Method for planning an avp process
Patent Information
- Application Number
- EP2023703208
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-04-01
- Filing Date
- 2023-02-02
- Publication Date
- 2025-02-12
AI Technical Summary
Current systems for automated valet parking (AVP) lack an efficient method to plan AVP processes within parking lots that have multiple areas supporting different AVP types, leading to inefficiencies in determining suitable areas and switching between AVP types during the process.
A method and system that determine which AVP types are available in each parking lot area and which types a vehicle is capable of performing, allowing for efficient planning and execution of AVP processes by assigning responsibilities between the vehicle and infrastructure based on AVP types (vehicle-centric, infrastructure-centric, and vehicle-infrastructure shared) and identifying switching points between types.
Enables efficient planning and execution of AVP processes by ensuring vehicles operate within their technical capabilities, optimizing route planning and responsibility allocation, thereby improving the overall efficiency of AVP operations within the parking lot.
Smart Images
Figure 1.1
Abstract
Description
[0001] Description
[0002] title
[0003] Procedure for scheduling an AVP process
[0004] The invention relates to a method for planning an AVP process for a motor vehicle, a device, a computer program and a machine-readable storage medium.
[0005] State of the art
[0006] The published patent application DE 102012 222 562 A1 discloses a system for managed parking areas for transferring a vehicle from a starting position to a destination position.
[0007] Disclosure of the invention
[0008] The object underlying the invention is to provide a concept for the efficient planning of an AVP process for a motor vehicle within a parking space.
[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 a first aspect, a method is provided for scheduling an AVP process for a motor vehicle within a parking space using an infrastructure-side AVP system, wherein the AVP system is configured for at least two AVP types to carry out an AVP process, wherein an AVP type is an element selected from the following group of AVP types: AVP type 1, AVP type 2, and AVP type 3, wherein AVP type 1 is a motor vehicle-centric AVP process, wherein AVP type 2 is an infrastructure-centric AVP process, and wherein AVP type 3 is a motor vehicle infrastructure-shared AVP process, wherein the parking space comprises a plurality of areas, within each of which an AVP process can be carried out according to a different AVP type, comprising the following steps:
[0011] Determine which infrastructure-side AVP types the AVP system is set up to perform an AVP operation,
[0012] Determine within which area of the multiple areas which of the identified infrastructure-side AVP types can be used to perform an AVP operation,
[0013] Determining for which vehicle-side AVP type(s) the motor vehicle is set up to carry out an AVP process, planning an AVP process to be carried out for the motor vehicle within the parking space based on the infrastructure-side AVP types determined for the multiple areas and based on the determined vehicle-side AVP type(s).
[0014] According to a second aspect, an apparatus is provided which is configured to carry out all the steps of the method according to the first aspect.
[0015] According to a third aspect, a computer program is provided which comprises instructions which, when the computer program is executed by a computer, for example by the device according to the second aspect, cause the computer to carry out a method according to the first aspect.
[0016] According to a fourth aspect, a machine-readable storage medium is provided on which the computer program according to the third aspect is stored.
[0017] The invention is based on and includes the finding that, for each area of the parking lot, it is determined which AVP type(s) an AVP process can be performed for the motor vehicle within the corresponding area of the parking lot using an infrastructure-based AVP system. Furthermore, it is determined which AVP type(s) the motor vehicle offers for an AVP process within a parking lot.
[0018] This involves determining which technical conditions exist both in the infrastructure-side AVP system, related to the individual areas of the parking lot, and in the vehicle itself, in order to execute or perform an AVP process. These various technical conditions can be classified into three AVP types: AVP Type 1, AVP Type 2, and AVP Type 3.
[0019] AVP Type 1 indicates a vehicle-centric AVP process. The primary responsibility for the AVP process lies with the vehicle.
[0020] AVP Type 2 indicates an infrastructure-centric AVP process. The primary responsibility for the AVP process lies with the infrastructure, i.e., the AVP system.
[0021] AVP Type 3 denotes a vehicle-infrastructure-shared AVP process. Here, primary responsibility for the AVP process is shared between the vehicle and the AVP system.
[0022] If, after the steps of determining, it is known which AVP types are possible within the areas and which AVP types the motor vehicle can offer, the AVP process can be planned efficiently.
