Procedure for operating a driverless parking system

Abstract

The invention relates to a method for operating a driverless parking system for vehicles (1), wherein a respective vehicle (1) is driven from a predetermined handover point to a determined free parking space without driver intervention and parked there, and an operating area of ​​the driverless parking system is monitored on the basis of signals acquired by means of sensors. According to the invention, it is provided that, - system-side an outline of the vehicle (1) is generated by means of a virtual boundary line (G) in signals detected by the sensors, - if it is detected in the recorded signals that an object at least partially crosses this virtual boundary line (G) while the vehicle (1) is stationary, the duration of contact between the object and the virtual boundary line (G) is automatically recorded, - If the duration of contact between the object and the virtual boundary line (G) exceeds a predetermined dwell time, a critical situation is detected and the automated departure of the vehicle (1) from the parking space is prevented. The actual criticality of the situation can be verified by personnel.

Description

[0001] The invention relates to a method for operating a driverless parking system for vehicles, wherein a respective vehicle is driven from a predetermined transfer point to a determined free parking space without driver intervention and is parked there, and an operating area of ​​the driverless parking system is monitored using signals detected by sensors.

[0002] DE 10 2015 217 923 A1 discloses a method for securing a motor vehicle against unauthorized removal from a parking space. The method comprises the steps of scanning the parking space using sensors, determining that the motor vehicle is traveling within the parking space, determining that the motor vehicle is traveling outside of a driver-independently controlled parking or pickup process, and triggering an action.

[0003] DE 10 2016 218 425 A1 describes a method for the partially automated starting of a motor vehicle from a standstill, wherein the starting of the motor vehicle only occurs when a starting condition is met if an additional release signal dependent on sensor data is present, wherein the sensor data are recorded by an infrastructure device external to the vehicle, after which the release signal is determined external to the vehicle and transmitted to the motor vehicle or the sensor data are transmitted to the motor vehicle and the release signal is determined on the vehicle side.

[0004] DE 10 2014 221 745 A1 describes a method for monitoring a vehicle in a parking lot, wherein the vehicle is handed over by its driver to a parking lot operator in a handover zone and then parked in a parking space and, after leaving the parking space, is handed over again to the driver in a pick-up zone, wherein the vehicle is at least visually monitored by means of a monitoring infrastructure assigned to the parking lot during its entire stay in the parking lot, the data is recorded and the data is made available to the driver.

[0005] The invention is based on the object of specifying a method for operating a driverless parking system for vehicles.

[0006] The object is achieved according to the invention by a method which has the features specified in claim 1.

[0007] Advantageous embodiments of the invention are the subject of the subclaims.

[0008] A method for operating a driverless parking system for vehicles provides that a respective vehicle is driven from a predetermined transfer point to a determined free parking space and parked there without driver intervention, and that an operating area of ​​the driverless parking system is monitored by means of signals detected by sensors. According to the invention, an outline of the vehicle is generated by the system using a virtual boundary line in signals detected by the sensors. If the detected signals detect that an object at least partially crosses this virtual boundary line while the vehicle is stationary, the duration of contact between the object and the boundary line is automatically recorded. If the duration of contact between the object and the virtual boundary line exceeds a predetermined duration, the automated leaving of the parking space is prevented.

[0009] Furthermore, information about the triggering of a monitoring event can be generated, enabling downstream process steps. For example, personnel can be informed to assess the criticality of a current situation and authorize automated driving of the vehicle.

[0010] By applying this method, it is possible to detect the presence of persons in the immediate vicinity of the vehicle or a movement sequence intended to get underneath the vehicle within such a driverless parking system. The method thus ensures that no living being, especially no person, especially no child, is underneath the vehicle, allowing the vehicle to leave the parking space driverlessly in automated driving mode.

[0011] Monitoring performed using sensors, particularly of the vehicle's boundary line, can detect the proximity of an object to the vehicle, even when the vehicle is not in infrastructure-supported mode (i.e., automated driving), i.e., the vehicle is stationary. This also makes it possible to detect if the vehicle is damaged, for example, by a person.

[0012] Because the vehicle is monitored using the virtual boundary line and the specified dwell time, false alarms relating to the vehicle can be largely ruled out.

[0013] No additional sensors are required to monitor the vehicle, neither on the vehicle nor in the operating area of ​​the driverless parking system, so that the method can be implemented comparatively cost-effectively.

[0014] Embodiments of the invention are explained in more detail below with reference to drawings.

[0015] Showing: Fig. 1 schematically shows two images, each with a top view of a vehicle with a virtual boundary line indicating an outline of the vehicle and a person, and Fig. 2 schematically shows two images, each with a top view of a vehicle with a virtual boundary line spaced from the vehicle and a person.

[0016] Corresponding parts are provided with the same reference numerals in all figures.

