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WO2018189076A1 - Procédé de détection de places de stationnement dans une zone environnante d'un véhicule automobile, dispositif d'évaluation, système d'aide au stationnement, véhicule automobile et système en réseau - Google Patents

Procédé de détection de places de stationnement dans une zone environnante d'un véhicule automobile, dispositif d'évaluation, système d'aide au stationnement, véhicule automobile et système en réseau Download PDF

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Publication number
WO2018189076A1
WO2018189076A1 PCT/EP2018/058973 EP2018058973W WO2018189076A1 WO 2018189076 A1 WO2018189076 A1 WO 2018189076A1 EP 2018058973 W EP2018058973 W EP 2018058973W WO 2018189076 A1 WO2018189076 A1 WO 2018189076A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor data
parking space
parking
vehicle
motor vehicle
Prior art date
Application number
PCT/EP2018/058973
Other languages
German (de)
English (en)
Inventor
Markus Heimberger
Jean-Francois Bariant
Original Assignee
Valeo Schalter Und Sensoren 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 Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2018189076A1 publication Critical patent/WO2018189076A1/fr

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Classifications

    • 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
    • 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
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • 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
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • 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
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • 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
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • 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
    • G08G1/147—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 within an open public zone, e.g. city centre

Definitions

  • the invention relates to a method for detecting parking spaces in a
  • Vehicle-side sensor device detected from the surrounding area first
  • the invention also relates to an evaluation device for a
  • Parking assistance system a parking assistance system for a motor vehicle, a motor vehicle and a networked system.
  • Parking assistance systems which can assist a driver of a motor vehicle during parking operations are already known from the prior art.
  • Parking assistance systems detect parking spaces or parking space-like subregions in an environmental region of the motor vehicle when the motor vehicle passes the parking space-like subregions, for example by limiting objects bounding the parking space-like subarea as well as dimensions or geometric dimensions of the parking space
  • Parking assistance systems usually the parking space and recognize, for example, a length, a width and a depth of the parking space and a relative position of the
  • Parking space with respect to the motor vehicle is detected by vehicle-mounted distance sensors, for example ultrasound sensors.
  • Valid parking spaces that can be parked are, for example, those parking zones in which the motor vehicle may be parked or parked in compliance with traffic regulations. Invalid parking spaces are, for example, no parking zones, house and courtyard entrances, bus stops, green areas, fire brigade access zones, etc. These invalid parking spaces are indeed
  • DE 10 2012 216 994 A1 describes a method for parking space switching, wherein road users determine information about free parking and transmit the information to a cloud computing system.
  • the cloud computing system retrieves information about the free parking spaces on a free parking card.
  • Such information which is determined on the vehicle side and transmitted to the cloud computing system, may be, for example, meta information about the parking spaces, which are obtained, for example, by a sign recognition performed on the vehicle side.
  • signs are, for example, no-stopping signs or signs for the identification of residents, disabled, family, women or private parking, which by a vehicle-mounted camera system and a
  • Image processing are detected and linked to the corresponding information about the parking lot.
  • a disadvantage of this prior art is that such a camera-based information recognition requires a high computing power and thus corresponding resources must be provided on the vehicle side.
  • first signals detected by the surroundings region are detected by at least one first vehicle-side sensor device
  • Received sensor data from a vehicle-side evaluation and detected a parking space-like portion of the surrounding area in the first sensor data.
  • Sensor device from the parking space-like portion detected second sensor data requested by the evaluation as soon as the parking space-like portion is detected in the first sensor data.
  • the requested second sensor data as well
  • At least one information about the parking space-like subarea determined on the basis of the first sensor data is transmitted to a central, vehicle-external computer unit for classifying the parking space-like subarea as a valid parking or invalid parking space that can not be parked.
  • a parking assistance system which is designed to assist a driver of the motor vehicle in the search for free parking spaces or free parking spaces.
  • the detected first sensor data are received and analyzed by the vehicle-side evaluation device, which can be integrated, for example, in a vehicle-side control unit.
  • distance sensor data of at least one distance sensor device on the vehicle side in particular ultrasound sensor data and / or, are preferably the first sensor data
  • Such a parking space-like subarea is, in particular, an uncovered subarea in the surrounding area, which suggests that it represents a parking space for the motor vehicle.
  • Part of the area can be recognized, for example, that it is limited by two objects spaced apart from each other, for example other motor vehicles, and has a specific geometry, for example a certain length, a certain width and / or a certain depth.
  • the two objects bounding the parking space-like subarea as well as the geometry or geometric dimensions of the subarea can be detected and determined on the basis of the first sensor data. On the basis of the first sensor data, however, it is not possible to detect whether it is a valid, parkingable parking space or an invalid parking space that can not be parked, for example a parking space for the disabled or a fire service access area.
