Method for parking, method for parking a parking area, computer program, machine-readable storage medium and arrangement

Abstract

The invention relates to a method, in particular a computer-implemented method, for parking a first vehicle (27) in a first single-vehicle parking space (28) of a parking area (30), in which data from at least a first sensor (32) of a second vehicle (34) are made available (38) to a control device (36) which is intended to influence a journey of the first vehicle to the first single-vehicle parking space. It is proposed that the second vehicle (34) drives at least temporarily behind the first vehicle (27) (42) and / or at least temporarily alongside the first vehicle (42) and / or that the second vehicle was parked (44a) in a second single-vehicle parking space (40a) of the parking area (30a) before the journey.

Description

Method for parking, method for parking a parking area, computer program, machine-readable storage medium and arrangement

[0001] The invention relates to a method for parking a first vehicle, a method for parking a parking area, a computer program, a machine-readable storage medium and an arrangement.

[0002] Within the framework of so-called Automated Valet Parking (abbreviated AVP) for a vehicle, three cases are usually distinguished. In the first case (abbreviated AVP1, see below) Fig. 1) is the entire intelligence for the AVP in vehicle 10, which is in Fig. The vehicle is shown parked in parking garage 12. The vehicle maneuvers autonomously through parking garage 12, parks, and then drives autonomously back to the exit as soon as it is recalled. In an AVP1 system, the vehicle autonomously monitors its route and plans a search for a suitable parking space 14. Once it finds a suitable parking space, the vehicle parks itself. In this case, parking space 14 is located between parked vehicles 22. Fig. Figure 1 further shows a position 16 of the vehicle at a first point in time before parking and a position 18 of the vehicle at a second point in time, which is earlier in time than the first. Each of the positions is shown in the top view of Fig. 1 considers a radius of 20 of the position monitored by the vehicle's sensors.

[0003] The second case (abbreviated AVP2) is in Fig. 2. The representation and reference symbols correspond to those of the Fig. 1. In this case, all the intelligence for the AVP is located in a parking garage 12. The maneuvers of a vehicle 10 are controlled directly by the intelligence from the parking garage via a given interface. This is done using sensor data from sensors 24 permanently installed in the parking garage, each of which monitors a radius 20 around itself. This enables parking, and when the vehicle is recalled, the parking garage's intelligence drives the vehicle to the exit. In an AVP2 system, the sensors 24 monitor the entire parking garage to guide a vehicle to the nearest available parking space. In this example, only the four sensors 24 located on the left and top of the figure are necessary for parking.

[0004] In the third case (abbreviated AVP3), the intelligence is distributed between the parking garage and the vehicle itself. The exact distribution of intelligence is not yet fully defined. An AVP3 system combines the approaches of AVP1 and AVP2 systems, dividing the entire parking application between these two systems. Typically, the approach involves having the parking garage's sensors determine the trajectory / route, while the AVP1 system verifies collision avoidance to achieve greater safety. Both AVP2 and AVP3 systems inherently require a sensor-equipped infrastructure.

[0005] Document US 10 363 961 B2 discloses a method for operating multiple vehicles, wherein navigation data for autonomous navigation of the first vehicle in the parking lot is sent to a first vehicle via a communication network, wherein the first vehicle is assigned to a second vehicle as a lead vehicle which the second vehicle is to follow autonomously, wherein, while the second vehicle is autonomously following the lead vehicle during the autonomous navigation of the lead vehicle in the parking lot, a target signal is sent to the second vehicle via the communication network indicating that the second vehicle should stop following and park in a target position.

[0006] From German patent application DE 10 2022 203 303 A1, a parking management system is known in which, when a vehicle enters a parking space, the entering vehicle is detected and compared with a guide robot. The guide robot then drives in front of the matched vehicle, which, through communication with the guide robot, drives to an assigned parking area to park there.

[0007] Further state of the art for automatic parking is disclosed in documents CN 1 11 739 302 A, US 10 896 609 B2, CN 1 11 599 200 A and US 11 472 400 B2.

[0008] The object of the invention is, in particular, to make available parking-related methods that exhibit high reliability. This object is achieved according to the invention by the method of claim 1, by the method of claim 9, by the computer program of claim 10, by the machine-readable storage medium of claim 11, and by the arrangement of claim 12, while advantageous embodiments and further developments of the invention can be found in the dependent claims.

[0009] The invention relates to a method, in particular a computer-implemented method, for parking a first vehicle in a first single-vehicle parking space of a parking area, in which data from at least a first sensor of a second vehicle are made available to a control device which is intended to influence a journey of the first vehicle to the first single-vehicle parking space.

