference numeral 315.
  • a guideway for the first motorist tool 305 to the pick-up zone 317 is indicated by an arrow with the reference numeral 319.
  • the position at which the first motor vehicle 305 is located may be referred to as a dynamic bead chain pick-up zone, inasmuch as a motor vehicle standing in this position can also be manually disengaged by a human driver, ie can be picked up. That is, the dynamic bead necklace pick-up zone corresponds to a pickup position at which a person can pick up the vehicle. This is analogous to the pick-up position 317.
  • a Ausparkvorgangs because of a Ausparkvorgangs and due to the
  • a position within the area 303 that lies behind the last motor vehicle 309 may be referred to as a dynamic pearl chain dropzone, inasmuch as at this point another motor vehicle may be parked by its driver.
  • the term "dynamic" is used here, meaning that the dynamic pearl chain drop zone corresponds to a dispensing position at which a driver can park his motor vehicle for an automatic parking operation ,
  • the invention therefore includes, in particular and among other things, the idea of providing an efficient technical concept based on which motor vehicles parked behind each other can be operated efficiently.
  • a fundamental idea according to the invention can be seen, in particular, in that retracing comprises the motor vehicles being remotely controlled or driving autonomously.
  • the inventive concept is used according to an embodiment in the context of an automatic parking operation. For example, it is provided that a motor vehicle is delivered by its driver at the end of the string of pearls, ie behind the last motor vehicle, at the dynamic drop zone. The driver activates or initiates the AVP process and goes away.
  • a parking management system also referred to as a parking lot management system which, for example, comprises the device 201, assumes responsibility for the motor vehicle.
  • the parking management system drives all the vehicles parked behind one space in succession or activates these behind them parked motor vehicles, so that these autonomously, ie autonomously, a parking position or a position forward drive, so move up successively.
  • a pick-up zone 317, a dropzone 31 1, and a dynamic bead-necklace drop zone are provided, this embodiment being free of a dynamic bead-string pick-up zone.
  • a drop zone 31 1 and two pick-up zones, that is to say the pick-up zone 317, and the dynamic bead chain pick-up zone are provided, this embodiment being free of a dynamic pearl chain drop zone.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour faire fonctionner plusieurs véhicules garés les uns derrière les autres. Selon ce procédé, lorsqu'un des véhicules à moteur sort de sa place de stationnement, les véhicules à moteur qui sont garés derrière ledit véhicule avancent chacun, sans conducteur, successivement d'une place. La présente invention concerne en outre un dispositif correspondant, un parc de stationnement pour véhicules à moteur, et un programme informatique.
PCT/EP2016/065848 2015-09-03 2016-07-05 Procédé et dispositif permettant de faire fonctionner plusieurs véhicules garés les uns derrière les autres WO2017036639A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015216865.4A DE102015216865A1 (de) 2015-09-03 2015-09-03 Verfahren und Vorrichtung zum Betreiben von mehreren hintereinander parkenden Kraftfahrzeugen
DE102015216865.4 2015-09-03

Publications (1)

Publication Number Publication Date
WO2017036639A1 true WO2017036639A1 (fr) 2017-03-09

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PCT/EP2016/065848 WO2017036639A1 (fr) 2015-09-03 2016-07-05 Procédé et dispositif permettant de faire fonctionner plusieurs véhicules garés les uns derrière les autres

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DE (1) DE102015216865A1 (fr)
WO (1) WO2017036639A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108915329A (zh) * 2018-07-04 2018-11-30 武汉市艾派智能科技有限公司 一种车位资源高效分配系统
US10401858B2 (en) 2017-08-29 2019-09-03 Waymo Llc Arranging passenger pickups for autonomous vehicles
CN111063202A (zh) * 2019-12-11 2020-04-24 南京市德赛西威汽车电子有限公司 一种基于电子地图的智能泊车管理方法
EP3988429A1 (fr) 2020-10-22 2022-04-27 Volkswagen Ag Procédé de fonctionnement d'un véhicule automobile autonome ou assisté dans une installation comportant une pluralité de places de stationnement pour véhicules automobiles, procédé de gestion d'une pluralité de véhicules automobiles dans une telle installation, ainsi que véhicule automobile
CN114475578A (zh) * 2021-12-29 2022-05-13 北京百度网讯科技有限公司 车辆停泊策略的生成方法及装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012222562A1 (de) 2012-12-07 2014-06-12 Robert Bosch Gmbh System für bewirtschaftete Parkflächen zur Überführung eines Fahrzeugs von einer Startposition in eine Zielposition
US20150149022A1 (en) * 2015-02-01 2015-05-28 Thomas Danaher Harvey Methods for dense parking of remotely controlled or autonomous vehicles

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008055881A1 (de) * 2008-11-03 2010-05-06 Andreas Dr. Stopp Verfahren zum automatischen Laden von vollständig oder teilweise elektrisch betriebenen Fahrzeugen
DE102009057647B4 (de) * 2009-12-09 2022-02-03 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs und System zum Arrangieren von Standpositionen zumindest zweier Kraftfahrzeuge

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012222562A1 (de) 2012-12-07 2014-06-12 Robert Bosch Gmbh System für bewirtschaftete Parkflächen zur Überführung eines Fahrzeugs von einer Startposition in eine Zielposition
US20150149022A1 (en) * 2015-02-01 2015-05-28 Thomas Danaher Harvey Methods for dense parking of remotely controlled or autonomous vehicles

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10401858B2 (en) 2017-08-29 2019-09-03 Waymo Llc Arranging passenger pickups for autonomous vehicles
US11209823B2 (en) 2017-08-29 2021-12-28 Waymo Llc Arranging passenger pickups for autonomous vehicles
US11487287B2 (en) 2017-08-29 2022-11-01 Waymo Llc Arranging passenger pickups for autonomous vehicles
CN108915329A (zh) * 2018-07-04 2018-11-30 武汉市艾派智能科技有限公司 一种车位资源高效分配系统
CN111063202A (zh) * 2019-12-11 2020-04-24 南京市德赛西威汽车电子有限公司 一种基于电子地图的智能泊车管理方法
EP3988429A1 (fr) 2020-10-22 2022-04-27 Volkswagen Ag Procédé de fonctionnement d'un véhicule automobile autonome ou assisté dans une installation comportant une pluralité de places de stationnement pour véhicules automobiles, procédé de gestion d'une pluralité de véhicules automobiles dans une telle installation, ainsi que véhicule automobile
DE102020213380A1 (de) 2020-10-22 2022-04-28 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines autonom oder assistiert fahrenden Kraftfahrzeugs in einer Einrichtung mit einer Mehrzahl von Standplätzen für Kraftfahrzeuge, Verfahren zum Verwalten einer Mehrzahl von Kraftfahrzeugen in einer solchen Einrichtung, sowie Kraftfahrzeug
CN114475578A (zh) * 2021-12-29 2022-05-13 北京百度网讯科技有限公司 车辆停泊策略的生成方法及装置
CN114475578B (zh) * 2021-12-29 2024-05-14 北京百度网讯科技有限公司 车辆停泊策略的生成方法及装置

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