WO2023006539A1 - Verfahren, computerprogrammprodukt, parkassistenzsystem und parkeinrichtung - Google Patents
Verfahren, computerprogrammprodukt, parkassistenzsystem und parkeinrichtung Download PDFInfo
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- WO2023006539A1 WO2023006539A1 PCT/EP2022/070330 EP2022070330W WO2023006539A1 WO 2023006539 A1 WO2023006539 A1 WO 2023006539A1 EP 2022070330 W EP2022070330 W EP 2022070330W WO 2023006539 A1 WO2023006539 A1 WO 2023006539A1
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- Prior art keywords
- parking
- time
- utilization
- handover
- determined
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000004590 computer program Methods 0.000 title claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 9
- 230000003466 anti-cipated effect Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Definitions
- the present invention relates to a method for operating a parking assistance system, a computer program product, a parking assistance system and a parking facility.
- Vehicles are known that have an automated parking function that is set up in particular for automatically parking the vehicle in a suitable multi-storey car park or in a suitable parking lot. Such systems are referred to as automated valet parking systems, for example.
- automated valet parking systems for example.
- the vehicle can be controlled remotely, with the multi-storey car park having sensors and path planning means, for example, in order to control the vehicle. There can be various intermediate levels between these two types, in which the functions are distributed differently between the vehicle and the parking garage.
- One advantage of such parking assistance systems is that a user of a corresponding vehicle does not have to drive the vehicle to a parking space himself, but can drop off the vehicle at the entrance to the multi-storey car park or the parking lot, for example, and the vehicle then drives autonomously to the parking space or is controlled remotely . This is convenient for the user and saves him time. Even when picking up the vehicle, the user does not have to first search for his vehicle, which can be problematic in large parking lots or in large multi-storey car parks, since the vehicle drives autonomously to the exit or is controlled remotely when requested.
- DE 10 2017222658 A1 discloses a method for supporting driverless driving of a motor vehicle in a parking facility comprising a number of parking spaces, the occupancy status of the parking spaces being monitored and, on the basis of this information, a parking space for a specific vehicle is determined. A route to the parking space is then determined and the vehicle is guided to the determined parking space by remote control.
- parking spaces or multi-storey car parks have a limited capacity, in particular the number of vehicles moving in the parking lot or in the multi-storey car park at the same time is limited. If too many vehicles are moving in the parking lot or in the multi-storey car park at the same time, traffic jams can occur because vehicles block each other. Traffic jams are uneconomical because the vehicles in the traffic jam consume energy without benefit. Furthermore, a traffic jam can result in a user having an unplanned waiting time when dropping off or picking up their vehicle, which can reduce acceptance of such systems and frustrate the user.
- an object of the present invention is to improve the operation of a parking assistance system.
- a method for operating a parking assistance system for a parking facility is proposed.
- the parking facility provides several parking spaces for autonomously driving vehicles in a predetermined area and includes a transfer area for transferring a vehicle from a user to the parking assistance system or vice versa.
- the procedure includes the steps:
- This parking assistance system has the advantage that utilization of the parking facility becomes more even overall, in that suitable alternative handover times are suggested to the users of the parking facility, which they can accept.
- By equalizing the utilization as a whole an average speed of vehicles in the predetermined area is increased, in particular traffic jams in the predetermined area can be avoided.
- This has the advantage that the energy consumption of the vehicles for moving into or through the predetermined area is reduced. In addition, this is advantageous since a risk of collisions is reduced when the density of traffic in the predetermined area is reduced.
- the parking facility which is operated with the parking assistance system, includes the predetermined area, which includes a parking lot or a multi-storey car park, for example.
- the predetermined area includes multiple parking spaces for autonomously driving vehicles and can also include multiple parking spaces for manually controlled vehicles. If the predetermined area provides parking spaces for both autonomously controlled vehicles and manually controlled vehicles, one can also speak of mixed operation.
- a transfer area is provided for autonomously controlled vehicles, in which a user transfers the vehicle to the parking assistance system or accepts it from the latter.
- the fact that the user hands over the vehicle to the parking assistance system or accepts it from this means that the user transfers control of the vehicle to the Parking assistance system or passes to a driver assistance system, which is set up to control the vehicle autonomously in the parking facility, or that the user takes control of the vehicle again.