  • the at least one first and the at least one second sensor device differ in particular in their measuring principles.
  • the second sensor data are preferably camera data or camera images, which can be detected by at least one vehicle-side camera.
  • the second sensor data is requested for evaluation, in particular, only when the presence of the parking space-like subarea has already been detected or recorded on the basis of the first sensor data.
  • the detection of the parking space-like subarea based on the first sensor data thus serves as trigger or trigger for the request of the second sensor data. For example, in the case of a second area continuously monitoring the surrounding area
  • Evaluation be transmitted and stored there, if based on the first sensor data of the parking space-like sub-area was detected.
  • the video sequence can be searched for that image or those images whose or their time stamp corresponds to a time of detection of the parking space-like subregion based on the first sensor data, in particular matches.
  • the second sensor data as well as the at least one information about the parking space-like partial area are transmitted to the vehicle-external, central computer unit.
  • the at least one based on the first
  • Information determined by sensor data for example, the first sensor data itself can be transmitted to the central computing device.
  • the first sensor data are thus enriched with the second sensor data and transmitted to the central computer unit.
  • the at least one information about the parking space-like subarea the at least one geometric dimension of the parking space-like subarea can be transmitted to the central computer unit.
  • the second sensor data are thereby in particular unprocessed to the central computer unit.
  • the second sensor data that is to say, for example, the camera data
  • the central, vehicle-external computer device for evaluation or analysis.
  • the processing and evaluation of second sensor data in the form of camera images requires a high computing power
  • Transfer computer unit which were detected in a predetermined period, wherein the predetermined period of time with a time of detection of
  • those second sensor data are transmitted to the computer unit, which were recorded simultaneously with or shortly after those first sensor data, on the basis of which the parking space-like subarea was detected. If, for example, the parking space-like subarea has been detected on the basis of the distance sensor data, a camera image is taken or selected which shows the parking space-like subarea. So only the second sensor data will be sent to the
  • Transfer vehicle external unit based on which the classification of the parking space-like sub-range can be performed by the vehicle-external computer unit. This avoids that unnecessarily large amounts of data are stored by a memory unit of the evaluation and transmitted from the motor vehicle to the vehicle-external computing device. Thus, advantageously, a low bandwidth in the transmission of the sensor data from the
  • Storage space in the vehicle-mounted storage unit can be saved.
  • Information about the park-gap-like sub-area transmitted to a designed as a cloud computing system computer unit In the case of cloud computing systems, IT infrastructures and IT services are used that are not held locally on local computers, for example on the vehicle-side evaluation device, but rented as a service and accessed via a network, for example the Internet, can be accessed. Through this network, the information determined by the cloud computing system, ie the classification of the cloud computing system.
  • park-gap-like subarea as a valid, parkable or an invalid, not parkable parking space, a variety of end users, for example
  • end users can provide information to the cloud computing system. This creates an artificial neural network, which the
  • a parking space-like partial area which previously by the central computer unit was classified as a parking space
  • the parking assistance system of a motor vehicle are offered directly without this again the second sensor data must be transmitted to the evaluation for the cloud computing system.
  • the essential advantage of the cloud computing system is that location-independent and also virtually memory-independent information can be stored centrally and thus a separate storage medium in the motor vehicle can be dispensed with. At the same time, large amounts of data can be stored and processed within the cloud computing system. This can increase computing capacity on the
  • Evaluation device generates a trigger signal for the second sensor device as soon as the parking space-like subregion has been detected on the basis of the first sensor data, wherein the second sensor device by the trigger signal for detecting the second
  • Sensor data from the surrounding area comprising the parking space-like sub-area is controlled.
  • the second sensor data that is, for example, the images from the surrounding area with the parking space-like
  • Evaluation device was generated. This means, for example, that the
  • Vehicle-side camera is only for detecting the camera image or a short video sequence of the parking space-like portion is driven when the parking space-like portion in the first sensor data, for example in the
  • the second sensor data of those second sensor device are requested, their detection range at least partially with a
  • the invention is based on the finding that a plurality of second sensor devices, for example a plurality of cameras, is generally arranged on the motor vehicle.
  • a plurality of second sensor devices for example a plurality of cameras
  • the motor vehicle In order to reduce a size of the amount of data to be stored and transmitted as well as a time in the analysis of the second sensor data, only those second sensor data are requested which originate from the parking space-like subarea. in the Case of camera images so only those camera images are requested, which show the park-gap-like sub-area.
  • the second sensor data are analyzed by the central computer unit, classified the parking space-like sub-area and the