[0017] Fig. 1 shows two images A1, A2, wherein a first image A1 shows a top view of a vehicle 1 with a virtual boundary line G running along an outline of the vehicle 1 and a person 2 standing at a distance from the vehicle 1. A second image A2 shows the vehicle 1, wherein the person 2 touches the vehicle 1, thereby crossing the virtual boundary line G of the vehicle 1.

[0018] Vehicle 1 is located in a parking space of a driverless parking system. In such a driverless parking system, vehicle 1 is handed over to the parking system by a driver of vehicle 1 at a predetermined handover point. In particular, the driverless parking system is used via an application program stored on the driver's mobile device, in particular their smartphone.

[0019] The driverless parking system functions, for example, in such a way that a free parking space is located within an operating area of ​​the driverless parking system and vehicle 1 is parked, i.e., parked, in the identified free parking space using navigation through the parking system. After a reservation time or as needed, the driver of vehicle 1 announces that he or she will pick up vehicle 1, so that vehicle 1 is driven from the parking space in automated driving mode to the handover point at an agreed time, where vehicle 1 is handed over to the driver by the driverless parking system. The operating area of ​​the parking system is monitored using signals detected by sensors of the parking system. The sensors are arranged at a predetermined height so that there is essentially a continuous line of sight between vehicle 1 and the sensors, allowing a driverless driving task to be carried out at any time.

[0020] Safe starting of vehicle 1 from a standstill is a crucial prerequisite for the driverless operation of vehicles 1. Persons 2, for example children, who are underneath vehicle 1 can be seriously injured if vehicle 1 starts moving. If there is an object underneath vehicle 1, this object and / or vehicle 1 can be damaged when vehicle 1 starts moving. Therefore, ensuring that no object is underneath the vehicle is of particular interest in driverless parking systems in which vehicle 1 is moved without human supervision and regularly starts moving from a standstill.

[0021] The following describes a method which enables indirect monitoring of the underbody of a vehicle 1 using vehicle-external sensors, i.e., sensors of the parking system, in infrastructure-supported parking and driving systems. The method provides for distinguishing between non-critical approaches to the vehicle 1 to be monitored and situations that pose a real danger, in particular for persons 2 beneath or in the vicinity of the vehicle 1 to be monitored. The monitoring is designed to specifically detect critical situations, thereby significantly reducing the risk of injury to vulnerable groups of persons in the immediate vicinity of the vehicle 1. The monitoring of the vehicle 1 can also be used to protect the parked vehicle 1 from damage that may occur while the driver is absent.

[0022] The vehicle 1 is therefore monitored using signals recorded by the sensors of the driverless parking system, whereby for this purpose a virtual boundary line G is created on the system side, i.e. by means of the parking system, which is shown in Figures A1, A2 in Fig. 1 corresponds to the outline of the vehicle 1.

[0023] The method specifies criteria that indicate the possible presence of persons 2 in direct contact with the virtual boundary line G of the vehicle 1 in question and can prevent the vehicle 1 from starting automated driving. A member of staff of the driverless parking system can then be alerted. The staff then checks the area around and beneath the vehicle 1 for signs of a critical situation before the vehicle 1 starts its automated driving. If it is determined that there is no object, in particular beneath the vehicle 1, the staff resets the alarm. The automated journey can now begin. By applying the method, it is possible to largely prevent persons 2, in particular children, from being injured by starting in automated driving mode.

[0024] The parking system's sensors monitor the vehicle 1 in question from above. The virtual boundary line G defines a boundary that tightly encloses the vehicle 1.

[0025] If a person 2, as in the second figure A2 in Fig. 1, crosses this virtual boundary line G while the vehicle 1 is stationary, for example, with an arm, the duration of contact between the person 2 and the virtual boundary line G is automatically recorded. If the contact between the person 2 and the virtual boundary line G exceeds a predetermined duration, a critical situation is detected, and the vehicle 1 is prevented from commencing its automated driving operation. In a further process step, the personnel of the driverless parking system are then automatically alerted. For example, the personnel appear to check an existing situation on and underneath the vehicle 1.If the presence of a critical situation is confirmed by the staff, if vehicle 1 intends to leave the parking space, it will be prevented from starting its journey until it can be ensured that there is no object, for example a living being, in particular a child, underneath vehicle 1.

[0026] This predetermined dwell time is in the order of seconds, since a person 2, for example a child, cannot suddenly disappear under the vehicle 1, but rather a certain amount of time is needed to crawl under the vehicle 1.

[0027] The readiness to monitor vehicle 1 using the virtual boundary line G can be activated and deactivated depending on the specified scenarios. For example, monitoring can always be activated when vehicle 1 is in the parking space of the driverless parking system. Alternatively, monitoring can only be activated during the day, since children are likely to be in a parking lot only during the day, especially between 6 a.m. and 9 p.m., and there is a risk that a child might crawl under vehicle 1. Thus, monitoring of vehicle 1, particularly using the virtual boundary line G, can be deactivated at night.In a further alternative embodiment, the monitoring of the vehicle 1 by means of the virtual boundary line G is activated a predetermined period of time after the handover of the vehicle 1 to the driverless parking system, since the driver of the vehicle 1 can still stay at his vehicle 1 for some time, for example due to the removal of luggage from the vehicle 1 and / or other processes.