- the autonomous control thus begins and ends in the transfer area.
- the handover area may include a number of handover positions.
- a handover position is, for example, a parking space where the vehicle is parked for the purpose of handover.
- the user when picking up the vehicle, the user can set up in the vehicle, for example buckle a child in a child seat, load shopping and/or plan a route, which the user can do as long as the vehicle is at the handover position. If there are several handover positions, several vehicles can be handed over in parallel, so that a single vehicle does not impede the operation of the parking assistance system or block the parking facility.
- the autonomously controlled vehicles can have their own autonomous control and/or the vehicles can be remotely controlled by the parking assistance system.
- the vehicles have suitable sensors for detecting the surroundings, such as ultrasound, cameras, radar, lidar and the like, as well as path planning means and control units to control the vehicle along a planned trajectory.
- the vehicles have at least control units in order to control the vehicle in accordance with the remote-control commands from the parking assistance system.
- the vehicle's own sensors for detecting the surroundings are not necessary, since in this case the parking assistance system detects the position and location of the vehicle with external sensors and uses this to plan a path.
- the request to use the parking facility in a specific time interval includes at least one handover time. This can be a drop-off time or a pick-up time.
- the request can optionally include both a drop-off time and a pick-up Include time and / or it includes a delivery time and a planned parking duration.
- the request can include further information, such as information regarding the type and/or technical equipment of the vehicle, an urgency, a booking for a service on the vehicle that is to be carried out during the parking period, and the like.
- the urgency can, for example, be an indication that indicates how important it is that a user returns or collects his/her vehicle at a specific time.
- the urgency can be determined by the user himself and/or can be determined automatically on the basis of a calendar entry, such as a doctor's appointment or the like.
- the request is received, for example, via a communication network, in particular a wireless data network such as a WLAN, a mobile radio network or the like.
- the request can be transmitted in particular via the Internet.
- the specific time interval is determined in particular by the handover time.
- the specified time interval includes the handover time with some buffer before and after the handover time.
- a first probable capacity utilization of the par device is determined at the handover time or in the specific time interval as a function of a number of capacity utilization parameters.
- the utilization parameters include, for example, empirical values, a number of vehicles already booked, known restrictions at the time of handover and the like.
- the capacity utilization can be determined differently for dropping off the vehicle and picking up the vehicle.
- the utilization can be determined, for example, by specifying a percentage.
- the utilization can also be determined by a number of different values which relate to different properties of the utilization and which characterize the utilization overall.
- the utilization for different areas of the parking facility can be determined separately, such as utilization of the transfer e area, utilization of the parking spaces provided, utilization of a lane and the like.
- the first probable utilization determined in this way is compared with a certain utilization threshold value.
- the utilization threshold value can be a value that is characteristic of the respective parking facility.
- the occupancy threshold can be a fixed, predetermined value or it can be determined on the basis of specific information about the parking facility and/or about the vehicles that use the parking facility or are located in the predetermined area. In particular, if the occupancy threshold is determined on the basis of specific information, it is to be expected that the flow of traffic in the parking facility will drop sharply if the occupancy threshold is exceeded. Then, for example, the average speed of the vehicles in the parking facility drops disproportionately compared to the increase in utilization. This can cause congestion in the predetermined area.
- the utilization is determined by a number of values, it can be provided that a separate utilization threshold value is determined for each of these values.
- the utilization threshold values for different values can be related and/or influence one another.
- the ascertained first probable capacity utilization is compared with the utilization threshold value determined.
- a comparison result is determined here, for example.
- the result of the comparison can be determined in binary form, which means that it is determined whether the load is above or below the threshold value (if the load is equal to the threshold value, one of the two options can be assigned). Alternatively or additionally, the comparison result can be used to determine how large the difference is between the probable capacity utilization and the threshold value.
- An alternative transfer time is determined depending on the comparison or the result of the comparison. In the event that the determined first expected utilization is above the specific utilization threshold value, an alternative handover time is determined in any case. In the event that the ascertained first probable utilization is below the ascertained utilization threshold value, but is within a predetermined variation interval of this, for example, an alternative handover time is preferably also ascertained. In embodiments, the determination of an alternative handover time can be dispensed with if the determined first probable load is significantly below the specific load threshold.
