Method and device for determining a delivery position from several delivery positions encompassed by a parking lot for a vehicle

Abstract

Method for determining a delivery position from several delivery positions (313, 315, 317, 319) encompassed by a parking space (301) for a vehicle at which the vehicle is to be parked for an automatic parking operation, comprising the following steps: - Determining (101) a traffic situation inside and / or outside the parking lot (301) and - Determining (103) the drop-off position from the multiple drop-off positions (313, 315, 317, 319) based on the determined traffic situation, so that the automatic parking process can begin at the determined drop-off position, - wherein an area located within the parking lot (301) is detected by means of internal environmental sensors in order to determine internal environmental data corresponding to the detected area, wherein the traffic situation within the parking lot (301) is determined based on the determined internal environmental data, and / or - wherein traffic data corresponding to a traffic situation outside the parking lot (301) are received via a communication network, wherein the traffic situation outside the parking lot (301) is determined based on the received traffic data.

Description

[0001] The invention relates to a method and a device for determining a drop-off position for a vehicle from a plurality of drop-off positions included in a parking space, at which the vehicle is to be parked for an automatic parking process. The invention further relates to a parking space for vehicles. The invention further relates to a computer program. State of the art

[0002] The published patent application DE 10 2011 084 124 A1 discloses a method for navigating a vehicle in a parking lot.

[0003] The published patent application DE 10 2013 222 071 A1 discloses a parking space management system.

[0004] The published patent application DE 10 2012 222 562 A1 shows a system for managed parking areas for transferring a vehicle from a starting position to a destination position.

[0005] In a fully automated (autonomous) so-called valet parking, a vehicle is parked by its 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 back to the drop-off point.

[0006] Parking spaces, for example, may have multiple entrances. In such a case, each entrance may be assigned a drop-off location or drop-off point where the driver is to park the vehicle for fully automated valet parking.

[0007] In a parking lot with multiple entrances, a traffic jam in front of one entrance may cause delays in entering the parking lot if the driver enters the parking lot through that entrance because they are required to park their vehicle at the drop-off position for an automatic parking process assigned to that entrance. Disclosure of the invention

[0008] The object underlying the invention is to provide an efficient concept by means of which a drop-off position for a vehicle can be efficiently determined from a plurality of drop-off positions encompassed by a parking space, at which the vehicle is to be parked for an automatic parking process.

[0009] This object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the respective dependent subclaims.

[0010] According to one aspect, a method is provided for determining a drop-off position from a plurality of drop-off positions included in a parking space for a vehicle at which the vehicle is to be parked for an automatic parking process, comprising the following steps: - Determining the traffic situation inside and / or outside the parking lot and - Determining the drop-off position from the plurality of drop-off positions based on the determined traffic situation so that the automatic parking process can begin at the determined drop-off position.

[0011] According to another aspect, a device is provided for determining a drop-off position from a plurality of drop-off positions encompassed by a parking space for a vehicle, at which the vehicle is to be parked for an automatic parking process, comprising: - a detection device for determining the traffic situation inside and / or outside the parking lot and - a determining device for determining the drop-off position from the plurality of drop-off positions based on the determined traffic situation, so that the automatic parking process can start at the determined drop-off position.

[0012] According to a further aspect, a parking area for vehicles is provided, comprising: - several drop-off positions where a vehicle can be parked to carry out an automatic parking process, and - the device for determining a dispensing position.

[0013] According to another aspect, a computer program is provided which comprises program code for carrying out the method for determining a delivery position when the computer program is executed on a computer.

[0014] The invention therefore particularly encompasses, among other things, the concept of determining the drop-off position for the vehicle based on the traffic situation inside and / or outside the parking space. The traffic situation inside and / or outside the parking space is thus taken into account when selecting which of the drop-off positions the vehicle should be parked at in order to begin the automatic parking process. This provides the technical advantage that the drop-off position can be efficiently determined from the multiple drop-off positions.