[0023] This results in the technical advantage that a concept for the efficient planning of an AVP process for a motor vehicle within a parking space is provided.
[0024] An AVP process includes the following processes or functions:
[0025] 1. Determine a target position for the vehicle, which lies within the parking space. 2. Plan a route from a starting position, which is enclosed by the parking space, to the target position.
[0026] 3. Detecting an object and / or an event and reacting accordingly to a detected object and / or a detected event.
[0027] 4. Locate the vehicle within the parking space.
[0028] 5. Calculate a target trajectory for the vehicle based on the planned route.
[0029] 6. Control of the lateral and longitudinal guidance of the motor vehicle based on the calculated target trajectory.
[0030] The following table indicates which of these operations or functions are performed by the motor vehicle or the AVP system depending on the AVP type, where "I" stands for "infrastructure", i.e., the AVP system, and "K" for "motor vehicle", so that "I" indicates that the operation is performed by the AVP system, and "K" indicates that the operation is performed by the motor vehicle:
[0031] The table above indicates, for each function, whether the function is performed by the infrastructure (i.e., the infrastructure-side AVP system) or by the motor vehicle, specifically for each AVP type. In some cases, the function may be performed by both the AVP system and the motor vehicle.
[0032] With regard to object and event detection for AVP type 1, it can optionally be provided that in addition to the motor vehicle, the AVP system of the infrastructure also performs this function.
[0033] The AVP types 1, 2 and 3 described here are further described in detail in ISO 23374.
[0034] According to one embodiment of the method, the motor vehicle is at least a highly automated motor vehicle. Such a motor vehicle is configured for at least highly automated driving. Highly automated driving corresponds to a level of automation 4 according to the definition of the Federal Highway Research Institute (BASt). The fact that the motor vehicle is configured for at least highly automated driving includes both the case where the motor vehicle is configured for highly automated driving and the case where it is fully automated. Fully automated driving corresponds to a level of automation 5 according to the definition of the BASt.
[0035] Highly automated guidance means that for a certain period of time in a specific situation (e.g. driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings), the longitudinal and lateral guidance of the motor vehicle are automatically controlled. The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle. The driver does not have to constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. If necessary, a takeover request is automatically issued to the driver to take over control of the longitudinal and lateral guidance, in particular with a sufficient time reserve. The driver must therefore potentially be able to take over control of the longitudinal and lateral guidance.Limits of the automatic control of lateral and longitudinal guidance are automatically detected. With highly automated guidance, it is not possible to automatically achieve a minimal-risk state in every initial situation.
[0036] Fully automated guidance means that in a specific situation (e.g. driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane defined by lane markings), the longitudinal and lateral guidance of the vehicle are automatically controlled. The driver of the vehicle does not have to manually control the longitudinal and lateral guidance of the vehicle. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to intervene manually if necessary. Before the automatic control of the lateral and longitudinal guidance is terminated, the driver is automatically prompted to take over the driving task (controlling the lateral and longitudinal guidance of the vehicle), particularly with a sufficient time reserve. If the driver does not take over the driving task, the vehicle is automatically returned to a state with minimal risk.Limits of the automatic control of lateral and longitudinal guidance are automatically detected. In all situations, it is possible to automatically return to a system state with minimal risk.
[0037] The abbreviation "AVP" stands for "Automated Valet Parking." An AVP process includes, for example,
[0038] B. at least highly automated driving of the motor vehicle from a drop-off position to a parking position and e.g. at least highly automated driving of the motor vehicle from a parking position to a pick-up position. At the drop-off position, a driver of the motor vehicle drops off the motor vehicle for a service delivery process. At a pick-up position, the motor vehicle is picked up after the service delivery process has ended.
[0039] Thus, a motor vehicle within the meaning of the description can also be referred to as an AVP motor vehicle if it is equipped to carry out an AVP process.
[0040] In one embodiment of the method, it is provided that the planning comprises determining within which or which of the areas the AVP process can be carried out for the motor vehicle.
[0041] This provides the technical advantage, for example, that the AVP process can be planned efficiently. Furthermore, this provides the technical advantage, for example, that the AVP process can be carried out efficiently after planning.