- the alternative handover time is determined in such a way that a second expected utilization at the alternative handover time is less than the first expected utilization.
- the alternative handover time is particularly preferably determined in such a way that the second probable utilization is less than or equal to the utilization threshold value. It should be noted that several alternative handover times that meet these criteria can also be determined. If the user's request additionally includes an indication that the user is willing to accept an alternative handover time before the desired handover time or after the desired handover time, the alternative handover time may be determined in accordance with that indication.
- the alternative transfer time can include not only exactly a time, but also a period of time. For example, the period between 9:00 a.m. and 10:00 a.m. can be determined as the alternative transfer time if the second expected utilization is below the utilization threshold value in this period.
- the alternative handover time is sent to the user in a message.
- the user can then, for example, accept the alternative handover time, which compensates for the utilization of the parking facility. If the user native handover time is not accepted because this is inappropriate for him, for example, it can be provided that the user is informed of an expected waiting time, since the utilization of the parking facility at the handover time selected by the user is above the utilization threshold.
- the proposed method thus makes it possible to evenly distribute the utilization of the parking facility, including the users, and in particular to avoid the utilization being above the utilization threshold value.
- the operation of the parking facility is thus improved overall by the parking assistance system, which advantageously entails lower energy consumption and an improved user experience.
- the proposed method thus offers the technical effect that energy savings can be achieved and that traffic flow can be improved and the risk of an accident can thus be reduced by promoting the most even possible utilization of the parking facility.
- this comprises:
- an expected handover duration which is an expected duration of a handover of the vehicle from the user to the parking assistance system or vice versa at the handover time, depending on the determined first expected utilization, the message additionally comprising the determined expected handover duration.
- the expected handover duration can also be referred to as the expected waiting time. According to a further embodiment of the method, this includes:
- an alternative expected handover duration which is an expected duration of a handover of the vehicle from the user to the parking assistance system or vice versa at the determined alternative handover time, depending on the determined second expected utilization, the message additionally comprising the determined alternative expected handover duration.
- this includes:
- Determining a difference between the estimated handover time determined and the estimated alternative handover time determined the message additionally including the determined difference or only including the alternative handover time and the determined difference.
- the expected handover duration at the handover time and the expected handover duration at the alternative handover time and their difference are determined.
- the message to the user includes the alternative handover time and the determined difference, or the message includes the alternative handover time and the determined handover duration and the determined difference, or the message includes the alternative handover time and the determined alternative handover duration and the determined difference.
- the capacity utilization parameters for determining the probable capacity utilization of the parking facility include a probable number of vehicles that will use the parking facility and/or move through the predetermined area in the time interval or a sub-interval of the time interval; and/or at least one further received request to use the parking facility from a further user; and/or information regarding a type and/or equipment of a further vehicle which uses the parking facility in the time interval and/or moves through the predetermined area; and/or a time of day of the handover time point and/or a weather forecast for a specific time period; and/or a public or private event planned within a predetermined period of time; and/or services booked by other users of the parking facility within the time interval; and/or a learned statistic regarding utilization.
- the probable utilization can be estimated very precisely on the basis of the aforementioned utilization parameters.
- the expected number of vehicles that use the parking facility and/or move through the predetermined area in the time interval or a sub-interval of the time interval is one of the most important utilization parameters, since the number ultimately determines a traffic density in the predetermined area and thus also the Significantly influenced the risk of traffic jams.
- the information relating to the type and/or technical equipment of the other vehicle can be determined, for example, on the basis of a chassis number or a vehicle identification number. This information may have been received by the other vehicle, for example as part of a request from the user of the other vehicle.
- the type and/or technical equipment of the additional vehicle can have an influence on how quickly the additional vehicle can move in the predetermined area, in particular when it carries out driving maneuvers in cramped conditions. For example, a maximum steering angle, a turning circle, the presence of a Flinter axle steering, an existing sensor system and the like can play a role here.
- a weather forecast can have an impact on an expected volume of traffic, which can depend on the location of the parking facility.
- the weather forecast is poor, the volume of traffic in the city and thus the demand for parking spaces can increase.
- increased traffic can be expected if the weather forecast is good.
