Method for performing an automatic parking maneuver of a vehicle

Abstract

Method for performing an automatic parking operation of a vehicle, wherein a reservation request for a parking position (605) of a parking space (603) is sent (101) via a communication network to a parking space management server (201), wherein navigation data for autonomous navigation to the reserved parking position (605) is received (103) by the vehicle via the communication network in accordance with the reservation request, wherein the vehicle navigates autonomously to the reserved parking position (605) in the parking space (603) based on the navigation data (105), wherein if an expected arrival time of the vehicle at the parking space (603) is later than a parking start time included in the transmitted reservation request, a reservation adjustment request is transmitted to the parking space management server (201) via the communication network in order to adjust the reservation.

Description

[0001] The invention relates to a method for performing an automatic parking process for a vehicle. The invention further relates to a parking management server for a parking lot. The invention further relates to a method for operating a parking management server. The invention also relates to a device for reserving a parking position in a parking lot. Furthermore, the invention relates to a method for operating the device for reserving a parking position in a parking lot. The invention further relates to a parking system for vehicles. The invention also relates to a computer program. State of the art

[0002] In a fully automated valet parking system, the vehicle is parked by a driver at a drop-off point (for example, in front of a parking garage), and from there the vehicle drives itself to a parking position / parking bay and from there back to the drop-off point. Disclosure of the invention

[0003] The object underlying the invention can be seen as providing an improved concept for carrying out an automatic parking process of a vehicle.

[0004] This problem is solved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of dependent claims.

[0005] According to one aspect, a method for carrying out an automatic parking operation of a vehicle is provided, wherein a reservation request for a parking position in a parking lot is sent to a parking lot management server via a communication network, wherein navigation data for autonomous navigation to the reserved parking position is received by the vehicle via the communication network according to the reservation request, wherein the vehicle navigates autonomously to the reserved parking position in the parking lot based on the navigation data.

[0006] According to another aspect, a parking management server is provided for a parking lot, comprising a communication interface that is trained to receive a reservation request for a parking position of a parking lot for a vehicle via a communication network, and a processor that is trained, depending on the reservation request, to determine a parking position and navigation data for autonomous navigation on the parking lot to the reserved parking position, wherein the communication interface is trained to transmit the navigation data to the vehicle via the communication network.

[0007] According to a further aspect, a method for operating the parking management server according to the invention is provided, wherein the communication interface receives a reservation request via the communication network, wherein the processor determines a parking position and navigation data for autonomous navigation on the parking lot to the reserved parking position depending on the reservation request, wherein the communication interface transmits the navigation data to the vehicle via the communication network.

[0008] According to another aspect, a device for carrying out a reservation of a parking position in a parking lot is provided, comprising a processor trained to determine a reservation request for a parking position in a parking lot for a vehicle, and a communication interface trained to transmit the reservation request via a communication network to a parking lot management server.

[0009] In addition, a method for operating the device according to the invention is provided, wherein the processor determines a reservation request for a parking position in a parking space for a vehicle, and wherein the communication interface transmits the reservation request to the parking space management server via the communication network.

[0010] According to another aspect, a parking system for vehicles is provided, comprising a parking space having several parking positions and the parking management server according to the invention and / or the device according to the invention.

[0011] According to another aspect, a computer program is provided which includes program code for carrying out the inventive method for performing an automatic parking process of a vehicle and / or for carrying out a method for operating the inventive parking management server and / or for carrying out the method for operating the inventive device when the computer program is executed on a computer.

[0012] According to one aspect, a vehicle is provided which is equipped to carry out the procedure for performing an automatic parking operation of a vehicle.

[0013] The invention therefore includes, among other things, the concept of sending a reservation request for a parking space to a parking management server. This advantageously enables the server to reserve a parking space for the vehicle in response to the reservation request. Thus, a reserved parking space is advantageously available to the vehicle upon its arrival at the parking lot. The vehicle therefore does not have to wait unnecessarily before initiating an autonomous parking process. This advantageously reduces waiting time at the parking lot. In this way, a concept for the efficient and effective execution of an automated parking process is created.