[0015] An automatic parking process involves moving the vehicle from the drop-off location to the parking location, where it can be parked either driverlessly or without a driver. The vehicle will remain parked there for a predetermined time or until the user or a parking management system requests the vehicle. After the predetermined time has elapsed or upon a corresponding request, an automatic parking process involves moving the vehicle either back to the same drop-off location, either driverlessly or without a driver, or to another location within the parking lot where the user can retrieve their vehicle. Such a location can be referred to as a pick-up location.

[0016] This means that the drop-off position refers to the location where the user parks their vehicle before the automatic parking process begins. This means that a drop-off position refers to the location where the automatic parking process should begin. This means that after the vehicle is parked at the drop-off position, the vehicle is guided from the drop-off position to the parking position in a driverless or driverless manner.

[0017] According to one embodiment, the vehicle's automatic parking process involves the vehicle being remotely controlled. According to one embodiment, performing the automatic parking process involves the vehicle driving at least partially autonomously, in particular fully autonomously. According to one embodiment, hybrids of the two aforementioned embodiments are provided. This means that, for example, the vehicle can drive a portion of the route autonomously. The vehicle is then remotely controlled for another portion of the route.

[0018] Autonomous in the sense of the present invention means, in particular, that the vehicle navigates or drives independently in the parking lot, i.e., without driver intervention. The vehicle thus drives independently in the parking lot without requiring a driver to steer the vehicle. Steering or guiding includes, in particular, lateral and / or longitudinal guidance.

[0019] A vehicle that can be driven autonomously and / or remotely, i.e., generally without a driver, within or on a parking lot, is referred to as an AVP vehicle. AVP stands for "automated valet parking."

[0020] This means that, as part of the automatic parking process, the vehicle is guided from the drop-off location to the parking location and parked there without a driver. The vehicle is then guided back from the parking location, either without a driver or without a driver, to the same drop-off location or to another location, which can generally be referred to as a pick-up location, after a predetermined period of time, which can be referred to as a parking period.

[0021] In one embodiment, the automatic parking process is carried out. In particular, it is provided that the vehicle is guided to a parking position in a driverless or driverless manner after being parked at the drop-off location.

[0022] Driverless or driverless means that no human driver or operator is required in the vehicle to operate it.

[0023] The start of the automatic parking process therefore marks the beginning of the driverless driving of the vehicle to the parking position. The end of the automatic parking process therefore marks the point in time at which the vehicle is parked at the pickup position after being guided from the parking position to the pickup position, either driverless or driverless.

[0024] According to one embodiment, the vehicle is a motor vehicle. The motor vehicle is, for example, a passenger car (PC) or a truck (HGV). The motor vehicle is, for example, a two-wheeled motor vehicle, in particular a motorcycle.

[0025] The traffic situation refers in particular to a condition which takes into account vehicle density and / or traffic obstructions and / or weather conditions inside and / or outside the parking lot.

[0026] For example, if the condition is an actual condition, then the traffic situation can be referred to as an actual traffic situation or momentary or current traffic situation.

[0027] For example, if the condition is a predicted or forecast condition, then the traffic situation can be referred to as a predicted traffic situation or forecasted traffic situation.

[0028] When referring to traffic conditions in general, this is always intended to encompass both states, the actual state and the predicted state, according to one embodiment. This means that, according to one embodiment, the drop-off position is determined based on the actual state and / or the predicted state and / or based on both the actual state and the predicted state.

[0029] A parking space 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 space thus forms, in particular, a contiguous area that has several parking spaces (in the case of a parking space on private property) or parking bays (in the case of a parking space on public property). According to one embodiment, the parking space is designed as a parking garage. According to one embodiment, the parking space is designed as a parking garage.

[0030] This means that the places, areas, or positions where the vehicle is to be parked are parking spaces or parking stalls. For the sake of simplicity, the uniform term "parking position" is used for both parking spaces and parking stalls.

