System and method for assisting in the positioning of a motor vehicle in an automatic car wash station

Abstract

A system to assist in positioning a motor vehicle (MV) in a wash bay (WV) of an automatic car wash (ACW) comprising a gantry (PTQ) spanning the wash bay; said gantry being capable of moving along the wash bay to wash said vehicle when the latter is stationary in a reference position; said vehicle comprising gantry detection means (CPG, CPD), data processing means (MDT) for the data provided by the detection means capable of calculating left (d1) and right (d2) lateral distances separating the gantry from the left and right lateral faces (FLG, FLD) of the vehicle, and means (ECT, IFG) capable of visually providing the vehicle driver with the vehicle's position relative to the gantry, allowing the driver to adjust the vehicle's trajectory to guide it towards the reference position. (Figure 1)

Description

Title of the invention: System and method for assisting in the positioning of a motor vehicle in an automatic car wash

[0001] The present invention relates generally to driver assistance systems commonly referred to by the Anglo-Saxon acronym "AD AS" (Advanced Driver Assistance System) and relates more particularly to a system and a method for assisting in the positioning of a motor vehicle in an automatic car wash area, or automatic car wash station, equipped with a roller wash gantry.

[0002] Automatic car wash stations generally have a gantry, of the type comprising an inverted "U" shaped frame, movable along a track, or wash lane, and spanning the wash lane on which the vehicle to be washed must be correctly positioned for optimal cleaning of the vehicle.

[0003] The gantry supports various rotating brushes and rollers, including at least one roller extending transversely between the two vertical uprights of the gantry. The gantry moves on a pair of rails fixed to the ground, on either side of the washing lane.

[0004] Two guide ramps are also arranged on the ground to laterally delimit the washing lane and facilitate the approach maneuver of the vehicle in relation to the gantry, as well as a stop in the shape of a shoe suitable for ensuring the immobilization of the vehicle by blocking one of the front wheels of the vehicle at the end of the maneuver.

[0005] Some gantries may be equipped with optical detection systems associated with light and / or sound signaling to guide the driver in his maneuver of approaching and positioning (centering) his vehicle in the wash lane until his vehicle has come to a complete stop.

[0006] However, these systems are not precise and, on the other hand, they depend on the washing infrastructure and the rigor of the maintenance of the gantry and which, in the absence of regular maintenance, may be exposed to malfunctions.

[0007] The objective of the present invention is to provide a solution to this problem by proposing a reliable positioning assistance method implemented by a system fully embedded in the vehicle.

[0008] The present invention also allows for more precise positioning of the vehicle in the wash lane and consequently optimal washing, particularly at the level of the vehicle's wheels.

[0009] To this end, the invention has as its first object a system for assisting in the positioning of a motor vehicle in a wash lane of an automatic car wash comprising a gantry spanning the wash lane; said gantry being able to move along the wash lane for washing said vehicle when the latter is immobilized in a determined position called the "reference position"; said vehicle comprising means for detecting the gantry, means for processing the data provided by the detection means capable of calculating left and right lateral distances separating the gantry from the left and right lateral faces of the vehicle, and means capable of visually providing the driver of the vehicle with the positioning of the vehicle relative to the gantry allowing the driver to adapt the trajectory of the vehicle to guide it towards the reference position.

[0010] According to one feature, the gantry comprises left and right parallel vertical posts extending each on either side of the washway; the left and right parallel vertical posts comprising respectively left and right internal flat walls extending opposite each other parallel to the washway.

[0011] According to one feature, the detection means comprise front left and front right sensors arranged respectively in the front left and front right corners of the vehicle capable of detecting the inner flat walls left and right of the parallel vertical posts left and right of the gantry; the detection data processing means being capable of calculating lateral distances separating respectively the inner flat walls left and right of the parallel vertical posts left and right of the gantry, from the left and right side faces of the vehicle.

[0012] According to one feature, the front left and front right sensors are corner radars arranged respectively in the front left and front right corners of the vehicle such that the coverage area associated with each corner radar, defining a determined angular sector, allows the detection of the gantry during the entire positioning of the vehicle.

[0013] According to one feature, the means capable of visually displaying the vehicle's positioning to the vehicle's driver comprise a graphical interface supported by a display screen in the vehicle, capable of displaying in real time to the vehicle's driver the vehicle's positioning relative to the reference position.

[0014] According to one feature, the graphical interface represents a silhouette of the vehicle in a top view, oriented in the direction of travel of the vehicle and centered on the screen, and includes left and right indicator lights arranged on the screen, respectively to the left and right of the vehicle silhouette; each indicator light being capable of translating respectively a left or right offset of the vehicle, relative to the reference position, and the real-time evolution of the vehicle positioning during the vehicle trajectory correction maneuver by the driver acting on the steering wheel to reach the reference position.

