Device, means of transport and method for determining a ramp journey in a parking garage

Abstract

Method for determining a ramp journey in a parking garage (30) comprising the steps: - Detecting (100) the environment of a means of transport (10) using an environment sensor (1) of the means of transport (10), - Determining (300) a first structure (31-34) bordering a lane of the means of transport (10) substantially equidistant from a center of the lane, and in response to this - Determining (600) the ramp journey of the means of transport (10) characterized by - Determining bumpers of parked vehicles characterized by convex arcs, which are characterized by wave-like structures (41) and in response to this - Incrementing or decrementing (800) a variable to document the number of ramps traveled (39).

Description

[0001] The present invention relates to a device, a means of locomotion, and a method for determining a ramp journey in a parking garage. In particular, the present invention relates to a method for locating a means of locomotion with respect to a plane within a parking garage using the aforementioned method.

[0002] The increasing number of registered cars sometimes leads to a confusing size and structure of parking facilities (e.g., public parking lots, parking garages, etc.). Therefore, it can sometimes be a challenge to find your parked car again without assistance.

[0003] DE 10 2010 018 332 A1 discloses a camera-based sign recognition system for identifying a parking level or parking space in a parking garage.

[0004] DE 10 2013 215 960 A1 discloses the determination of a parking garage level in which a means of transport is parked, based on the vehicle movement when driving through the parking garage.

[0005] DE 10 2011 080 720 A1 discloses a method for visualizing a ramp exit, in which environmental data relating to a road section with an incline are determined by environmental sensors and displayed to the driver.

[0006] The purpose of the present invention is to detect a ramp drive in a parking garage simply and reliably. Disclosure of the invention

[0007] The problem identified above is solved according to the invention by a method for determining a ramp drive in a parking garage. A "ramp drive" is understood to mean the traversing of an inclined roadway to transfer a vehicle from a first level to a second level. The ramp can be straight or (partially) curved. In a first step, the surroundings of a means of transport, which is designed according to the invention, are detected by means of an environmental sensor of the means of transport. The environmental sensor can, for example, comprise a camera (optical camera, mono or stereo camera). Alternatively or additionally, the environmental sensor can comprise a distance sensor. For example, the distance sensor can use ultrasonic technology. Alternatively or additionally, a laser-based system (LIDAR, etc.) can be used.Subsequently, a structure is identified that runs essentially equidistant from the center of a lane along which the vehicle travels during ramp ascent. In other words, the distance between the vehicle and the structure remains essentially constant while the vehicle is traversing the ramp, provided the vehicle moves along the center of the lane. Put another way, the structure borders a longitudinally consistent lane of essentially constant width. Based on the sensor's detection of the structure, the vehicle is identified as traveling on the ramp. This differs from prior art, where, for example, only inclination-based or...Based on changes in inclination, it is inferred that the means of transport has been transferred from a first level of a parking garage to a second level. The invention utilizes the insight that ramps in parking garages are always present as structures extending longitudinally along the driving lane and can be located using the environmental sensors of the means of transport. This allows the present invention to be implemented essentially using hardware already present in modern means of transport. The evaluation of the sensor-acquired environmental information alone can greatly and reliably simplify the localization of a parked means of transport and can therefore be implemented at virtually no cost.

[0008] The dependent claims describe preferred embodiments of the invention.

[0009] Preferably, a structure bordering the vehicle's lane, essentially equidistant from the center of the lane, is detected on both sides of the vehicle or the driving lane and used to determine the ramp's trajectory. This approach utilizes the fact that ramps in parking garages are typically bordered on both sides by structures extending equidistantly and longitudinally along the driving lane. Such structures are often provided to mitigate the consequences of a collision with the vehicle's lane boundaries. They are also referred to as "railings" or "guardrails."

[0010] To detect ramp driving in the parking garage even more reliably, it can additionally be determined that the vehicle exhibits a predefined minimum incline during structure detection. Specifically, it can be detected that the minimum incline is not met both before and after the structure is detected. In other words, driving on the ramp can be detected through the cumulative detection of both the minimum incline and the structure equidistantly bordering the driving lane.