[0031] According to the invention, it is provided that an area located within the parking space is detected by means of an internal environmental sensor system in order to determine internal environmental data corresponding to the detected area, wherein the traffic situation within the parking space is determined based on the determined internal environmental data.

[0032] This provides the technical advantage that the traffic situation within the parking lot can be efficiently recorded. For example, the internal environmental sensors detect vehicles that are located within the parking lot or are driving within the parking lot. Thus, the vehicle density in the area is determined using the internal environmental sensors. The area within the parking lot encompasses, for example, the entire parking lot. In particular, the area encompasses only a portion of the parking lot. According to one embodiment, several such areas are provided, which are recorded accordingly using the internal environmental sensors.

[0033] According to one embodiment, it is provided that the traffic situation within the parking lot is determined based on automatic parking processes that are currently being carried out within the parking lot and / or are to be carried out within the parking lot in the future.

[0034] This provides the technical advantage that the automatic parking processes currently and / or in the future within the parking space are taken into account when determining the drop-off position. This provides the technical advantage that the drop-off position can be determined efficiently. For example, if one of the drop-off positions is to be used for another vehicle in the future as a drop-off position for the automatic parking process, it makes more sense to select a different drop-off position so that the vehicle and the other vehicle do not get in each other's way, or so that the vehicle does not have to wait for the other vehicle to release the drop-off position.

[0035] This can, for example, reduce the waiting time for a vehicle until it can park at the drop-off point.

[0036] According to one embodiment, when carrying out the automatic parking operations for AVP vehicles, the target trajectories determined are used to determine the traffic situation.

[0037] The fact that automatic parking processes are used to determine the traffic situation means, in particular, that information, i.e., knowledge, about the parking processes is used. Information includes, for example, the positions of vehicles within the parking lot. Information includes, for example, the routes of vehicles within the parking lot. Information includes, for example, the actual trajectories of vehicles within the parking lot.

[0038] According to one embodiment, it is provided that an area located outside the parking lot and immediately adjacent to an entrance of the parking lot is detected by means of an external environmental sensor system in order to determine external environmental data corresponding to the detected area, wherein the traffic situation outside the parking lot is determined based on the determined external environmental data.

[0039] This has the particular technical advantage that the traffic situation in the immediate vicinity of a parking lot entrance is taken into account when determining the drop-off position. For example, the external environmental sensors detect vehicles that are outside the parking lot immediately adjacent to the entrance. This means that the vehicle density in the area of ​​the entrance is determined using the external environmental sensors. If, for example, it is determined that the vehicle density in the area around the entrance is above a predetermined limit, a drop-off position is determined that is assigned to a different entrance. This means that, for example, a vehicle can be prevented from getting stuck in a traffic jam in front of the entrance. The vehicle is therefore advantageously redirected to another entrance.

[0040] An environmental sensor system within the meaning of the present invention, i.e., in particular, an internal and / or external environmental sensor system, comprises one or more environmental sensors. An environmental sensor is, for example, one of the following environmental sensors: ultrasonic sensor, laser sensor, lidar sensor, video sensor, magnetic sensor, and radar sensor.

[0041] Such sensors detect their respective surroundings and generate or determine environmental data based on the detected environment. If an environment is detected using the internal environmental sensors, the corresponding environmental data is referred to as internal environmental data. The same applies to the external environmental sensors, which determine external environmental data. Internal refers to one or more areas located within the parking space. External refers specifically to areas located externally, i.e., outside the parking space.

[0042] According to one embodiment, outside the parking space comprises an area at a predetermined distance from the parking space. For example, the predetermined distance is less than 10 km, for example, less than 5 km, in particular less than 1 km. This means that, for example, only the traffic situation in this area is determined. This can, for example, reduce the effort involved in determining the distance.

[0043] According to the invention, traffic data corresponding to a traffic situation outside the parking lot are received via a communication network, wherein the traffic situation outside the parking lot is determined based on the received traffic data.

[0044] This provides the technical advantage that the traffic situation outside the parking lot can be efficiently determined. For example, such traffic data can be provided by a traffic server. Such a traffic server receives, for example, position data from vehicle users' mobile devices, which can be used to determine, for example, the vehicle density outside the parking lot.