  • Classification returned to the vehicle-side evaluation Because only those second sensor data are transmitted to the computer unit which are suitable for classifying the parking space-like partial area as an invalid or valid parking space, the computer unit can quickly carry out the classification and report back the classification. For example, it may be that only a few seconds, approximately two seconds, pass between the transmission of the second sensor data to the computer unit and the feedback of the classification to the evaluation device, so that the evaluation device classifies the computer
  • the evaluation can respond by offering this parking space, for example, for a parking operation and / or performs the parking process in this parking space autonomously or automatically.
  • the second sensor data are searched for predetermined markings indicating an invalid parking space at the parking space-like subarea and the parking space-like subarea is classified as an invalid parking space in the presence of at least one of the markings.
  • markings indicative of an invalid parking space marker on the park gap-like sub-area, for example, be an indication of a disabled parking, a women's parking, a family car park, a no-parking zone or a private house or courtyard entrance.
  • a marking may be, for example, a pictogram, which on a floor of the parking space-like portion and / or on a sign on the
  • Image processing device of the central computer unit to be recognized. Therefore, it is advantageous if the second sensor data are designed as camera images. As soon as a marking, for example such a pictogram, has been recognized in the images, the parking space-like partial area can be classified as an invalid parking space.
  • an environment map with the classified parking space-like subregions is created by the central computer unit, which is suitable for a plurality of Evaluation facilities is provided for retrieval.
  • the environment map is created in particular in a world coordinate system and the park-gap-like
  • Subareas deposited at their global positions in the area map are deposited at their global positions in the area map. For this purpose, in particular in addition to the second sensor data and the at least one information about the parking space-like subarea, the global position data or coordinates of the motor vehicle from the evaluation device to the central
  • the global position of the motor vehicle can be determined, for example, by means of GPS.
  • Creating the environment type here also means updating an existing environment map, for example HERE.
  • This environment map is available in the cloud and can be used by a large number of end users, for example the parking assistance systems of other vehicles.
  • the computer unit can use the first and / or second sensor data to provide geometric information about the information classified as valid
  • geometric information is, for example, the depth, width and / or length of the parking space and a height of a curb in the parking space. This embodiment is based on the finding that not every parking space that has been evaluated as valid is equally suitable for every motor vehicle. For example, it may be that a parking space is valid, but this is only suitable for small vehicles. Also, a parking space may have a curb, which is drive over without damage only for certain motor vehicle. Such parking spaces with certain restrictions can then be proposed for example only to the drivers of corresponding vehicles. Alternatively or additionally, all valid parking spaces and additionally the geometric information can be provided to the drivers, so that they can decide on the basis of the geometric information whether the parking space is suitable for their specific motor vehicle.
  • the invention also relates to an evaluation device for a parking assistance system of a motor vehicle, which is designed to perform those embodiments of the method according to the invention, which relate to the vehicle-side steps.
  • the evaluation device is thus in particular for receiving and
  • An inventive parking assistance system for a motor vehicle for detecting parking spaces in an environmental region of the motor vehicle comprises a first
  • Sensor device for detecting first sensor data from the surrounding area, a second sensor device different from the first sensor device
  • the first sensor device is designed in particular as a distance sensor device and the second sensor device as a camera.
  • the invention also relates to a motor vehicle with an inventive
  • the motor vehicle is designed in particular as a passenger car.
  • the invention relates to a networked system comprising at least one
  • the evaluation unit according to the invention and a computer-external computer unit, wherein the computer unit is adapted to perform those embodiments of the method according to the invention, which relate to the computer-side steps.
  • the computer unit is designed in particular as a cloud computing system.
  • the computer unit and the vehicle-side evaluation devices are designed to communicate bidirectionally wirelessly, for example via the Internet.
  • Fig. 1 is a schematic representation of an embodiment of a
  • Fig. 2 is a schematic representation of the motor vehicle of FIG. 1 in the
  • Fig. 3 is a schematic representation of a networked system
  • Fig. 1 shows a motor vehicle 1 according to the present invention.
  • the motor vehicle 1 is designed in the present case as a passenger car and includes a parking assistance system 2, which supports a driver of the motor vehicle 1 in search of valid parking spaces 3 which can be parked.
  • the parking assistance system 2 can also be configured to park the motor vehicle 1 in a parking space 3 that can be parked, at least semi-autonomously, in particular fully autonomously.
  • first sensor data from an environmental region 6 of the motor vehicle 1 can be detected by means of at least one first sensor device 5 of the parking assistance system 2.
  • Sensor data can be received and analyzed by an evaluation device 7 of the parking assistance system 2.
  • the first sensor device 5 can as
  • Distance sensor device for example, be designed as an ultrasonic sensor and / or radar sensor and / or laser scanner, so that as the first sensor data In particular distance sensor data from the evaluation device 7 are received.