[0010] It is proposed that the second vehicle drives behind the first vehicle at least temporarily and / or alongside the first vehicle at least temporarily and / or that the second vehicle was parked in a second single-vehicle parking space within the parking area before driving. A "single-vehicle parking space" within a parking area is understood to mean, in particular, an area of ​​the parking area suitable as a parking space for one vehicle. A "control device" is understood to mean, in particular, a device that includes at least one control unit. A "control unit" is understood to mean, in particular, a unit that includes at least one processor, at least one memory unit, and at least one operating program stored in the memory unit. "Sensor data" is understood to mean, in particular, data generated by the sensor.The term "intended" is to be understood as specifically designed and / or specially equipped and / or specially programmed and / or designed within the framework of the procedure. The fact that a vehicle has been "parked" in a single-vehicle parking space is to be understood in particular as meaning that the vehicle has been parked in the single-vehicle parking space and has been completely switched off, which differs from the switching off that occurs with a start-stop system, and / or that the vehicle has been put into a parking mode. This makes available a parking procedure that exhibits a high degree of reliability. In particular, it can be achieved that the control unit can intervene in the driving behavior of the first vehicle if the first sensor detects a hazard, such as a child running out from between two parked cars.

[0011] Parking can be automated. In particular, the first and / or second vehicle can be driverless and / or autonomous vehicles. Specifically, the second vehicle can be induced to drive.

[0012] Furthermore, it is proposed that at least a third vehicle be induced to drive and that information be collected from at least one sensor unit of the third vehicle, which is then made available to the control unit. This would further increase the reliability of the procedure.

[0013] In particular, the third vehicle can, at least temporarily, search for the first single-vehicle parking space intended for the first vehicle. Specifically, the data and / or information can be evaluated, and at least one result of the evaluation can influence the destination of the journey and / or the speed and / or the direction of travel of the first vehicle. The third vehicle may have been parked in the parking area before the journey began.

[0014] In particular, the second and / or third vehicle can be AVP1 vehicles. An "AVP1 vehicle" is understood to mean, in particular, an autonomously driving vehicle that handles all driving situations at least as well as a human and / or that performs all journeys in parking garages in accordance with the SAE Level 4 and / or SAE Level 5 standard and / or that has all the functions of Type 1 as defined in section 5.4.1.1 of the ISO / DIS 23374-1 standard.

[0015] It is advantageous for the first vehicle to drive at least temporarily between the second and third vehicles. This allows the first vehicle's surroundings to be perceived sensorily even when the parking area is free of permanently installed sensors, by utilizing the sensors of the second and third vehicles.

[0016] Furthermore, it is proposed that half of the total number of sensors providing sensor data while driving, which is evaluated to control the speed and direction of the first vehicle while driving, be less than the number of these sensors in vehicles that are parked while driving. This would allow for the efficient use of parked vehicles.

[0017] Furthermore, it is proposed that at least one vehicle be selected and / or positioned and / or moved within the parking area, and that the sensors of this at least one vehicle be operated in such a way that, by evaluating the sensor signals from these sensors, the first vehicle is driven automatically and in accordance with SAE Level 4 and / or SAE Level 5 standards. "SAE" stands for Society of Automotive Engineers. In this way, the first vehicle can automatically reach the first single-vehicle parking space despite a relatively simple sensor setup. In particular, the second or third vehicle can be the at least one vehicle.

[0018] In particular, at least two vehicles can be selected and / or positioned and / or moved within the parking area, and the sensors of these at least two vehicles can be operated such that, by evaluating sensor signals from these sensors to control the first vehicle, the journey is driven automatically in accordance with SAE Level 4 and / or SAE Level 5 standards. Specifically, the second and / or third vehicle can be one of the at least two vehicles.

[0019] In particular, the sum of the distances traveled by the vehicles whose sensors provide data for controlling the journey of the first vehicle during the journey can be less than 400 meters, preferably less than 120 meters and particularly preferably less than 30 meters.

[0020] Ideally, at least two vehicles should be driving in the parking area at least temporarily, using their own sensors to search for an available single-vehicle parking space. This allows for the quick identification of an available single-vehicle parking space, even without permanently installed sensors in the parking area.

[0021] In particular, at least one vehicle parked in the parking area can search for at least one free single-vehicle parking space with at least one vehicle-owned sensor, whereby, upon finding a free single-vehicle parking space, the finding and, in particular, upon parking in this single-vehicle parking space, the parking itself can be communicated to the control unit.