- Planned events such as sporting events or cultural events, can also lead to increased demand for parking spaces.
- the predetermined period of time which is taken as a basis here, can be before the handover time or after the handover time, or can include the handover time.
- the use of a service increases the utilization of the parking facility, since the corresponding vehicle has to move through the predetermined area in order to get to the position where the service is provided.
- the utilization threshold value is determined as a function of parameters defined by the infrastructure of the parking facility, depending on a type and/or technical equipment of at least one other vehicle that uses the parking facility in the time interval and/or itself resides in the predetermined area and/or determined dynamically as a function of current restrictions and/or restrictions of the parking facility planned in a predetermined period of time.
- the capacity utilization threshold is not rigidly defined, but can be determined dynamically.
- Parameters defined by the infrastructure of the parking facility include, for example, a lane width, dimensions of the parking spaces, a measure of how "windy" the predetermined area is, a number of existing handover positions and the like.
- Current restrictions on the parking facility and/or restrictions planned in a predetermined period of time include, for example, planned construction sites or repair work in the predetermined area, a broken-down vehicle or the like.
- the utilization threshold is determined dynamically is understood to mean, for example, that it is determined each time a request is received and/or that it is determined regularly, such as daily, hourly or every minute, and/or that this is determined anew in an event-driven manner, for example when a new event is planned, when the weather forecast changes, when a traffic jam is detected in the predetermined area and the like.
- the capacity utilization threshold value corresponds to a capacity utilization of the parking facility at which an average speed of vehicles using the parking facility and/or moving through the predetermined area is less than a predetermined speed.
- the utilization threshold value can be determined in relation to an average duration of a parking maneuver.
- a respective simulation can be carried out for a respective par device whose infrastructure is predetermined.
- the simulation simulates, for example, the flow of traffic with different traffic densities, with the presence of different types of vehicles and vehicles with different technical equipment and the like.
- the request to use the parking facility includes at least a drop-off time and a parking duration or a drop-off time and a pick-up time.
- the request to use the parking facility includes information relating to a type and/or information relating to the technical equipment of the vehicle.
- the information includes, for example, a vehicle identification number and/or a list of equipment codes.
- this includes:
- the new request including a different delivery time than the first request.
- the different handover time corresponds in particular to the determined alternative handover time.
- a computer program product which comprises instructions which, when the program is executed by a computer, cause the computer to carry out the method according to the first aspect.
- a computer program product such as a computer program means
- a server in a network, for example, as a storage medium such as a memory card, USB stick, CD-ROM, DVD, or in the form of a downloadable file. This can be done, for example, in a wireless communication network by transferring a corresponding file with the computer program product or the computer program means.
- a parking assistance system for a parking facility provides several parking spaces for autonomously driving vehicles in a predetermined area and includes a transfer area for transferring a vehicle from a user to the parking assistance system or vice versa.
- the parking assistance system includes: a receiving unit for receiving a request to use the parking facility at a specific time interval from the user of the vehicle, the request including at least one handover time, a determination unit for determining a first expected utilization of the parking facility at the handover time as a function of a number of utilization parameters, a comparison unit for comparing the determined first expected utilization with a specific utilization threshold value, the determination unit also determining an alternative handover time as a function of the comparison is set up, wherein the alternative handover time is determined in such a way that a second expected utilization at the alternative handover time is less than the first expected utilization and/or less than or equal to the utilization threshold value, and comprising a transmission unit for transmitting a message the alternative transfer time to the user.
- This parking assistance system has the same advantages as described for the method according to the first aspect.
- the embodiments and features described for the proposed method according to the first aspect apply accordingly to the proposed parking assistance system.
- the parking assistance system is preferably operated in conjunction with a parking facility and with a method according to the first aspect.
- the respective unit of the parking assistance system can be implemented in terms of hardware and/or software.
- the respective unit can be designed, for example, as a computer or as a microprocessor.
- the respective unit can be designed as a computer program product, as a function, as a routine, as an algorithm, as part of a program code or as an executable object.
- a parking facility which provides several parking spaces for autonomously driving vehicles in a predetermined area and a transfer area for handing over a vehicle from a user to a parking assistant.
- the parking assistance system is designed according to the third aspect.