[0028] In a possible embodiment of the method, it is provided that the personnel of the driverless parking system is also informed if the specified dwell time with regard to the contact between an object and the virtual boundary line G is exceeded, since such contact could indicate damage to the vehicle 1 by third parties.

[0029] The signals detected by the sensors monitoring the operating area of ​​the driverless parking system and / or recorded video data are accessible to the personnel of the driverless parking system, whereby the personnel may also be physically present on site. If the personnel are alerted, in particular due to a violation of the virtual boundary line G, the personnel checks the situation on the vehicle side so that the alarm can be reset and / or vehicle 1 is further prevented from commencing its driverless operation to the transfer point of the driverless parking system.

[0030] In a further embodiment of the method, a rated warning message can be generated for the staff and / or an operator of the parking system. This warning message can be marked orange, for example, if vehicle 1 is not expected to be claimed by the driver in the foreseeable future. In this case, there is no immediate need to review the video data. The warning message can be marked red if the driver of vehicle 1 is expected to pick it up shortly or if a pickup request already exists in the driverless parking system. In a further embodiment, the alarm is automatically reset when a certain, i.e., a predefined, time has elapsed.

[0031] Fig. 2 shows two images A1, A2, where the virtual boundary line G does not correspond to the vehicle contour, but runs at a predetermined distance from the vehicle 1. In the Fig.In the embodiment shown in Figure 2, the boundary line G is designed as a rectangle. The virtual boundary line G is spaced from the vehicle 1 such that a person 2 can be located in a space between the vehicle 1 and the virtual boundary line G.

[0032] In a first image A1, person 2 is located outside an area enclosed by the virtual boundary line G and in a second image A2, person 2 partially crosses the virtual boundary line G.

[0033] By means of the virtual boundary line G spaced apart from the vehicle 1, the detection of entry and exit events beyond the virtual boundary line G is detected. In this embodiment of the method, a number of persons 2 in the immediate vicinity of the vehicle 1 can be determined. If one or more persons 2 are located in the vicinity of the vehicle 1, a critical situation is identified. The monitoring is then no longer considered critical as soon as all detected persons 2 have left an area enclosed by the virtual boundary line G. As long as the situation is considered critical, the vehicle 1 is prevented from commencing its automated driving operation. If necessary, a situation of unclear criticality can be reviewed by arriving personnel.If the presence of a critical situation is confirmed by the staff, and provided that vehicle 1 intends to leave the parking space, it will be prevented from starting its journey until it can be ensured that there is no object, for example a living being, in particular a child, underneath vehicle 1.

[0034] A course of the virtual boundary line G can be specified, whereby it is also possible for the virtual boundary line G to enclose an area which is smaller than the outline of the vehicle 1. Thus, it can be largely ruled out that a critical situation is incorrectly detected when a person 2 approaches the vehicle 1, for example to walk past it or to wait for something or someone in the immediate vicinity. List of reference symbols 1 vehicle 2 people A1, A2 Figure G virtual boundary line

Claims

[1] Method for operating a driverless parking system for vehicles (1), wherein a respective vehicle (1) is driven from a predetermined transfer point without driver intervention to a determined free parking space and is parked there, and an operating area of the driverless parking system is monitored by means of signals detected by sensors, characterized by , that, - an outline of the vehicle (1) is generated on the system side by means of a virtual boundary line (G) in signals detected by the sensors, - if it is detected in the recorded signals that an object at least partially crosses this virtual boundary line (G) when the vehicle (1) is stationary, a duration of contact between the object and the virtual boundary line (G) is automatically recorded, - in the event that the duration of contact between the object and the virtual boundary line (G) exceeds a predetermined duration, a critical situation is detected and - the automated leaving of the parking space by the vehicle (1) is prevented. [2] Method according to claim 1, characterized by that when the vehicle (1) is located in a parking space of the operating area, the virtual boundary line (G) of the vehicle (1) is continuously monitored or a period of time for monitoring the virtual boundary line (G) of the vehicle (1) is specified by the parking system and / or by a driver of the vehicle (1). [3] Method according to claim 1 or 2, characterized by that the monitoring of the virtual boundary line (G) of the vehicle (1) is activated after a predetermined period of time has elapsed after the vehicle (1) has been handed over to the driverless parking system. [4] Method according to one of the preceding claims, characterized by that in the event of a critical situation, an assessed warning message is colour-coded to a parking system staff member if the vehicle (1) is not expected to be claimed by a driver in the foreseeable future and / or if the driver of vehicle 1 is expected to pick it up shortly or if a pick-up request already exists in the driverless parking system.

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