[0045] In a further embodiment, it is provided that the determined traffic situation comprises a vehicle density in a respective environment of the plurality of drop-off positions, wherein the drop-off position at which the vehicle is to be parked for the automatic parking process is determined to be the drop-off position which has the lowest vehicle density in its respective environment.

[0046] This results in the technical advantage that any obstruction by other vehicles for the vehicle that is to carry out the automatic parking process starting from the specific drop-off position can be minimized.

[0047] This means that the corresponding vehicle densities are determined for the respective environments and compared with each other. The lowest vehicle density can then be calculated or determined accordingly.

[0048] The surrounding area refers, for example, to an area up to a predetermined distance from the respective delivery position. The predetermined distance is, for example, 30 m.

[0049] According to a further embodiment, it is provided that the determined drop-off position is sent via a communication network to a terminal device of a user of the vehicle, so that the user can park his vehicle at the determined drop-off position based on the received determined drop-off position.

[0050] This provides the technical advantage that the user can be efficiently informed about the specific delivery position.

[0051] According to one embodiment, the terminal is a mobile terminal, in particular a mobile phone, in particular a smartphone.

[0052] According to a further embodiment, it is provided that a route is calculated from a current position of the user to the specific drop-off position, wherein the calculated route is sent to the user via the communication network to his terminal device, so that the user can reach the specific drop-off position from his current position based on the calculated route.

[0053] This provides the technical advantage that the user can efficiently reach the specific drop-off location from his current position.

[0054] The user is, in particular, a future driver of the vehicle. In particular, the user is a future passenger of the vehicle who is different from the driver.

[0055] According to one embodiment, the communication network comprises a WLAN network and / or a cellular network.

[0056] In one embodiment, it is provided that communication via the communication network is or is encrypted.

[0057] According to one embodiment, it is provided that the device for determining a dispensing position is designed or configured to carry out or implement the method for determining a dispensing position.

[0058] Embodiments relating to the device result analogously from corresponding embodiments relating to the method, and vice versa. This means that technical functionalities of the device result analogously from corresponding technical functionalities of the method, and vice versa.

[0059] This means that according to one embodiment, the determination device is designed to determine the traffic situation within the parking lot based on the determined internal environmental data.

[0060] According to one embodiment, the determination device is designed to determine the traffic situation within the parking lot based on automatic parking processes that are currently being carried out within the parking lot and / or are to be carried out within the parking lot in the future.

[0061] According to one embodiment, it is provided that the determination device is designed to determine the traffic situation outside the parking lot based on the determined external environmental data.

[0062] According to one embodiment, the determination device is designed to determine the traffic situation outside the parking lot based on the received traffic data.

[0063] According to one embodiment, it is provided that the determination device is designed to determine a vehicle density in a respective environment of the plurality of drop-off positions, so that the determined traffic situation comprises a vehicle density in a respective environment of the plurality of drop-off positions, wherein the determination device is designed to determine that one of the drop-off positions which has the lowest vehicle density in its respective environment as the drop-off position at which the vehicle is to be parked for the automatic parking process.

[0064] According to one embodiment, the device comprises a communication interface for communication via a communication network. This communication comprises, in particular, receiving traffic data. This communication comprises, in particular, sending the determined drop-off position to a terminal device of a user of the vehicle. In particular, the communication comprises sending a route from a current position of the user to the determined drop-off position.

[0065] According to one embodiment, the device comprises an external and / or internal environmental sensor system.

[0066] According to one embodiment, the determination device is designed to calculate a route from a current position of the user to the specific delivery position.

[0067] The invention will be explained in more detail below with reference to preferred embodiments. Fig. 1 a flowchart of a method for determining a delivery position, Fig. 2 a device for determining a delivery position and Fig. 3 a parking space for vehicles.