[0014] According to one embodiment, if the vehicle's expected arrival time at the parking space is later than the parking start time included in the transmitted reservation request, a reservation adjustment request is sent to the parking management server via the communication network to adjust the reservation. This provides the particular technical advantage that even if the vehicle is delayed in arriving at the parking space, it still receives a reserved parking position.

[0015] In another embodiment, the reservation request includes one or more of the following parking parameters: Parking duration, start time, end time, size of parking space, women's parking space, family parking space, parking space with a charging bay for electric vehicles, parking space with a monitoring function, payment function. Providing such parking parameters offers the particular technical advantage that the parking management server can determine a precisely suitable parking space for the vehicle.

[0016] In another embodiment, the navigation data includes one or more of the following: map data from a digital map of the parking lot, route data for a route to be driven within the parking lot, traffic data concerning one or more maximum speed limits within the parking lot and / or right-of-way rules applicable within the parking lot and / or critical areas within the parking lot. The inclusion of such data provides the particular technical advantage of enabling efficient autonomous navigation.

[0017] In another embodiment of the parking management server, the communication interface is configured to receive a reservation adjustment request comprising an expected arrival time of the vehicle at the parking space to the parking management server via the communication network, wherein the processor is configured to adjust the reservation according to the expected arrival time, depending on the reservation adjustment request.

[0018] According to one embodiment, a monitoring system comprises video sensors and / or parking space occupancy sensors and / or light barriers. The provision of a monitoring system provides the particular technical advantage of enabling the monitoring of the vehicle's autonomous driving in the parking space.

[0019] The monitoring system is designed according to an embodiment that documents, in particular records, the parking process and / or the autonomous driving of the vehicle in the parking lot.

[0020] Light barriers are preferably provided at the parking position so that they can detect a vehicle entering or exiting a parking space.

[0021] According to one embodiment, after the vehicle has exited its parking space, for example, after detection by the light barriers, the parking position is classified as free, i.e., as unoccupied. The parking position is thus released after the vehicle has exited. Preferably, an electronic occupancy status is set to free or occupied by the processor, depending on the vehicle's occupancy.

[0022] In another embodiment of the parking management server, the processor is configured to determine a start signal for the vehicle when a parking time specified in the reservation request is exceeded, and the communication interface is configured to transmit the start signal to the parked vehicle via the communication network. This provides the particular technical advantage that the vehicle is automatically started after the reserved parking space expires and is thus advantageously enabled to autonomously return to a drop-off location where a driver can retrieve the vehicle.

[0023] According to one embodiment, determining the start signal and transmitting it to the vehicle via the communication network can also be performed in response to a start request. This means that in another embodiment of the parking management server, the processor is configured to determine a start signal for starting the vehicle in response to a start request, and the communication interface is configured to transmit the start signal to the parked vehicle via the communication network. Such a start request can, for example, be received via the communication interface over the communication network. The start request can be sent, for example, from a mobile device, such as a smartphone, to the parking management server via the communication network.A user of the vehicle can therefore start their vehicle before the planned parking time has expired, so that it autonomously returns to the drop-off position before the planned parking time has expired.

[0024] The functionalities of the procedures result analogously from the functionalities of the corresponding devices, respectively the parking management server and the parking system, and vice versa.

[0025] This means, in particular, that the device for carrying out a reservation of a parking space is designed according to an embodiment to carry out the method for carrying out an automatic parking process of a vehicle.

[0026] A parking lot within the meaning of the present invention can also be referred to as a parking area and serves as a parking space for vehicles. The parking lot thus forms, in particular, a contiguous area that has several parking spaces (in the case of a parking lot on private property) or parking bays (in the case of a parking lot on public property). According to one embodiment, the parking lot can be enclosed by a parking garage. In particular, the parking lot is enclosed by a garage.