[0015] According to one feature, each light indicator has a determined number of adjacent light segments capable of taking on different colors determined according to the positioning of the vehicle relative to the reference position; the number of segments changing color depending on the amplitude of the maneuver to correct the trajectory of the vehicle by the driver acting on the steering wheel to reach the reference position.

[0016] According to one feature, the screen supporting the graphical interface is capable of displaying an image inset on the graphical interface indicating to the driver of the vehicle in which direction to turn the steering wheel of the vehicle to get closer to the reference position.

[0017] According to one feature, specific vehicle guidance instructions, visual and / or audible, are further broadcast in the vehicle for the driver during the entire vehicle positioning maneuver to reach the reference position.

[0018] The present invention has as its second object a positioning aid method implemented by the system as described above, consisting, once the gantry is detected, of prompting the driver to move towards the gantry and during the vehicle's progress towards the gantry, of calculating the left and right lateral distances separating the gantry from the vehicle, and depending on the result of the calculation, if the left lateral distance is less than the right lateral distance then prompting the driver to turn the steering wheel to the right, or if the left lateral distance is greater than the right lateral distance then prompting the driver to turn the steering wheel to the left, and if the left and right lateral distances are equal then informing the driver that the vehicle is centered with respect to the gantry and prompting him to move the vehicle forward without turning the steering wheel until the vehicle is immobilized and ready for washing.

[0019] Other advantages and features of the present invention will become clearer from the following description, given solely by way of non-limiting example and with reference to the drawings in which:

[0020] [Fig-1] illustrates an example of the implementation of a support system for positioning of a motor vehicle according to the invention, in an automatic car wash station;

[0021] [Fig.2] illustrates a graphical interface of the system according to the invention rendering a first phase of a scenario for approaching a gantry at the car wash station;

[0022] [Fig.3] illustrates a graphical interface of the system according to the invention rendering a second phase of the approach scenario of a gantry of the washing station;

[0023] [Fig.4] illustrates a graphical interface of the system according to the invention rendering a third phase of the approach scenario for a gantry at the car wash station; and

[0024] [Fig.5] illustrates a flowchart of a method implementing the positioning aid system according to the invention.

[0025] The present invention is based on calculations of distances between a vehicle to be washed and a gantry of an automatic car wash station, obtained from detection means and processing means on board the vehicle to determine a precise positioning of the vehicle in relation to the gantry from the detection of the gantry until the immobilization of the vehicle for its washing.

[0026] The present invention is also based on a graphical interface displayed on a device forming a display screen in the vehicle's cabin, providing the vehicle driver, in real time, with the vehicle's positioning relative to the gantry, and guidance instructions enabling him to adapt and follow the vehicle's trajectory, from the approach to the gantry until the vehicle comes to a complete stop for optimal final positioning of the vehicle for washing.

[0027] Figure 1 illustrates a positioning aid system according to the invention, in a top-view example of a vehicle positioned in a wash lane of an automatic car wash (SLA) approaching a gantry (PTQ) supporting a first roller (RLT) extending transversely between the two left and right vertical uprights (MTG, MTD) of the gantry (PTQ), and second and third rollers (RVG, RVD) extending vertically along the inner walls (PIG, PID) of the two left and right vertical uprights (MTG, MTD) of the gantry (PTQ). The other elements supported by the gantry (PTQ) are not shown. It will be understood that the washing operation is only one of the operations made possible by such a gantry (PTQ), which, overall, allows for a complete cleaning of the exterior of a vehicle: washing, drying, polishing, etc.

[0028] The PTQ gantry is centered on the VLA wash track and spans the VLA wash track. It is capable of moving along the VLA wash track on a pair of parallel longitudinal rails RLG, RLD extending on either side of the VLA wash track.

[0029] Throughout the following description, the PTQ gantry is considered symmetrical with a vertical plane of symmetry passing through the longitudinal central axis ACP of the wash bay VLA. The inner walls PIG, PID of the parallel vertical uprights MTG, MTD, respectively left and right, facing each other, are therefore considered to be equidistant from the centering axis ACP. The The internal walls PIG, PID are flat and extend parallel to each other with the central axis ACP.

[0030] The VLA wash lane is delimited on the ground by two lateral and parallel guide ramps RPG, RPD, left and right, themselves fixed to the ground, between the two left and right guide rails RLG, RLD of the PTQ gantry.

[0031] In the example scenario illustrated in [Fig. 1], the vehicle VHL is optimally centered in the wash lane VLA as it approaches a longitudinal immobilization stop, designated by "shoe" SBT, of the wash lane VLA. The longitudinal axis XX' of the vehicle VHL coincides substantially with the central axis ACP of the wash lane VLA.

[0032] The VHL vehicle is equipped with detection means taking the form here of a pair of sensors CPG, CPD arranged respectively in the front left corner CAG and front right corner CAD of the VHL vehicle, for example in the front bumper of the VHL vehicle, and which are capable of providing detection data of the PTQ gantry, here the inner flat walls left and right PIG, PID of the left and right vertical posts MTG, MTD of the PTQ gantry.