[0042] This means that it is determined which area(s) of the parking lot are safe enough for the vehicle to perform an AVP procedure within the corresponding area(s). For example, it can be
[0043] For example, there may be areas within the parking lot which, due to the corresponding AVP type, are not suitable for the motor vehicle to carry out an AVP process within the area. If, for example, an area offers an AVP type 1, but the motor vehicle itself can only offer an AVP type 2, the motor vehicle cannot carry out an AVP process in this area because it is not technically capable of doing so. For example, based on this knowledge, a parking position for the motor vehicle within the parking lot can be efficiently determined or ascertained. For example, areas can be excluded which are not suitable as a target position for the motor vehicle, in particular a parking position, within which the motor vehicle cannot carry out an AVP process. The same applies to determining a route for the motor vehicle, which in such a case will not go through such an area.
[0044] In one embodiment of the method, it is provided that the planning involves defining at least one switching point and / or at least one switching area of the parking space at which or within which the execution of the AVP process is to be switched from one AVP type to another AVP type.
[0045] This results in the technical advantage, for example, that a correspondingly planned AVP process can be carried out efficiently. In particular, it is provided that locations or areas within the parking lot are defined at which or within which switching from one AVP type to another AVP type takes place when the AVP process is carried out. Such switching points and / or switching areas are provided, for example, immediately adjacent to a boundary between two areas. For example, switching takes place at the boundary between two areas. For example, there is a transition area which includes the boundary between two areas and another area close to the boundary, for example a maximum of 5 m from the boundary, within which switching is to take place.
[0046] According to one embodiment of the method, it is provided that the planning comprises determining that the AVP process for the motor vehicle is to be carried out only within the area for whose correspondingly determined AVP type the motor vehicle is set up.
[0047] This, for example, provides the technical advantage that planning can be carried out efficiently. In this respect, it provides the technical advantage that a correspondingly planned AVP process can be carried out efficiently. In particular, it is therefore stipulated that the motor vehicle only carries out an AVP process within those areas for which it is technically equipped. It should be noted here that a motor vehicle that can offer an AVP type 1 is also technically equipped to carry out an AVP type 2 and an AVP type 3. A motor vehicle that is equipped for an AVP type 3 can also carry out an AVP type 2.
[0048] In one embodiment of the method, it is provided that the planning comprises determining which function of a correspondingly determined AVP type of an area of the plurality of areas is to be carried out in addition to or instead of being carried out in a motor vehicle-centric, infrastructure-centric or motor vehicle-infrastructure-shared manner.
[0049] This, for example, provides the technical advantage that planning can be carried out efficiently. In particular, this provides the technical advantage that a correspondingly planned AVP process can be carried out efficiently. For example, if the table specifies vehicle-centric implementation, one of the functions described above can be carried out infrastructure-centrically in addition to or instead of, i.e., deviating from, the original specification.
[0050] In one embodiment of the method, it is provided that one or more or all of the steps of determining comprise that the corresponding AVP type is read from a database and / or is requested from the motor vehicle at the AVP system and / or is requested from the AVP system at the motor vehicle.
[0051] This provides the technical advantage, for example, that the corresponding steps of the investigation can be carried out efficiently.
[0052] In one embodiment of the method, it is provided that it comprises executing the planned AVP process.
[0053] This provides, for example, the technical advantage that an AVP process for the motor vehicle can be carried out efficiently. One embodiment of the method provides for this to be a computer-implemented method.
[0054] Technical functionalities of the device result directly from corresponding technical functionalities of the process and vice versa.
[0055] In one embodiment of the method, it is provided that this is carried out by the device.
[0056] The phrase “at least one” means “one or more”.
[0057] The invention is explained in more detail below using preferred embodiments. These show:
[0058] Fig. 1 is a flowchart of a method according to the first aspect,
[0059] Fig. 2 shows a device according to the second aspect,
[0060] Fig. 3 shows a machine-readable storage medium according to the fourth aspect,
[0061] Fig. 4 a parking space and
[0062] Fig. 5 shows the parking lot according to Fig. 4 in a more detailed view.