[0011] Once the structure has been passed and / or the minimum gradient is no longer exceeded while traversing the ramp, a stored value can be increased or decreased. This value is used to identify the level currently being traveled on by the vehicle. Specifically, the direction of the vehicle's gradient can determine whether this variable is increased or decreased once the structure bordering the lane has been detected or passed.

[0012] To inform the user at a convenient time which level of a parking garage their vehicle is parked on, a message can be sent, for example, to the user's mobile device. This message contains the variable or specifies the parking garage level where the vehicle is located. The message can be sent, for example, when the vehicle is parked. Alternatively or additionally, the message can be sent in response to a request from the user's mobile device. Alternatively or additionally, a geofencing function can be used to automatically notify the user when they approach the parking garage again and search for their vehicle.

[0013] To ensure that environmental data is only analyzed for potential ramp access when such access is likely, the system can first detect when the vehicle passes a parking garage barrier and / or ticket kiosk, indicating a high probability of entering a parking garage. The parking garage barrier or ticket kiosk can also be identified using environmental sensors, preferably the same sensor used to detect the lane-bordering structure. An optical camera is particularly suitable for identifying the parking garage barrier, as the optical segments of a barrier form a highly recognizable pattern. Optically detectable structures typically found on a ticket kiosk (ticket slot, ticket request button, indicator light for confirming a successfully requested ticket, etc.) can also be used for this purpose.These data can be detected by means of an environmental sensor that covers the area next to the driver's side of the vehicle and used to initiate the evaluation of environmental data to determine the structure.

[0014] The structure could, for example, be a guardrail, which is typically made of metallic materials. Such a structure can be detected, for example, using an ultrasonic sensor, but preferably also using a radar sensor. A concrete wall, due to its particularly flat surface, can be reliably identified as an example of a structure bordering the driving lane. Alternatively or additionally, a curb bordering the driving lane can be determined from the data of the environmental sensor. Alternatively or additionally, a railing (e.g., made of metal) can be detected by the sensor, identified, and determined as a structure bordering the driving lane of the vehicle, essentially equidistant from the center of the driving lane.

[0015] According to a second aspect of the present invention, a device for detecting a ramp approach in a parking garage is proposed. The device can be designed as part of a driver assistance system of a means of transportation. It comprises an environmental sensor (e.g., an optical camera and / or an ultrasonic sensor and / or a laser scanner and / or a LiDAR system, etc.) and an evaluation unit (e.g., a programmable processor, an electronic control unit, a microcontroller, etc.). The environmental sensor is configured to detect the surroundings of the means of transportation. The evaluation unit is configured to detect a first structure bordering a driving lane of the means of transportation substantially equidistant from the center of the driving lane. Upon detection of this structure bordering the driving lane at an equidistant distance, a ramp approach of the means of transportation is recognized.In this way, the device according to the invention is configured to realize the features, combinations of features, and the resulting advantages of the method according to the invention. To avoid repetition, reference is therefore made to the above explanations.

[0016] According to a third aspect of the present invention, a means of transport is proposed which includes a device according to the second aspect of the invention (e.g., as a driver assistance system). The means of transport can be, for example, a car, van, truck, motorcycle, or similar vehicle. The features, combinations of features, and advantages will follow accordingly. Brief description of the drawings

[0017] Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. The drawings show:

[0018] Fig. 1 a schematic sketch of a means of transport according to the invention;

[0019] Fig. 2 a perspective view of a ramp leading from a first level of a parking garage to a second level of the parking garage;

[0020] Fig. 3 a top view of a schematic representation of environmental data which a means of transport designed according to the invention records while driving through a parking garage; and

[0021] Fig. 4 A flowchart illustrating the steps of an embodiment of a method according to the invention for determining a ramp journey.