- the parking assistance system is designed as a type 2 valet parking assistance system and includes a plurality of sensor units arranged in the predetermined area for detecting the vehicles that are present in the predetermined area and for outputting a respective sensor signal.
- the parking assistance system also includes a control unit that is set up to remotely control a vehicle on the basis of the sensor signals output by the sensor units.
- type 2 valet parking assistance system is understood here to mean that the parking assistance system includes sensors arranged in the infrastructure as well as path planning means and is set up to remotely control vehicles in the predetermined area.
- Type 2 valet parking systems are advantageous because the Vehicles that use this do not have to have any complex sensors and control logic themselves, but only have to be set up to be remotely controllable.
- the sensor units include, for example, cameras, lidars, radars and the like.
- the parking assistance system is designed as a type 1 valet parking assistance system and comprises a plurality of optically detectable and clearly distinguishable markers arranged at specific positions in the predetermined area, which markers are read by an autonomously controlled vehicle during an autonomous journey can be used within the predetermined range for position determination.
- type 1 valet parking assistance system is understood to mean that the parking assistance system itself does not include any sensors, or at least not adequate ones Sensors included to safely remote control vehicles, but that the vehicles have a corresponding sensor and navigate based on the optical marker automatically through the predetermined area.
- the optical markers include, for example, ARUCO codes.
- the parking assistance system is designed both as a type 2 valet parking assistance system and as a type 1 valet parking assistance system.
- the parking assistance system has both the features of the type 2 valet parking assistance system and the features of the type 1 valet parking assistance system.
- This parking assistance system can then be used both by remote-controlled vehicles without their own complex sensors and control logic and by autonomous vehicles with suitable sensors and control logic for autonomously controlled driving based on the optical characteristics.
- a method for operating a parking assistance system for a parking facility is proposed.
- the parking facility provides several parking spaces for autonomously driving vehicles in a predetermined area and includes a transfer area for transferring a vehicle from a user to the parking assistance system or vice versa.
- the procedure includes the steps:
- an expected handover duration which is an expected duration of a handover of the vehicle from the user to the parking assistance system or vice versa at the handover time, depending on the determined first expected utilization, and Transmitting a message to the user containing the expected delivery time.
- the user can then, for example, suggest an alternative handover time himself or he can request alternative handover times from the parking assistance system.
- the parking assistance system can be set up to determine alternative handover times, as explained for example with reference to the first aspect.
- the embodiments and features described for the proposed method according to the first aspect apply accordingly to the proposed method according to the fourth aspect.
- FIG. 1 shows a schematic view of a parking facility with a parking assistance system and a user
- FIG. 2 shows a further schematic view of a parking facility with a parking assistance system when utilization is low
- FIG. 3 shows the parking facility of FIG. 2 at high utilization
- 4 shows a schematic example of alternative transfer times
- FIG. 5 shows a schematic block diagram of an exemplary embodiment of a method for operating a parking assistance system.
- the parking assistance system 100 includes, for example, a computing unit and is shown in detail in FIGS.
- the parking facility 101 includes a predetermined area 110 (see FIG. 2 or 3), which includes a plurality of parking spaces 120 (see FIG. 2 or 3) and a transfer area 130 (see FIG. 2 or 3).
- the parking assistance system 100 is a type 1 and/or type 2 valet parking assistance system that is set up for use with autonomously driving vehicles or remotely controllable vehicles.
- the parking assistance system 100 can be set up for mixed operation, in which both autonomously driving and/or remote-controlled vehicles and manually controlled vehicles use the parking facility 101 at the same time.
- the user 300 would like to use the parking facility 101 in a specific time interval. To do this, the user 300 makes a corresponding request REQ to the parking assistance system 100.
- the user 300 uses a mobile device 301, for example a smartphone, for this purpose.
- a receiving unit 102 (see FIG. 2 or 3) of the parking assistance system 100, which can be integrated in the computing unit, receives the request REQ.
- the request REQ is transmitted via a cellular network, for example.
- the request REQ includes at least one desired handover time at which the user 300 would like to hand over or pick up his vehicle. If the request REQ includes a delivery time, this preferably also includes a planned parking duration or a pick-up time.
- the specific time interval is determined in particular by the handover time.
- the specified time interval includes the handover time with some buffer before and after the handover time.