[0027] Autonomous, as used in the present invention, means in particular that the vehicle navigates or drives itself, i.e., without driver intervention. The vehicle thus drives itself in the parking space without a driver needing to steer it. The driver no longer needs to be in the vehicle. Such an autonomously driving vehicle, which can park itself automatically, is referred to, for example, as an AVP vehicle. AVP stands for "automatic valet parking" and can be translated as "automatic parking process." Vehicles that do not have this AVP functionality are referred to, for example, as conventional vehicles.

[0028] A drop-off position within the meaning of the present invention is a position at which a driver of the vehicle can leave his vehicle for an autonomous parking operation and can pick up his vehicle from this position at a later time.

[0029] A parking position within the meaning of the present invention is a position at which the vehicle is to park autonomously.

[0030] In one embodiment, it is provided that the vehicle navigates autonomously from the drop-off position to the parking position.

[0031] In another embodiment, it is provided that the vehicle parks itself autonomously into the parking position.

[0032] In another embodiment, it is provided that the vehicle autonomously exits the parking position.

[0033] According to another embodiment, the vehicle is provided to navigate autonomously from the parking position to the drop-off position.

[0034] In one embodiment of the parking management server, the processor is configured to control a monitoring system for monitoring and / or documenting autonomous driving and / or parking and / or unparking of the vehicle in the parking space.

[0035] According to one embodiment, a route to the parking space is determined, and the vehicle autonomously drives the determined route to the parking space.

[0036] According to one embodiment, the vehicle autonomously drives from the parking position to a pick-up position, where a driver can collect the vehicle. The pick-up position corresponds, for example, to the drop-off position.

[0037] According to one embodiment, it is provided that information (for example, a digital map of the parking position and / or the parking space) is made available to the vehicle, for example via the communication network, whereby the vehicle drives autonomously based on the information about the parking space, in particular the parking position.

[0038] The invention will be explained in more detail below with reference to preferred embodiments. Here, we will show...

[0039] Fig. 1. A flowchart of a procedure for performing an automatic parking operation of a vehicle,

[0040] Fig. 2 a parking management server for a parking lot,

[0041] Fig. 3. A flowchart of a procedure for operating the parking management server of the Fig. 2,

[0042] Fig. 4 a device for making a reservation of a parking position,

[0043] Fig. 5 a flowchart of a procedure for operating the device of Fig. 4 and

[0044] Fig. 6 a parking system for vehicles.

[0045] Fig. Figure 1 shows a flowchart of a procedure for performing an automatic parking operation of a vehicle.

[0046] In one step 101A reservation request for a parking space in a parking lot is sent or transmitted to a parking management server via a communication network. In one step 103 Navigation data for autonomous navigation to the reserved parking position is received by the vehicle via the communication network, in accordance with the reservation request. The vehicle navigates according to a step-by-step process. 105 Based on navigation data, the vehicle autonomously navigates to the reserved parking position in the parking lot.

[0047] According to one embodiment, the parking management server determines a parking position for the vehicle in response to the reservation request and transmits corresponding navigation data to the vehicle.

[0048] Fig. Figure 2 shows a parking management server 201 for a parking space.

[0049] The parking management server 201 includes a communication interface203 , which is trained to receive a reservation request for a parking space for a vehicle via a communication network. The parking management server 201 It also includes a processor 205 , which is trained to determine a parking position and navigation data for autonomous navigation in the parking lot to the reserved parking position, depending on the reservation request, whereby the communication interface 203 is trained to transmit the navigation data to the vehicle via the communication network.

[0050] According to one embodiment, the communication network includes a WLAN network and / or a mobile network.

[0051] Fig. Figure 3 shows a flowchart of a procedure for operating the parking management server of the Fig. 2.

[0052] In one step 301 receives the communication interface 203A reservation request is sent via the communication network. The processor 205 determined in one step 303 Depending on the reservation request, a parking position and navigation data for autonomous navigation to the reserved parking space are generated. In one step. 305 The communication interface transmits or sends 203 The navigation data is transmitted to the vehicle via the communication network.

[0053] Fig. 4 shows a device 401 to make a reservation for a parking space.