[0022] Fig. 1 shows a car 10 as an exemplary embodiment of a means of transport which is equipped with an ultrasonic sensor 1 It features an environmental sensor. The ultrasonic sensor 1 is equipped with an electronic control unit in terms of information technology 2as an example of an evaluation unit. A tilt sensor. 3 This enables the electronic control unit 2 , exceeding a minimum inclination value of the car 10 to be determined during a ramp drive. Via an antenna. 4 is the car 10 set up, a message 21 to a smartphone 20 to be sent as a wireless user device. Using the ultrasonic sensor. 1 are already being approached during the approach to the parking garage (in Fig. (1 not shown) a barrier 5 and a ticket kiosk 6 detected and recorded by the electronic control unit 2 Recognized. In response to the recognition of the barrier. 5 and the ticket machine 6 The electronic control unit is triggered 2 an evaluation of the data from the ultrasound sensor 1 regarding the possible presence of a car in the lane 10essentially equidistant from a structure bordering the center of the lane.

[0023] Fig. Figure 2 shows a perspective view of a ramp. 39 as a driving lane within a parking garage 30 The ramp 39 exhibits an incline that is greater than an incline predefined in an information technology-based method or device according to the invention. The ramp 39 is formed by cylindrical railings 31 , 32 , 33 (left side) and 35 , 36 , 37 (on the right side) than the ramp 39 The structure borders the center of the vehicle, essentially equidistant from the center in the direction of travel. The railings 31 , 32 , 33 , 35 , 36 , 37 are at different heights, but each is equidistant from each other with respect to the ramp's course and from the longitudinal axis of the ramp. 39arranged. A curb 34 (left side) or 38 (on the right side) line the road surface of the ramp. 39 Even without the curbs 34 , 38 The equidistant left-hand or right-hand end of the road surface with respect to a ramp center could be understood and recognized as a structure within the meaning of the present invention.

[0024] Fig. Figure 3 shows a schematic representation of the data which a passenger car 10 as a means of transport according to the invention during travel through two half-planes 40a , 40b a parking garage 30 records. Essentially linear images. 31' The ramps of structures bordering the road can be driven on by cars 10 The ramp approach is evaluated for its detection. Wavy structures. 41 Bumpers of parked vehicles are characterized by convex curves. This occurs as the car travels. 10the environmental data on the first half-plane 40a Vehicles parked only on one side 41 label, then the illustrations 31' the ramp 39 Structures bordering their center equidistantly characterize them, and finally, on the second half-plane 40b the car's inner tube 10 on both sides due to parked vehicles 41 If it is hemmed, it can be inside the car 10 The stored variable is increased by "1" (corresponding to one level) or depending on a slope value while driving up the ramp. 39 will be reduced. After parking the car 10 The variable can be stored and sent to the driver's mobile user device when a predefined condition is met.

[0025] Fig. Figure 4 shows steps of an exemplary embodiment of a method according to the invention for determining a ramp journey in a parking garage. In step100 The environment of a means of transport is detected using an environmental sensor on the means of transport. In this process, the following steps are taken: 200 A parking garage barrier and a ticket machine are detected. In response to this, the vehicle's environmental sensors are also used during the subsequent journey to document, according to the invention, the use of a ramp within a parking garage. In step 300 A first structure bordering a lane of the means of transport, essentially equidistant from the center of the lane, is identified. Additionally, in step... 400 A second structure, bordering the lane of the means of transport essentially equidistant from the center of the lane, was identified on the side opposite the first structure with respect to the center of the lane. In step 500A minimum incline of the vehicle, oriented in the direction of travel, is determined and used to verify ramp travel and to determine whether the vehicle is traveling uphill or downhill. From the available data, in step 600 A ramp approach of the means of transport was determined. In step 700 The system now detects whether the vehicle's inclination falls below a minimum threshold in the direction of travel. In other words, it determines whether the vehicle's orientation has changed due to entering the next parking garage level. The system then responds to this in steps. 800 A variable used to document the number of ramps used is incremented or decremented. In step 900Finally, a message representing the variable is sent to a mobile user device of the vehicle's user. In other words, the user is informed of the plane their vehicle is on.