  • the evaluation device 7 can be integrated, for example, in a vehicle-side control unit.
  • Subarea 8 are detected in the surrounding area 6.
  • This parking space-like subarea 8 may be, for example, an unoccupied area in the surrounding area 8, which is bounded by objects 9.
  • the delimiting objects 9 are formed here as other vehicles 10, which are parked in parking spaces 1 1 next to the parking space-like portion 8.
  • This area between the two delimiting objects 9 can be measured by recognizing at least one geometric dimension of the area, in particular a width B and a depth T, based on the first sensor data. Based on the width B and the depth T, it can be recognized that the partial area 8 can be a potential parking space for the motor vehicle 1.
  • Disabled parking which is marked by a marker 13 and on which the motor vehicle 1 may not be parked.
  • the motor vehicle 1 has at least one second sensor device 14.
  • the second sensor device 14 detects second sensor data from the surrounding area 6.
  • the second sensor device 14 is designed as a camera and records camera images and / or video sequences as the second sensor data.
  • Evaluation 7 was detected or identified based on the first sensor data of the park space-like sub-area 8, the evaluation device 7 requests from the second sensor device 14 second sensor data from the park-gap-like sub-area 8. In particular, only the second sensor data of those second
  • the detection range overlaps at least partially with a detection range 15 of the first sensor device 5.
  • only those second sensor data requested which were detected approximately at the same time as those first sensor data, based on which the parking space-like sub-area 8 was detected.
  • the camera can then capture an image or snapshot of the parking space-like partial area 8 as soon as the parking space-like partial area 8 has been detected on the basis of the first sensor data.
  • the detection of the parking space-like subarea 8 is thus a trigger signal or trigger for the at least one second sensor device 14.
  • Subarea 8 for example the geometry T, B of the parking space-like subarea 8, and the unprocessed second sensor data are transmitted from the evaluation device 7 of the parking assistance system 2 to a central, vehicle-external computing device 16.
  • the vehicle-external computing device 16 can communicate with the evaluation device 7 of the motor vehicle 1, for example, via a wireless network connection.
  • the motor vehicle 1, in particular the evaluation device 7 of the parking assistance system 2, and the central computer device 16 thus form a networked system S or a neural network.
  • the computer device 16 is designed to analyze the second sensor data and to classify the parking space-like subarea 8 as a valid parking space 3 or as an invalid parking space 12.
  • the computing device 16, the marker 13 in the form of a on the
  • the computer device 16 can classify the parking space-like subarea 8 as invalid and this the
  • the central computing device 16 may be configured as a cloud computing system 17. It can not only the
  • Evaluation device 7 of the motor vehicle 1 communicate with the central computer device 16, but also, for example, evaluation devices 18 of
  • the cloud computing system 17 for example, provide an environment map, in which classified
  • park-gap-like subarea 8 are deposited at their global positions and which of the evaluation devices 7, 18 can be retrieved.
  • the environment map can be continuously updated by the evaluation devices 7, 18 transmit information, for example, first and second sensor data to the cloud computing system 17.
  • the cloud computing system 17 can use the information transmitted to classify the parking space-like subregions 8 perform and report this classification back to the evaluation 7, 18 in order to offer the drivers of motor vehicles 1, 10 valid parking lots 3 can.
  • the cloud computing system 17 may be adapted to further, in particular geometric, information about valid parking spaces 3 in the
  • Map of the environment may, for example, the geometric dimensions B, T and a height of a curb in the
  • Parking space 3 be. Based on the information provided by the environment map, the driver of a motor vehicle 1, 10 and / or the evaluation device 7, 18 decide whether the valid parking space 3 for the specific motor vehicle 1, 10 is suitable.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de détection de places de stationnement (3, 12) dans une zone environnante (6) d'un véhicule automobile (1), selon lequel un dispositif d'évaluation (7) côté véhicule reçoit les premières données de détection détectées dans la zone environnante (6) par au moins un premier dispositif de détection (5) côté véhicule, une sous-zone (8) en forme de place de stationnement dans la zone environnante (6) est détectée dans les premières données de détection; des deuxièmes données de détection détectées dans la sous-zone en forme de place de stationnement (8) par au moins un deuxième dispositif de détection (14) côté véhicule sont demandées par le dispositif d'évaluation (7) dès que la sous-zone en forme de place de stationnement (8) est détectée dans les premières données de détection et que les deuxièmes données de détection demandées et au moins une information sur la sous-zone en forme de place de stationnement (8) déterminée par les premières données de détection sont envoyées à une unité informatique centrale (16) externe au véhicule pour classer la sous-zone en forme de place de stationnement (8) comme une place de stationnement valide et pouvant être occupée (3) ou comme une place de stationnement non valide et ne pouvant être occupée (12). Cette invention concerne également un dispositif d'évaluation (7), un système d'aide au stationnement (2), un véhicule automobile (1) et un système en réseau (S).
PCT/EP2018/058973 2017-04-10 2018-04-09 Procédé de détection de places de stationnement dans une zone environnante d'un véhicule automobile, dispositif d'évaluation, système d'aide au stationnement, véhicule automobile et système en réseau WO2018189076A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017107700.6 2017-04-10
DE102017107700.6A DE102017107700A1 (de) 2017-04-10 2017-04-10 Verfahren zum Erfassen von Parklücken in einem Umgebungsbereich eines Kraftfahrzeugs, Auswerteeinrichtung, Parkassistenzsystem, Kraftfahrzeug sowie vernetztes System