- the buffer includes, for example, a duration that is required to steer the vehicle from the transfer area 130 to a parking space 120 or vice versa.
- the parking space 120 can be determined here, so that the trajectory that the vehicle has to cover is also determined, which significantly influences the duration.
- a determination unit 104 (see FIG. 2 or 3) of the parking assistance system 100, which can be integrated in the computing unit, determines a first probable utilization of the parking facility 101 at the handover time on the basis of the handover time. This is done on the basis of utilization parameters, which are particularly dependent on time.
- the utilization parameters include an expected number of vehicles that use the parking facility 101 and/or move through the predetermined area 110 in the time interval or a sub-interval of the time interval; and/or at least one further received request to use the parking facility 101 from another user; and/or information regarding a type and/or equipment of a further vehicle that uses the parking facility 101 in the time interval and/or moves through the predetermined area 110; and/or a time of day of the delivery time; and/or a weather forecast for a specific time period; and/or a public or private event planned within a predetermined period of time; and/or services booked by other users of the parking facility 101 within the time interval; and/or a learned statistic regarding utilization.
- the determination unit 104 can additionally be set up to determine a specific utilization threshold value for the parking facility 101 in the specific time interval. This is done, for example, as a function of parameters defined by the infrastructure of parking facility 101, such as lane width, size of parking spaces and the like, depending on the type and/or technical equipment of at least one other vehicle that enters the parking facility in the specific time interval 101 uses and/or stays in the predetermined area 110, and/or as a function of current restrictions and/or restrictions of the parking facility 101 planned in a predetermined period of time. It can also be said that the utilization threshold value is determined dynamically. As an alternative to this, the specific capacity utilization threshold value can be permanently specified.
- a comparison unit 106 (see FIG. 2 or 3) of the parking assistance system 100, which can be integrated in the arithmetic unit 101, is set up to compare the determined first anticipated load with the specific load threshold value.
- a result of the comparison can be determined in binary form, which means that it is determined whether the utilization is above or below the threshold value (if the utilization is equal to the threshold value, one of the two options can be assigned). Alternatively or additionally, the comparison result can be used to determine how large the difference is between the probable capacity utilization and the threshold value.
- the determination unit 104 is also set up to determine an alternative handover time as a function of the comparison. In the event that the ascertained first probable utilization is above the ascertained utilization threshold value, an alternative handover time is determined in any case. In the event that the ascertained first probable capacity utilization is below the certain capacity utilization threshold value, but is within a predetermined variation interval for this, for example, an alternative handover time is preferably also determined.
- the alternative handover time is determined in such a way that a second anticipated utilization at the alternative handover time is less than the first anticipated utilization.
- the alternative handover time is particularly preferably determined in such a way that the second probable utilization is less than or equal to the utilization threshold value.
- the alternative handover time determined in this way is transmitted to the user 300 by means of a message MSG.
- 4 shows an example of a mobile device 301 of a user 300, which outputs a corresponding transmitted message with alternative transfer times to the user 300 on a display device.
- the user 300 has sent a request REQ to drop off the vehicle at 8 a.m. (drop off time) and pick up the vehicle at 4 p.m. (pick up time).
- the delivery time and the pick-up time each represent a handover time.
- the parking facility 101 is in each case exposed to an increased utilization, which is reflected in increased waiting times to be expected.
- the waiting times to be expected are shown behind the corresponding handover times. These are 10 minutes at 8 a.m.
- the parking assistance system 100 has therefore determined alternative handover times and their corresponding expected waiting time, and transmitted these to the user 300 with the message MSG.
- the user 300 can select one of the alternative delivery times for the drop-off time and/or the pick-up time and/or can request a different delivery time and/or can insist on the original delivery time, with the user 300 then increasing with the respective Expect waiting time at handover.
- the representation of the alternative transfer times and/or the corresponding waiting times can advantageously be highlighted in color. For example, shorter waiting times can be displayed in green and longer waiting times can be displayed in red. This makes it easier for the user 300 to grasp the potential benefits of changing the handover timing.
- FIG. 4 merely represents an advantageous embodiment.
- a qualitative indication of the waiting time to be expected (“long”, “medium”, “short") and/or a time saving when selecting an alternative transfer time instead of the desired transfer time can be determined and transmitted with the message (e.g. "8 minutes” when changing from 8 a.m. to 8.30 a.m.).