[0054] The device 401 includes a processor 403 , who is trained to determine a reservation request for a parking space in a parking lot for a vehicle. The device 401 includes a communication interface 405, which is trained to transmit the reservation request via a communication network to a parking management server, for example to the parking management server 201 the Fig. 2.

[0055] According to one embodiment, the device is a mobile communication device, in particular a mobile phone, especially a smartphone.

[0056] Fig. Figure 5 shows a flowchart of a procedure for operating the device. 401 the Fig. 4.

[0057] In one step 501 The processor determines 403 A reservation request for a parking space in a parking lot for a vehicle. The communication interface 405 transmitted or sends according to a step 503 The reservation request is sent via the communication network to the parking management server.

[0058] Fig. 6 shows a parking system 601 for vehicles.

[0059] The parking system 601 includes a parking lot 603 featuring multiple parking positions 605 The parking system 601 includes the parking management server 201 the Fig. 2.

[0060] In an embodiment not shown, the parking system comprises 601 instead of or in addition to the parking management server 201 the device 401 the Fig. 4.

[0061] The invention therefore encompasses, in particular, the concept of providing a technical framework by which a parking position in a parking space is reserved, approached autonomously (i.e., fully automated or fully automatic) (parking), and subsequently made available again (exiting). Thus, an automated parking process, also known as Automatic Valet Parking, is improved.

[0062] The following describes an exemplary sequence of an AVP process, whereby the individual features are also disclosed individually or in any combination. A parking management system comprises, in particular, the parking management server according to the invention. Before the start of the journey or at the beginning of the journey

[0063] The user books a parking space in a parking garage or parking lot, for example, via a program (integrated into the vehicle system such as the head unit and / or as an app on a mobile device (e.g., a smartphone) and / or on a PC). This is where the reservation request is determined.

[0064] Possible premises / framework conditions for booking could include, for example, the following: - Time – Size of the parking space (e.g. Smart vs. BMW 7 Series) – Women's / Family Parking – Parking space with charging bay for electric vehicles – Parking lot with surveillance capability (e.g. via video and mobile phone app) – Payment terms (e.g. credit card or cash payment)

[0065] The parking management system (i.e., the parking management server) reserves the parking bay or parking position based on the data / framework conditions. Start of the journey to the parking lot

[0066] Preferably or optionally, the following is provided: The system (integrated into the vehicle, as an app on a mobile device, or hosted on a server (backend)) calculates the fastest / best route to the parking space or parking garage, taking current traffic conditions into account (the vehicle preferably navigates autonomously to the parking space). A navigation system (external or internal to the vehicle) therefore preferably determines the route to the parking space. – The fully automated (autonomous) function (AVP) drives the vehicle to the parking garage / parking lot. The vehicle thus drives autonomously from a drop-off point to the parking position and parks itself there autonomously, as explained below. In doing so, the vehicle preferably uses driver assistance systems for highly / fully automated driving and parking systems, object detection systems, collision monitoring systems, etc.

[0067] If the system or the driver detects a delay in arriving at the parking garage, the reservation is adjusted (automatically by the system). This triggers a reservation adjustment request.