[0022] Furthermore, it is proposed that within a time interval extending from the first time the first vehicle enters the first single-vehicle parking space until the second time the first vehicle parks in the first single-vehicle parking space, at least one sensor element of the second vehicle and / or at least one sensor element of a third vehicle provide sensor results that are used to control the parking of the first vehicle. In this way, the first vehicle can be parked automatically despite a relatively simple sensor setup.

[0023] Advantageously, at least a portion of the parking area, larger than one-tenth of the total parking area, is an open space and / or a meadow and / or a supermarket parking lot and / or a hotel parking lot. This allows for automatic parking of the first vehicle despite the absence or limited number of permanently installed sensor elements. In particular, the open space can be free of permanently installed sensor elements.

[0024] Furthermore, a method for parking a parking area is proposed in which at least two vehicles are parked in such a way that, by evaluating sensor signals from the sensors of the at least two vehicles, at least one movement of another vehicle to a free single-vehicle parking space in the parking area can be carried out automatically using only the results of the evaluation, in accordance with SAE Level 4 and / or SAE Level 5 standards. This makes parking procedures with high reliability available.

[0025] Further advantages become apparent from the following description of the drawings. The drawings illustrate exemplary embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations. Fig. Figure 1 shows a schematic top view of a parking area according to the state of the art, Fig. Figure 2 shows a schematic top view of a parking area with permanently installed sensors according to the state of the art. Fig. Figure 3 shows a schematic top view of an arrangement according to the invention, Fig. Figure 4 shows a schematic side view of a vehicle, Fig. Figure 5 shows a schematic side view of another vehicle, Fig. Figure 6 shows a block diagram of a method according to the invention, Fig. Figure 7 shows a schematic top view of another arrangement according to the invention, and Fig. Figure 8 shows another method according to the invention.

[0026] Fig. Figure 3 shows a schematic top view of an arrangement 86 according to the invention, which comprises a parking area 30 with a control unit 36. The parking area can be a temporary parking area. For example, the parking area 30 can be a meadow without permanently installed sensor elements, which serves only for parking during a specific event, such as a celebration, an event, or a festival, and can otherwise be used for other purposes, for example, as a pasture for cattle. The arrangement is configured to execute a method according to the invention. The control unit 36 ​​is a computer and has a machine-readable storage medium 87 on which a computer program 88 is stored, which is configured to execute the method according to the invention. The computer program is an operating program of the control unit 36.

[0027] The arrangement comprises a first vehicle 27, a second vehicle 34, and a third vehicle 46. The control unit is configured by means of a computer program to influence the movement of vehicle 27 to an available single-vehicle parking space 28 in the parking area. The second and third vehicles are AVP1 vehicles. The second vehicle 34 has, for example, three sensors 32, 57, 58 with which the vehicle 34 can detect its surroundings 89 ( Fig. 4) For example, sensor 32 can be a camera. Furthermore, sensors 57 and 58 can be, for example, lidar sensors and / or radar sensors and / or camera sensors and / or ultrasonic sensors. The third vehicle 46 has, for example, three sensors 59, 60, and 61 with which the vehicle 46 can detect its surroundings 90 ( Fig. 5) For example, sensor 60 could be a camera. Furthermore, sensors 59 and 61 could be, for example, lidar sensors and / or radar sensors and / or camera sensors and / or ultrasonic sensors.

[0028] Vehicles 27, 34, 46, and control unit 36 ​​each have a communication device (not shown). These communication devices can communicate with each other in pairs. The communication devices can use radio for communication. Furthermore, vehicles 27, 34, and 46 each have a control unit (not shown), which is designed as an Electronic Control Unit (ECU) and is connected to the communication device of the same vehicle. In vehicles 34 and 46, the vehicle's own sensors and control units work together to implement the necessary functions for an AVP1 vehicle. Vehicles 34 and 46 each have a device (not shown) that includes, in particular, a GPS receiver, with which the vehicles 34 and 46 can determine their position and orientation in space.This device may also be able to determine position and orientation without using GPS.

[0029] A user of vehicle 27, for example after entering parking space 30 and stopping the vehicle 27, can express their wish to have the vehicle 27 parked, for example by pressing a button (not shown) in the vehicle 27. This causes the vehicle 27 to determine its position and orientation using an on-board device (not shown), which may include a GPS receiver. Furthermore, pressing the button causes the vehicle 27's communication device to contact the communication device of the control unit that processes parking requests in the parking space and, in particular, to transmit the determined position and orientation to it.Alternatively or additionally, the user can park the vehicle in a designated drop-off zone within the parking area before requesting that vehicle 27 be parked. This would mean that the control unit would already know the position and orientation of vehicle 27 when it receives the parking request. Alternatively or additionally, another method and / or device for determining the position and orientation of vehicle 27 could be provided. It is also conceivable that vehicle 27 could be located using vehicles 34 and 46.