Publications (1)

Publication Number Publication Date
WO2018189076A1 true WO2018189076A1 (fr) 2018-10-18

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CN119479092A (zh) * 2024-11-20 2025-02-18 杭州优橙科技有限公司 一种基于物联网的智慧停车管理系统及方法

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DE102020206152A1 (de) 2020-05-15 2021-11-18 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung zur Bestimmung, ob eine Parklücke in einem seitlichen Frontbereich und/oder Heckbereich eines Fahrzeugs für das Fahrzeug geeignet ist, ein Fahrerassistenzsystem mit solch einer Vorrichtung sowie ein Fahrzeug mit solch einem Fahrerassistenzsystem
DE102020129520A1 (de) 2020-11-10 2022-05-12 Valeo Schalter Und Sensoren Gmbh Verfahren zum betreiben eines parkassistenzsystems, computerprogramprodukt, parkassistenzsystem, fahrzeug und system
CN112820141B (zh) * 2021-01-14 2022-04-19 浙江吉利控股集团有限公司 一种泊车车位的检测方法和检测系统
DE102022208059B3 (de) 2022-08-03 2024-02-08 Continental Autonomous Mobility Germany GmbH Verfahren zum Ermitteln einer eine Parklücke beschreibenden Umfeldinformation mithilfe eines faltenden neuronalen Netzes
FR3142030B1 (fr) * 2022-11-10 2025-01-17 Psa Automobiles Sa Procédé et dispositif de validation d’un déplacement d’un véhicule par un équipement d’une infrastructure réseau de communication mobile
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