[0068] In the parking garage or parking lot, the driver parks the vehicle in a designated "drop-off zone". The driver can then leave the vehicle. Start of the parking process • The parking management system transmits the reserved parking space (parking position) and necessary data for driving to the parking space / parking position to the vehicle (e.g., via Wi-Fi). This data would include, for example: a digital map of the parking garage, the route to be taken, and applicable regulations (speed limits, priority areas, critical zones, etc.). • The vehicle drives itself to the parking space / parking position in a highly / fully automated (autonomous) manner without a driver, using the transmitted data. This means that the vehicle autonomously drives from the drop-off point to the parking position based on the transmitted data. In doing so, the vehicle uses, in particular, driver assistance systems for highly / fully automated driving and parking systems, object detection systems, collision monitoring systems, etc. • The parking management system sets the status of the parking space to "occupied". This means that the parking management server, specifically the processor, sets the status of the parking position to occupied. • Preferably or optionally, the following is provided: – The parking management system monitors the driving and parking process using internal infrastructure (video sensors, parking space occupancy sensors, etc.). This is done primarily through a surveillance system. • Preferably or optionally, the following is provided: – In the case of an electric vehicle and a reserved / booked charging parking space, the charging process starts after the parking maneuver is completed. This means that, according to one embodiment, the charging process for an electric vehicle starts automatically after parking. – If the charging process is completed before the vehicle is picked up, the vehicle can be moved from the parking management system to a regular parking space (procedure as described above). This means that the processor determines a start signal, which is sent to the vehicle via the communication network using the communication interface, allowing the vehicle to start. The processor also determines a relocation route to a new parking position, which is likewise sent to the vehicle via the communication interface. The vehicle can then repark autonomously. The parking position, which includes a charging point, is then available to other electric vehicles. End of parking process. Preferably or optionally: – If the reserved parking time is exceeded, the parking management system (parking management server) informs the driver (e.g. via a mobile device). • The driver requests the vehicle's return (e.g., via the mobile device or via the system at the parking garage / parking lot). • The parking management system activates (starts) the vehicle. This involves sending the start signal to the vehicle, either from the server or from the driver's mobile device. • The parking management system transmits the necessary data for the journey (see above) to the vehicle (e.g., via Wi-Fi) to the drop-off zone. This data is analogous to the data transmitted to the vehicle above in connection with the journey from the drop-off point to the parking position. • The vehicle drives itself fully / autonomously (without a driver) to the drop-off zone using the transmitted data. This means that the vehicle autonomously parks itself and autonomously returns to the drop-off position. • The parking management system sets the status of the parking bay or parking position to "free". • The driver takes possession of the vehicle at the drop-off point.

[0069] All data traffic between vehicle, mobile device (e.g., mobile phone), and parking management system (parking lot management server) is preferably encrypted.

[0070] In summary, the invention particularly encompasses the idea of ​​providing an efficient concept by means of which a parking position can be reserved, autonomously approached (autonomous driving to the parking space, autonomous driving from the drop-off position to the parking position and autonomous parking) and made available again (autonomous exiting the parking space, autonomous driving from the parking position to the drop-off position).