- FIG. 2 shows a further schematic view of a parking assistance system 100 with a parking facility 101 with low utilization
- FIG. 3 shows the same parking assistance system 100 with the parking facility 101 with high utilization or overload.
- the parking assistance system 100 includes a computing unit 101 which includes a receiving unit 102 , a determination unit 104 , a comparison unit 106 and a transmission unit 108 . These are set up as previously described with reference to FIG.
- the Par device 101 includes a predetermined area 110, which parking spaces 120 and a transfer area 130 includes.
- the transfer area 130 of the parking facility 101 is divided into a drop-off area and a pick-up area. Each of these areas has four transfer positions 132 (marked "A").
- a handover position 132 is, for example, a parking space on which a vehicle 202 is parked for the purpose of handover. This has the advantage that the user 300 (see FIG.
- the user 300 when picking up the vehicle 202, the user 300 can set himself up in the vehicle, for example buckle a child in a child seat, invite shopping and/or plan a route, which the user can do as long as the vehicle 202 is at the handover position 132 . Sufficient space remains to the side of the transfer positions 132 so that further vehicles 201 can pass and the parking facility 101 is not blocked.
- Seven vehicles 201-203 are shown as an example.
- two vehicles 201 are in motion, one of which is about to enter the parking facility 101 and one is about to leave parking facility 101.
- a vehicle 202 is currently in a handover position 132 , with the user 300 handing over the vehicle 202 to the parking assistance system 100 .
- Four vehicles 203 are parked on respective parking spaces of the parking facility 101 .
- the situation shown in FIG. 2 corresponds to a low utilization of the parking facility 101.
- Additional vehicles can be present in all areas of the parking facility 101 without the operation of the parking facility 101 being impaired. “All areas” mean, for example, the drop-off and pick-up area 132, the parking spaces 120 and also the lane that leads through the predetermined area 110. This means that additional vehicles 201 can be in motion, additional vehicles 202 can be in the process of being handed over and additional vehicles 203 can be parked.
- the vehicles 201, 202, 203, 204 are, for example, passenger cars, emergency vehicles, trucks or the like.
- Vehicles 202 which are transferred to parking assistance system 100 by their respective users 300, are either autonomously driving vehicles that have a number of sensor units that are set up to detect the driving status of the vehicle and to detect an environment of the vehicle.
- sensor units of the vehicle are image recording devices, such as a camera, a radar (radio detection and ranging) or a lidar (light detection and ranging), ultrasonic sensors, location sensors, wheel angle sensors and/or wheel speed sensors.
- the sensor units are each set up to output a sensor signal, for example to a driver assistance system, which carries out the semi-autonomous or fully autonomous driving as a function of the detected sensor signals.
- the vehicles 202 can be set up to be remotely controlled by the parking assistance system 100 if the parking assistance system 100 is set up accordingly (type 2 valet parking assistance system).
- the situation shown in FIG. 3 corresponds to a very high utilization of the parking facility 101, since almost all parking spaces 120 are occupied, a larger number of vehicles 201 are moving in the predetermined area 110 and are partially blocked by each other, which leads to leads to a traffic jam, and furthermore almost all transfer positions 132 are occupied by vehicles 202.
- a number of other vehicles 204 are already in a queue in front of an entrance to the parking facility 101.
- the probable utilization of the parking facility 101 in a specific time interval can be estimated on the basis of the utilization parameters.
- the utilization parameters are variable over time, so that different anticipated utilizations can be determined for different time periods.
- some utilization parameters are cyclical, whereby a cycle can cover a day (time of day), a week (day of the week) or even a year.
- Other utilization parameters are event dependent, with events including, for example, holidays, vacations, scheduled events, and the like.
- the load threshold can also be variable over time.
- the utilization threshold value can depend on restrictions of the parking facility 101 due to planned structural measures and/or repairs or the like.
- a separate utilization threshold value can be determined for each of the areas of the parking facility 101 (e.g. the drop-off and collection area 132, the parking spaces 120 and also the lane that leads through the predetermined area 110) and the expected utilization can also be determined for each of these areas are determined separately. In particular, the respective probable utilization is then compared with the corresponding utilization threshold value.