[0030] According to the method according to the invention, the control unit 36 ​​controls the vehicle 34 so that it drives behind the vehicle 27. Furthermore, the control unit 36 ​​controls the vehicle 46 so that it drives in front of the vehicle 27. The data generated by the sensors 57, 32, 58 are requested by the control unit and made available until the parking of the vehicle 27 is completed. 38 Fig. 6) Subsequently, the control unit 36 ​​causes vehicles 46, 27, 34 to start moving, with vehicle 27 driving between vehicles 34 and 46 and vehicle 34 driving behind vehicle 27. 42. The control unit 36 ​​causes sensors 59, 60, 61 to collect information about the surroundings of vehicle 46 in order to provide this information to the control unit 36.

[0031] While vehicle 27 is driving between vehicles 34 and 46, vehicle 46 drives ahead and, prompted by the control unit, searches for an available single-vehicle parking space for vehicle 27. Vehicle 46 then locates the available single-vehicle parking space 28. During its journey to single-vehicle parking space 28, vehicle 27 continuously travels between vehicles 34 and 46, continuously determining its position and providing this information to the control unit. Additionally, sensors 57, 32, 58, 59, 60, and 61 continuously collect data and information during this journey, prompted by the control unit. This data and information is then provided to the control unit, which evaluates it so that vehicle 27's journey to single-vehicle parking space 28 is conducted automatically and in accordance with the SAE Level 5 standard by the control unit 36.The data and information supplied by sensors 57, 32, 58, 59, 60, 61 are used by the control unit upon the arrival of vehicle 27 at the single-vehicle parking space 28 and also after the vehicle has entered the single-vehicle parking space 28, in order to control the parking of vehicle 27 in the single-vehicle parking space 28. The single-vehicle parking space 28 is located between two parked cars 91.

[0032] Vehicles 27, 34, and 46 are motor vehicles. For example, vehicles 27, 34, and 46 could be cars.

[0033] The control unit can alternatively be located away from the parking area. Alternatively, the function of the control unit could be taken over by a control unit in one of the vehicles, for example, vehicle 46.

[0034] The request to park vehicle 27 can also be communicated in an alternative way, for example using a smartphone app or a parking space machine.

[0035] If the user wants to pick up his parked vehicle 27, a trip from the single-vehicle parking space 28 to a point where the user is located can be carried out automatically, analogous to the trip to the single-vehicle parking space 28 already described.

[0036] In the Fig. 7 and Fig. Figure 8 shows an alternative embodiment. Essentially identical components, features, and functions are generally numbered with the same reference numerals. However, to distinguish the embodiments, the reference numerals of the embodiment in Figure 8 are used. Fig. 7 and Fig. 8 the letter “a” has been added. The following description is essentially limited to the differences from the embodiment in the Fig. 3 to Fig. 6, whereby with regard to unchanged components, features and functions, reference is made to the description of the exemplary embodiment in the Fig. 3 to Fig. 6 can be referred to.

[0037] Fig.Figure 7 shows another arrangement according to the invention. A first vehicle 27a is parked in a parking area 30a. A second vehicle 34a and a third vehicle 46a are each parked in a single-vehicle parking space 40a of the parking area and were parked in these single-vehicle parking spaces before a user of the first vehicle gives an instruction that the first vehicle should be parked. After the user has given the instruction that the first vehicle should be parked, the control unit 36a locates a free single-vehicle parking space 28a with the help of the third vehicle 46a. The control unit then selects the vehicles 34a and 46a.The control unit causes sensors 32, 57, 58, 59, 60, and 61 of vehicles 34a and 46a to provide their generated sensor signals to the control unit before the first vehicle begins its journey to the single-vehicle parking space 28a, during this journey, and while the control unit is parking the first vehicle in the single-vehicle parking space 28a. The control unit evaluates these sensor signals and controls the journey of the first vehicle in such a way that the journey takes place automatically and complies with the SAE Level 5 standard. Sensors 32, 57, 58, 59, 60, and 61 are all the sensors that provide sensor data during the journey, which is used to control the speed and direction of travel of the first vehicle 27a during the journey.

[0038] Using vehicles 34a and 46a, which were parked in parking space 84a, further vehicles can be automatically parked in the parking space in accordance with the SAE Level 5 standard. This procedure represents a method for parking the parking space, and the procedure can be extended by having further arriving AVP1 vehicles perform similar functions to vehicles 34a and 46a.