[0026] The present invention is based on the finding that ramps within parking garages are almost without exception lined by structures designed to be equidistant from each other or equidistant from the center of the driving lane. The distance between these structures and / or from the center of the driving lane can therefore be used to determine when a vehicle has driven up or down a ramp. The number of ramps driven over can be determined, for example, using data representing parked vehicles passed between ramp passes or convex structures of the fronts / rear ends of parked vehicles. Alternatively or additionally, posts / parking garage pillars lining the driving lane in the plane can be detected to distinguish a first ramp pass from a subsequent one.

[0027] For example, the floor information (parking level) can be used by a parking garage assistant that automatically directs the vehicle from the parking position to the handover point outside the parking garage. The same applies to parking garage staff who are to hand over the parked vehicle to the driver at a predefined handover point.

[0028] Even though the aspects of the invention and advantageous embodiments have been described in detail with reference to the exemplary embodiments explained in conjunction with the accompanying drawing figures, modifications and combinations of features of the illustrated exemplary embodiments are possible for the person skilled in the art without leaving the scope of the present invention, the scope of which is defined by the accompanying claims. Reference symbol list 1 ultrasonic sensor 2 electronic control unit 3 tilt sensors 4 antennas 5 barriers 6 Ticket Column 10 cars 20 Smartphones 21 message 30 Parking Garage 31–33 railings 31' Illustration of the structure bordering the ramp 34 Curb / Roadway boundary 35–37 railings 38 Curb / road edge 39 Ramp 40a, b Sublevel 41 Illustration of parked vehicles 100–900 process steps QUOTES INCLUDED IN THE DESCRIPTION

[0029] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0030] DE 102010018332 A1

[0003] DE 102013215960 A1

[0004] DE 102011080720 A1

[0005]

Claims

[1] Method for determining a ramp journey in a parking garage ( 30 ) comprehensively the steps: - Capture ( 100 ) of the environment of a means of transport ( 10 ) using an environmental sensor ( 1 ) of the means of transport ( 10 ), - Determine ( 300 ) a first lane ( 39 ) of the means of transport ( 10 ) essentially equidistant from the center of the lane ( 39 ) bordering structure ( 31 – 34 ) and in responding to it - Determine ( 600 ) the ramp ride of the means of transport ( 10 ). [2] Method according to claim 1 further comprising - Determine ( 400 ) a second lane ( 39 ) of the means of transport ( 10 ) essentially equidistant from the center of the lane ( 39 ) bordering structure ( 35 – 38), which is particularly evident with regard to the center of the lane ( 39 ) is located on an opposite side. [3] Method according to claim 1 or 2 further comprising - Determine ( 500 ) a minimum inclination of the means of transport oriented in the direction of travel ( 10 ). [4] Method according to any of the foregoing claims further comprising - Determine ( 700 ) of falling below a minimum inclination of the means of transport oriented in the direction of travel ( 10 ). [5] Method according to any of the preceding claims further encompassing – Increment ( 800 ) a variable in response to the ramp-up and - Send ( 900 ) a message representing the variable ( 21 ) to a mobile user device ( 20 ) of a user of the means of transport ( 10 ). [6] Method according to any of the foregoing claims further encompassing - Recognize ( 200 ) a parking garage barrier ( 5 ) and / or a ticket kiosk ( 6 ). [7] Method according to any of the preceding claims, wherein the structure ( 31 – 38 ) as – Guardrail and / or – Concrete wall and / or – Curb and / or – railings is recognized. [8] Device for detecting a ramp journey in a parking garage ( 30 ) comprehensive: – an environmental sensor ( 1 ) and – an evaluation unit ( 2 ), where – the environmental sensor ( 1 ) is set up, an environment of a means of transport ( 10 to capture, and – the evaluation unit ( 2 ) is set up, – a first lane ( 39 ) of the means of transport ( 10) essentially equidistant from the center of the lane ( 39 ) bordering structure ( 31 – 38 ) to determine and in responding to it – the ramp ride of the means of transport ( 10 to determine. [9] Device according to claim 8, which is further configured to carry out a method according to any one of the preceding claims 1 to 7. [10] Means of transport comprising a device according to one of claims 8 or 9.

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