[0063] Fig. 1 shows a flowchart of a method for scheduling an AVP process for a motor vehicle within a parking space using an infrastructure-side AVP system, wherein the AVP system is configured for at least two AVP types to carry out an AVP process, wherein an AVP type is an element selected from the following group of AVP types: AVP type 1, AVP type 2 and AVP type 3, wherein AVP type 1 is a motor vehicle-centric AVP process, wherein AVP type 2 is an infrastructure-centric AVP process and wherein AVP type 3 is a motor vehicle infrastructure-shared AVP process, wherein the parking space comprises a plurality of areas, within each of which an AVP process can be carried out according to a different AVP type, comprising the following steps:
[0064] Determine 101 for which infrastructure-side AVP types the AVP system is set up to perform an AVP operation,
[0065] Determining 103, within which area of the multiple areas which of the determined infrastructure-side AVP types can be used to perform an AVP operation,
[0066] Determining 105 for which motor vehicle-side AVP type(s) the motor vehicle is set up to carry out an AVP process, planning 107 an AVP process to be carried out for the motor vehicle within the parking space based on the infrastructure-side AVP types determined in accordance with the plurality of areas and based on the determined motor vehicle-side AVP type(s).
[0067] Fig. 2 shows a device 201 which is configured to carry out all steps of the method according to the first aspect.
[0068] Fig. 3 shows a machine-readable storage medium 301 on which a computer program 303 is stored. The computer program 303 includes instructions that, when executed by a computer, cause the computer program 303 to execute a method according to the first aspect.
[0069] Fig. 4 shows a parking lot 401 comprising a first area 403 and a second area 405. The parking lot 401 further comprises an entrance 407 into the first area 403.
[0070] The first area 403 is configured to perform an AVP process according to AVP type 2. The second area 405 is configured to perform an AVP process according to AVP type 3. This allows an AVP process according to AVP type 2 to be performed, particularly in the second area 405.
[0071] The first area 403 is, for example, a covered area, for example, a parking garage of parking lot 401. The second area 405 is, for example, an open area of parking lot 401. Within the first area 403, according to this embodiment, a motor vehicle can, for example, only perform an AVP process according to AVP type 2. Within the second area 405, a motor vehicle can, for example, only partially execute or perform an AVP process according to AVP types 2 and 3.
[0072] Fig. 5 shows the parking space 401 according to Fig. 4 in a more detailed view.
[0073] As shown in Figure 5, within the two regions 403 and 405, a path 501 runs from left to right relative to the plane of the paper. Within the second region 405, a second path 503 and a third path 505 branch off from the first path 501 in a direction perpendicular to it.
[0074] Several parking spaces 507 for motor vehicles are provided transversely to the driveways 501, 503, 505, on which motor vehicles can be parked.
[0075] Furthermore, a first hatching is shown with the reference number 509 and a second hatching is shown with the reference number 511.
[0076] According to the planning of an AVP process according to the concept described here, it is provided that it is determined that within the first hatching 509, the AVP process is carried out according to AVP type 2, even if the motor vehicle is already located in the second area. Within the second hatching 511, it is provided that the AVP process is carried out according to AVP type 3. At transition areas 513 between these two hatchings 509, 511, switching between AVP type 2 and AVP type 3, or vice versa, is provided.
[0077] The background is that a motor vehicle that can offer AVP type 3 can also execute AVP type 2. This means that a motor vehicle that can offer AVP type 3 can be parked within the second area 405. A motor vehicle that can only offer AVP type 2 will only be parked in the first area 403. An AVP process for a motor vehicle that can offer AVP type 3 can thus be planned as follows: The motor vehicle drives through the first area 403 according to AVP type 2 and continues within the second area 405 according to AVP type 2, as long as the motor vehicle is still within the first hatching 509. A switch from AVP type 2 to AVP type 3 then takes place within the defined transition areas 513.
[0078] In summary, the concept described here specifically envisages scheduling an AVP process for a motor vehicle within a parking lot that includes multiple areas offering different AVP types. For example, it is planned that at the beginning, i.e., before the AVP process starts, it is determined which AVP types are actually possible in the parking lot. In particular, it is checked which area offers which AVP type.
[0079] Furthermore, it is determined which AVP types the motor vehicle offers, i.e. whether it is even possible for the motor vehicle to carry out an AVP process within the parking space.
[0080] A digital map, for example, is provided as the source for this information, and / or the AVP system provides the information regarding the infrastructure-side AVP types. The AVP system is, for example, located locally. For example, a cloud infrastructure can be provided in which, for example, a database is implemented from which the information regarding the infrastructure-side AVP types can be retrieved. For example, with regard to the vehicle-side AVP types, it can be provided that this information is stored in the vehicle itself and made available by the vehicle.