[0068] Fig. 1 shows a flowchart of a method for determining a drop-off position for a vehicle from a plurality of drop-off positions included in a parking space, at which the vehicle is to be parked for an automatic parking process.

[0069] The procedure includes the following steps: - Determine 101 a traffic situation inside and / or outside the parking lot and - Determining 103 the drop-off position from the plurality of drop-off positions based on the determined traffic situation so that the automatic parking process can begin at the determined drop-off position.

[0070] Fig. 2 shows a device 201 for determining a drop-off position for a vehicle from a plurality of drop-off positions included in a parking space, in which the vehicle is to be parked for an automatic parking process.

[0071] The device 201 comprises: - a detection device 203 for determining a traffic situation inside and / or outside the parking lot and - a determination device 205 for determining the drop-off position from the plurality of drop-off positions based on the determined traffic situation, so that the automatic parking process can start at the determined drop-off position.

[0072] In an embodiment not shown, the device 201 comprises a communication interface that is designed to communicate via a communication network.

[0073] Fig. 3 shows a parking space 301 for vehicles.

[0074] Parking lot 301 comprises several entrances 303, 305, 307, 309 for entering parking lot 301. Within parking lot 301, several parking areas or parking positions 311 are formed. Each of the entrances 303, 305, 307, 309 is assigned a drop-off position 313, 315, 317, 319. A vehicle is to be parked at one of these drop-off positions 313, 315, 317, 319 for an automatic parking process. Therefore, an automatic parking process is to begin at one of these drop-off positions 313, 315, 317, 319.

[0075] The parking lot 301 further comprises the parking lot server 201 according to Fig. 3.

[0076] To perform an automatic parking process, a driver drives his vehicle into parking space 301 through one of the entrances 303, 305, 307, 309 and parks his vehicle at a previously determined drop-off position.

[0077] The determination of which of the four drop-off locations 313, 315, 317, 319 the driver should park his vehicle is carried out based on a traffic situation inside and / or outside the parking lot.

[0078] The driver exits their vehicle after parking at the specified drop-off location. The vehicle then performs an automatic parking process and thus automatically parks in one of the parking spaces 311. For example, the parking server 201 remotely controls the vehicle and guides it to the parking position without a driver. For example, the parking server 201 sends the parking position to the vehicle so that the vehicle knows which of the parking positions it should drive to autonomously and then drives to the parking position autonomously.

[0079] After the end of the parking period, the vehicle is returned to the same drop-off location, either driverless or unmanned. In particular, after the end of the parking period, the vehicle is returned to another location, either driverless or unmanned, where the user can pick up their vehicle.

[0080] The invention therefore particularly includes, among other things, the idea of ​​providing a technical concept which can, for example, minimize the time required for a driver to hand over his vehicle for the automatic parking process and / or for a parking space management system to carry out the automatic parking process, i.e. colloquially, to park away.

[0081] The parking lot management system, also called a parking lot administration system, includes, for example, the device for determining a drop-off location. Such a parking lot management system coordinates and / or controls the operation of the parking lot. In particular, the parking lot management system controls the automatic parking processes.

[0082] The inventive concept is particularly evident in the fact that the parking space comprises several drop-off locations. According to one embodiment, the drop-off location at which a vehicle is to be parked in order to subsequently perform an automatic parking process is selected dynamically based on the traffic situation inside and / or outside the parking space. The initiator of this selection is therefore, in particular, the parking space management system.

[0083] According to one embodiment, the driver is informed of the specific, i.e., selected, drop-off location and, for example, the route there. This can be done, for example, via their smartphone, i.e., their mobile device in general, and in particular via relevant information provided in the parking lot.

[0084] According to one embodiment, the parking management system knows the traffic situation within the parking lot, for example within the parking garage, based on its tasks (carrying out the automatic parking processes) and on the basis of its infrastructure (for example by means of the internal environmental sensors, which may include cameras, for example).