[0039] If, in another version of the arrangement, vehicle 34a or vehicle 46a is parked in such a way that an environment 89a or an environment 90a would not adequately secure a journey to the single-vehicle parking space 28a after the instruction has been given that vehicle 27a should be parked, the control device can cause vehicle 34a and / or vehicle 46a to change location in order to rectify this. In particular, vehicle 34a and / or vehicle 46a can move forward or backward.

[0040] If, in an alternative embodiment of the arrangement, neither vehicle 34a nor vehicle 46a can locate a free single-vehicle parking space for vehicle 27a, the control unit 36a can cause one of the vehicles 34a, 46a or both of these vehicles to drive on the parking area in order to search for a free single-vehicle parking space for the first vehicle 27a using their own vehicle sensors.

[0041] If enough AVP1 vehicles are parked in the parking area, it is no longer necessary to move vehicles already parked there to fill the area. Once enough AVP1 vehicles are parked, the system becomes an AVP2 system. Reference symbol list 10 vehicles 12 Parking Garage 14 parking spaces 16th position 18th position 20 radius 22 vehicles 24 Sensor 27 vehicles 28 single-vehicle parking spaces 30 parking spaces 32 Sensor 34 vehicles 36 Control unit 38 provide 40 single-vehicle parking spaces 42 drive 46 vehicles 57 Sensor 58 Sensor 59 Sensor 60 Sensor 61 Sensor 84 parking spaces 86 Arrangement 87 Storage medium 88 Computer program 89 surroundings 90 surroundings 91 cars

Claims

[1] A method, in particular a computer-implemented method, for parking a first vehicle (27) in a first single-vehicle parking space (28) of a parking area (30), in which data from at least a first sensor (32) of a second vehicle (34) are made available (38) to a control device (36) which is intended to influence a journey of the first vehicle (27) to the first single-vehicle parking space, characterized by , that the second vehicle (34) drives at least temporarily behind the first vehicle (27) (42) and / or at least temporarily alongside the first vehicle (27) (42) and / or the second vehicle (34) was parked (44a) in a second single-vehicle parking space (40a) of the parking area (30a) before the journey. [2] Method according to claim 1, characterized by, that at least a third vehicle (46) is caused to drive and that information is collected with at least one sensor unit of the third vehicle, which is made available to the control unit (36). [3] Method according to claim 2, characterized by , that the first vehicle (27) travels at least temporarily between the second vehicle (34) and the third vehicle (46). [4] Method according to at least one of the preceding claims, characterized by , that half of the total number of sensors (32, 57-61) that provide sensor data during the journey which are evaluated to control the speed and direction of travel of the first vehicle (27a) during the journey is less than the number of such sensors that are part of motor vehicles that are parked during the journey. [5] Method according to at least one of the preceding claims, characterized by, that at least one vehicle (34, 46) is selected and / or positioned on the parking area (30) and / or moved on the parking area and sensors (32, 57-61) of the at least one vehicle are operated in such a way that, by evaluating sensor signals from these sensors to control the first vehicle (27), the journey is carried out automatically and in accordance with the SAE Level 4 standard and / or the SAE Level 5 standard. [6] Method according to at least one of the preceding claims, characterized by , that at least two vehicles (34a, 46a) drive at least temporarily on the parking area (30a) and at least with the help of their vehicle sensors (32, 57-61) search for a free single vehicle parking space for the first vehicle (27a). [7] Method according to at least one of the preceding claims, characterized by, that within a time interval extending from the first time at which the first vehicle (27) first enters the first single-vehicle parking space (28) until a second time at which the first vehicle parks in the first single-vehicle parking space, at least one sensor (32, 57, 58) of the second vehicle (34) and / or at least one sensor (59, 60, 61) of a third vehicle (46) provide or deliver sensing results which are used to control the parking of the first vehicle. [8] Method according to at least one of the preceding claims, characterized by , that at least part of the parking area (30), which is larger than one tenth of the parking area, is an open space and / or a meadow and / or a supermarket car park and / or a hotel car park. [9] Method for parking a parking area (30a) in which at least two vehicles (34a, 46a) are parked on the parking area (84a) in such a way that, by evaluating sensor signals from sensors (32, 57-61) of the at least two vehicles, at least one trip of another vehicle (27a) to a free single-vehicle parking space (28a) of the parking area can be carried out automatically using results of the evaluation and in accordance with the SAE Level 4 standard and / or the SAE Level 5 standard. [10] Computer program (88, 88a) configured to execute a method according to at least one of claims 1 to 9. [11] Machine-readable storage medium (87, 87a) on which the computer program according to claim 10 is stored. [12] Arrangement (86, 86a) which is set up to carry out a method according to at least one of claims 1 to 9.

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