[0081] If it is possible for the motor vehicle to perform an AVP process within a parking space, it is determined, for example, within which of the areas the AVP process can be performed for the motor vehicle.
[0082] For example, such a determination may reveal that the motor vehicle can only perform an AVP process in one or some of the multiple areas. For example, a motor vehicle configured only for AVP Type 2 cannot perform an AVP process in an area that offers AVP Type 3 and / or AVP Type 1.
[0083] If the motor vehicle offers several AVP types and / or if the motor vehicle offers AVP type 1, which means that it can also carry out AVP type 2 and AVP type 3 processes, it is provided, for example, that switching points or switching ranges are defined between the individual ranges, in which or at which switching between different AVP types takes place.
[0084] Such a switchover then results in the functions listed in the table above no longer being performed on the vehicle side, but rather on the infrastructure side, or vice versa. In particular, it is thus intended that responsibility for the AVP process is transferred from the vehicle to the infrastructure or vice versa, or that responsibility is shared.
[0085] If there are several possibilities regarding an AVP type for carrying out an AVP process, it is intended, for example, that there is a default for such an AVP type.
[0086] For example, the object and event detection function can be performed on the vehicle side and / or the infrastructure side according to the table above in AVP Type 3. For example, a different option than a corresponding AVP type can also be specified, i.e., in AVP Type 2, the above object and event detection is also performed on the vehicle side.
[0087] For example, it is intended that the planned AVP process is started and executed.
Claims
Claims 1. A method for scheduling an AVP operation for a motor vehicle within a parking lot (401) using an infrastructure-side AVP system, wherein the AVP system is configured for at least two AVP types to perform an AVP operation, wherein an AVP type is an element selected from the following group of AVP types: AVP type 1, AVP type 2, and AVP type 3, wherein AVP type 1 is a vehicle-centric AVP operation, wherein AVP type 2 is an infrastructure-centric AVP operation, and wherein AVP type 3 is a vehicle-infrastructure-shared AVP operation, wherein the parking lot (401) comprises multiple areas (403, 405) within each of which an AVP operation can be performed according to a different AVP type, comprising the following steps: Determine (101) for which infrastructure-related AVP types the AVP system is set up to carry out an AVP operation, Determine (103) within which area (403, 405) of the several areas (403, 405) which of the determined infrastructure-side AVP types can be used for performing an AVP operation, Determine (105) for which vehicle-side AVP type(s) the vehicle is equipped to carry out an AVP operation, plan (107) an AVP operation to be carried out within the parking area (401) for the vehicle based on the infrastructure-side AVP types determined for each of the several areas and based on the vehicle-side AVP type(s) determined.
2. Method according to claim 1, wherein the planning includes determining within which or which of the areas (403, 405) the AVP process can be carried out for the motor vehicle.
3. Method according to claim 1 or 2, wherein the planning is the determination of at least one switching point and / or at least one switching range (513) of the Parking space (401) at or within which the execution of the AVP operation is to be switched from one AVP type to another AVP type.
4. Method according to one of the preceding claims, wherein the planning is a determination that the AVP process for the motor vehicle is to be carried out only within the area (403, 405) for which the motor vehicle is equipped according to the AVP type determined accordingly.
5. Method according to one of the preceding claims, wherein the planning includes determining which function of a correspondingly determined AVP type of an area (403, 405) of the several areas (403, 405) is to be performed additionally or instead of being performed in a correspondingly vehicle-centric, infrastructure-centric or vehicle-infrastructure-split manner.
6. Method according to one of the preceding claims, wherein one or more or all steps of determining include that the corresponding AVP type is read from a database and / or requested by the motor vehicle from the AVP system and / or requested by the AVP system from the motor vehicle.
7. A method according to any of the preceding claims, comprising carrying out the planned AVP process.
8. Device (201) configured to perform all steps of the method according to any of the preceding claims.
9. Computer program (303) comprising instructions which, when the computer program (303) is executed by a computer, cause it to execute a method according to any one of claims 1 to 7.
10. Machine-readable storage medium (301) on which the computer program (303) according to claim 9 is stored.