Claims

[1] Method for carrying out an automatic parking operation of a vehicle, wherein a reservation request for a parking position is sent via a communication network ( 605 ) of a parking lot ( 603 ) to a parking management server ( 201 ) sent ( 101 ) is, whereby navigation data for autonomous navigation to the reserved parking position is transmitted via the communication network according to the reservation request ( 605 ) received from the vehicle ( 103 ) will be, with the vehicle in the parking lot ( 603 ) autonomously to the reserved parking position based on the navigation data ( 605 ) navigates ( 105 ). [2] Method according to claim 1, wherein, if an estimated time of arrival of the vehicle at the parking space ( 603 ) later than a parking start time included in the submitted reservation request, a reservation adjustment request is sent to the parking management server ( 201) is transmitted via the communication network in order to adjust the reservation. [3] Method according to claim 1 or 2, wherein the reservation request includes one or more of the following parking parameters: parking duration, parking start, parking end, size of the parking position, women's parking position, family parking position, parking position with a charging bay for electric vehicles, parking position with a monitoring function, payment function. [4] Method according to any of the preceding claims, wherein the navigation data comprises one or more of the following data: map data of a digital map of the parking lot, route data of a route to be driven in the parking lot, traffic data relating to one or more maximum permissible speeds in the parking lot ( 603 ) and / or in the parking lot ( 603 ) applicable right-of-way rules and / or critical areas in the parking lot ( 603 ). [5] Method according to one of the preceding claims, wherein a route to the parking space is determined, wherein the vehicle autonomously drives the determined route to the parking space. [6] Method according to one of the preceding claims, wherein the vehicle autonomously drives from the parking position to a pick-up position after the parking has ended, at which a driver of the vehicle can pick up the vehicle. [7] Method according to any of the preceding claims, wherein, if the vehicle is an electric vehicle, the parking position is a parking position comprising a charging function for charging a vehicle battery, wherein a charging process for the electric vehicle starts automatically after parking. [8] Method according to claim 7, wherein, after the charging process is completed, the vehicle autonomously reparks itself to a new parking position. [9] Method according to one of the preceding claims, wherein information (for example, a digital map of the parking position and / or the parking space) is provided to the vehicle, for example via the communication network, wherein the vehicle drives autonomously based on the information about the parking space, in particular the parking position. [10] Method according to any of the preceding claims, wherein the vehicle autonomously parks itself into the parking position and / or autonomously exits the parking position. [11] Parking management server for a parking lot ( 603 ), encompassing a communication interface ( 203 ), who is trained to send a reservation request for a parking space via a communication network ( 605 ) of a parking lot ( 603 ) to receive for a vehicle, and a processor ( 205 ), who is trained to provide a parking position depending on the reservation request ( 605) and navigation data for autonomous navigation in the parking lot ( 603 ) to the reserved parking position ( 605 ) to determine, whereby the communication interface ( 203 ) is trained to transmit the navigation data to the vehicle via the communication network. [12] Parking management server ( 201 ) according to claim 11, wherein the communication interface ( 203 ) is trained to submit a reservation adjustment request including an estimated arrival time of the vehicle at the parking lot ( 603 ) to the parking management server ( 201 ) to receive via the communication network, with the processor ( 205 ) is trained to adjust the reservation according to the expected arrival time, depending on the reservation adjustment request. [13] Parking management server ( 201 ) according to claim 11 or 12, wherein the processor ( 205) is trained to operate a monitoring system for monitoring and / or documenting autonomous driving and / or the parking and / or unparking of the vehicle in the parking lot ( 603 ) to control. [14] Parking management server ( 201 ) according to one of claims 11 to 13, wherein the processor ( 205 ) is trained to determine a start signal to start the vehicle when a parking time included in the reservation request is exceeded, whereby the communication interface ( 203 ) is trained to transmit the start signal to the parked vehicle via the communication network. [15] Parking management server ( 201 ) according to one of claims 11 to 14, wherein the processor ( 205 ) is trained to set an electronic occupancy status of the parking position to free or occupied according to the occupancy. [16] Parking management server ( 201) according to one of claims 11 to 15, wherein the processor ( 205 ) is designed to reserve a parking position for the vehicle, including a charging function for charging a vehicle battery, whereby the processor ( 205 ) is furthermore designed to automatically initiate a charging process after the vehicle has been parked in the parking position. [17] Method for operating a parking management server ( 201 ) according to one of claims 11 to 16, wherein the communication interface ( 203 ) receives a reservation request via the communication network ( 301 ), where the processor ( 205 ) depending on the reservation request, a parking position ( 605 ) and navigation data for autonomous navigation in the parking lot ( 603 ) to the reserved parking position ( 605 ) determined ( 303 ), where the communication interface ( 203) the navigation data is transmitted to the vehicle via the communication network ( 305 ). [18] Device ( 401 ) to make a reservation of a parking space ( 605 ) of a parking lot ( 603 ), comprising a processor ( 403 ), who is trained to make a reservation request for a parking space ( 605 ) of a parking lot ( 603 ) to determine for a vehicle, and a communication interface ( 405 ), who is trained to send the reservation request via a communication network to a parking management server ( 201 to be transmitted. [19] Method for operating the device ( 401 ) according to claim 18, wherein the processor ( 403 ) a reservation request for a parking space ( 605 ) of a parking lot ( 603 ) determined for a vehicle ( 501 ), where the communication interface ( 405) the reservation request via the communication network to the parking management server ( 201 ) transmitted ( 503 ). [20] Parking system ( 601 ) for vehicles, including a parking space ( 603 ) having several parking positions ( 605 ) and the parking management server ( 201 ) according to one of claims 11 to 16 and / or the device ( 401 ) according to claim 18. [21] Computer program comprising program code for carrying out the method according to any one of claims 1 to 10, 17 and 19, when the computer program is executed on a computer.

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