- Fig. 5 shows a schematic block diagram of an embodiment of a method for operating a parking assistance system 100 for a parking facility 101, for example the parking assistance system 100 from one of FIGS S1, a request REQ (see FIG.
- a first probable utilization of the parking facility 101 at the handover time is determined as a function of a number of utilization parameters.
- the ascertained first probable utilization is compared with a specific utilization threshold value.
- an alternative handover time is determined as a function of the comparison, with the alternative handover time being determined in such a way that a second expected utilization at the alternative handover time is less than the first expected utilization and/or less than or equal to the determined utilization threshold is.
- a message MSG (see FIG. 1) containing the alternative handover time is transmitted to the user 300.
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Abstract
Description
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CN202280059858.8A CN117940330A (zh) | 2021-07-27 | 2022-07-20 | 方法、计算机程序产品、泊车辅助系统和泊车设备 |
KR1020247006425A KR20240040782A (ko) | 2021-07-27 | 2022-07-20 | 방법, 컴퓨터 프로그램 제품, 주차 보조 시스템 및 주차 장치 |
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DE102021119420.2 | 2021-07-27 | ||
DE102021119420.2A DE102021119420A1 (de) | 2021-07-27 | 2021-07-27 | Verfahren, computerprogrammprodukt, parkassistenzsystem und parkeinrichtung |
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KR (1) | KR20240040782A (de) |
CN (1) | CN117940330A (de) |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2016006605A (ja) * | 2014-06-20 | 2016-01-14 | 住友電気工業株式会社 | 駐車管理装置、コンピュータプログラム、及び駐車管理方法 |
EP3461722A1 (de) * | 2017-10-02 | 2019-04-03 | Toyota Jidosha Kabushiki Kaisha | Verwaltungsvorrichtung |
DE102017222658A1 (de) | 2017-12-13 | 2019-06-13 | Robert Bosch Gmbh | Verfahren und System zum Unterstützen eines fahrerlosen Fahrens eines Kraftfahrzeugs in einer mehrere Stellplätze umfassenden Parkeinrichtung |
US20210142671A1 (en) * | 2019-11-12 | 2021-05-13 | Toyota Jidosha Kabushiki Kaisha | Automated valet parking system and terminal device |
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DE102015224426A1 (de) | 2015-12-07 | 2017-06-08 | Bayerische Motoren Werke Aktiengesellschaft | Datenverarbeitungseinrichtung, Drahtloskommunikationsgerät, Fortbewegungsmittel und Verfahren zur Reservierung eines Parkplatzes für ein Fortbewegungsmittel |
KR20200056495A (ko) | 2018-11-09 | 2020-05-25 | 현대자동차주식회사 | 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량 |
JP7065765B2 (ja) | 2018-12-28 | 2022-05-12 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、及びプログラム |
-
2021
- 2021-07-27 DE DE102021119420.2A patent/DE102021119420A1/de active Pending
-
2022
- 2022-07-20 KR KR1020247006425A patent/KR20240040782A/ko unknown
- 2022-07-20 WO PCT/EP2022/070330 patent/WO2023006539A1/de active Application Filing
- 2022-07-20 CN CN202280059858.8A patent/CN117940330A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016006605A (ja) * | 2014-06-20 | 2016-01-14 | 住友電気工業株式会社 | 駐車管理装置、コンピュータプログラム、及び駐車管理方法 |
EP3461722A1 (de) * | 2017-10-02 | 2019-04-03 | Toyota Jidosha Kabushiki Kaisha | Verwaltungsvorrichtung |
DE102017222658A1 (de) | 2017-12-13 | 2019-06-13 | Robert Bosch Gmbh | Verfahren und System zum Unterstützen eines fahrerlosen Fahrens eines Kraftfahrzeugs in einer mehrere Stellplätze umfassenden Parkeinrichtung |
US20210142671A1 (en) * | 2019-11-12 | 2021-05-13 | Toyota Jidosha Kabushiki Kaisha | Automated valet parking system and terminal device |
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DE102021119420A1 (de) | 2023-02-02 |
KR20240040782A (ko) | 2024-03-28 |
CN117940330A (zh) | 2024-04-26 |
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