[0085] The traffic situation outside the parking lot, for example outside the parking garage, is determined by the parking management system according to one embodiment by one or more of the following options: Data (traffic data) is determined and / or obtained from traffic situation and / or traffic congestion services (e.g., Google Maps). This means that such traffic data is received by the parking management system via a communications network.

[0086] The parking management system determines the current traffic situation directly at the exits and / or entrances. This can be done using external environmental sensors, which may include outdoor cameras, for example.

[0087] Advantages of the invention include, in particular, a shorter drop-off process. In particular, the advantages of the invention include a shorter drop-off process and less complexity. "Parking away" refers, in particular, to the driverless or driverless movement of the vehicle from the drop-off location to the parking location.

Claims

[1] Method for determining a delivery position from a plurality of delivery positions (313, 315, 317, 319) comprised by a parking space (301) for a vehicle, at which the vehicle is to be parked for an automatic parking process, comprising the following steps: - Determining (101) a traffic situation inside and / or outside the parking space (301) and - determining (103) the drop-off position from the plurality of drop-off positions (313, 315, 317, 319) based on the determined traffic situation, so that the automatic parking process can begin at the determined drop-off position, - wherein an area located within the parking space (301) is detected by means of an internal environmental sensor system in order to determine internal environmental data corresponding to the detected area, wherein the traffic situation within the parking space (301) is determined based on the determined internal environmental data, and / or - wherein traffic data corresponding to a traffic situation outside the parking lot (301) are received via a communication network, wherein the traffic situation outside the parking lot (301) is determined based on the received traffic data. [2] Method according to claim 1, wherein the traffic situation within the parking lot (301) is determined based on automatic parking operations that are currently being carried out within the parking lot (301) and / or are to be carried out in the future within the parking lot (301). [3] Method according to one of the preceding claims, wherein an area located outside the parking space (301) and immediately adjacent to an entrance of the parking space (301) is detected by means of an external environmental sensor system in order to determine external environmental data corresponding to the detected area, wherein the traffic situation outside the parking space (301) is determined based on the determined external environmental data. [4] Method according to one of the preceding claims, wherein the determined traffic situation comprises a vehicle density in a respective environment of the plurality of delivery positions (313, 315, 317, 319), wherein that of the delivery positions (313, 315, 317, 319) which has the lowest vehicle density in its respective environment is determined as the delivery position at which the vehicle is to be parked for the automatic parking process. [5] Method according to one of the preceding claims, wherein the determined drop-off position is sent via a communication network to a terminal of a user of the vehicle, so that the user can park his vehicle at the determined drop-off position based on the received determined drop-off position. [6] Method according to claim 5, wherein a route is calculated from a current position of the user to the specific drop-off position, wherein the calculated route is sent to the user via the communication network to his terminal, so that the user can reach the specific drop-off position from his current position based on the calculated route. [7] Device (201) for determining a delivery position from a plurality of delivery positions (313, 315, 317, 319) encompassed by a parking space (301) for a vehicle, at which the vehicle is to be parked for an automatic parking process, comprising: - a detection device (203) for detecting a traffic situation inside and / or outside the parking space (301) and - a determining device (205) for determining the drop-off position from the plurality of drop-off positions (313, 315, 317, 319) based on the determined traffic situation, so that the automatic parking process can begin at the determined drop-off position, - an internal environmental sensor system for detecting an area located within the parking space (301) in order to determine internal environmental data corresponding to the detected area, wherein the determination device (203) is configured to determine the traffic situation within the parking space (301) based on the determined internal environmental data, - and / or a communication interface for communication via a communication network, wherein the communication comprises receiving traffic data corresponding to a traffic situation outside the parking lot (301), wherein the determination device (205) is designed to determine the traffic situation outside the parking lot (301) based on the received traffic data. [8] Parking area (301) for vehicles, comprising: - several drop-off positions (313, 315, 317, 319) at which a vehicle can be parked to carry out an automatic parking operation, and - the device (201) according to claim 7. [9] Computer program comprising program code for carrying out the method according to one of claims 1 to 6 when the computer program is executed on a computer.

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