[0033] CPG and CPD sensors are, for example, radar, ultrasonic, or camera-type.

[0034] The VHL vehicle includes MDT processing means embedded in the VHL vehicle, for example one or more computers belonging to a box, BSI box (Intelligent Servicing Box) of the VHL vehicle, not shown, capable of calculating the positioning of the VHL vehicle from the data or signals provided by the CPG, CPD sensors.

[0035] MDT processing means implement, in particular, signal processing algorithms: radar signal, radar imaging (point cloud analysis), or image processing: shape recognition from the pixels of images captured by cameras...

[0036] Taking the example of corner radar type sensors, two corner radars CPG, CPD are arranged respectively on the front left and front right corners CAG, CAD of the vehicle VHL.

[0037] Their coverage areas ZCG, ZCD, shaded in [Fig. 1], correspond to a specific angular sector to cover at least lateral and frontal areas of the VHL vehicle, enabling the detection of the PTQ gantry throughout the VHL vehicle's positioning. The corner radars CAG, CAD provide "point cloud" type data, processed by an algorithm of the MDT processing means which, from the point cloud, is able to recognize the 2D "two dimensions" (see 3D "three dimensions") structure of the PTQ gantry and in particular the shape of the vertical posts MTG, MTD of the PTQ gantry and the internal flat walls PIG, PID.

[0038] From these data, the MDT processing means are then able to calculate distances dl, d2, corresponding substantially and respectively to the distances between the left and right side faces FLG, FLD of the vehicle VHL and the left and right interior flat walls PIG, PID of the uprights MTG, MTD of the gantry PTQ, up to the deviations due to the bulk of the sensors CPG, CPD and the positioning and fixing constraints of the sensors CPG, CPD in the front left and front right corners CAG, CAD of the front face of the vehicle VHL.

[0039] It should be noted that it is not the absolute values ​​of the distances dl and d2 that are taken into account but the difference between the two distances dl and d2 for the positioning of the vehicle VHL in the wash lane VLA.

[0040] The VHL vehicle is considered to be optimally positioned in the VLA wash lane (centered in the VLA wash lane) when the distance dl is equal to the distance d2 (dl=d2) as shown in [Fig.1].

[0041] The VHL vehicle further comprises a graphical interface IFG, or HMI (Human Machine Interface), displayed on a display device forming an ECT display screen in the passenger compartment of the VHL vehicle, providing the driver of the VHL vehicle, in real time, with the positioning of the VHL vehicle in relation to the PTQ gantry.

[0042] Guidance instructions, enabling the driver to adapt and follow the trajectory of the VHL vehicle, from the detection of the PTQ gantry to the immobilization of the VHL vehicle for optimal final positioning of the VHL vehicle for washing, are also displayed on the ECT screen in the form of visual messages displayed as an overlay in the IFG graphical interface and / or audible messages broadcast in the cabin of the VHL vehicle accompanying the positioning maneuver.

[0043] The ECT screen can be a central multimedia screen of an infotainment system, IVI, not shown, coupled to the BSI box, also not shown, housing the MDT processing means or, again, a "head up display" device, or HUD, Anglo-Saxon acronym for "Head Up Display" coupled to the BSI box.

[0044] Figures 2 to 4 respectively illustrate three phases of approach to the PTQ gantry by a VHL vehicle to be washed, putting in parallel the real view, here schematic, (right) VR1-VR3 and the corresponding graphic representation (left) via the IFG graphic interface.

[0045] The central axis PSC of the PTQ gantry is materialized on the right views VR1-VR3 of the three phases, by an axis in dashed line.

[0046] The IFG graphical interface (on the left) represents in its center the SIL silhouette of the VHL vehicle in top view, oriented in the direction of progression of the VHL vehicle, accompanied by a pair of visual indicators ILG, ILD arranged respectively to the left and right of the SIL silhouette of the VHL vehicle.

[0047] These visual indicators, in the example considered, are ILG, ILD light indicators each comprising four adjacent light segments aligned horizontally with each other, of the bargraph type or other.

[0048] These light indicators ILG, ILD translate the position shifts of the vehicle VHL relative to the central axis PSC of the gantry PTQ and the evolution of these shifts, from the real-time calculations of the distances dl and d2.

[0049] Each light segment is capable of displaying different colors: green, orange, and red, depending on the position of the vehicle (VHL) relative to a reference position, which corresponds to the centering of the vehicle (VHL) with respect to the central axis (PSC) of the gantry (PTQ). The number of segments changing color depends on the extent of the vehicle (VHL) trajectory correction maneuver by the driver acting on the steering wheel (VDD) to reach the reference position.

[0050] The light indicators ILG, ILD can take various forms to provide the same type of visual information which, in addition to real-time positioning information of the vehicle VHL, allows for the reproduction of a dynamic (evolution) of the positioning of the vehicle VHL according to the action of the driver on the steering wheel VDD in the direction indicated by visual and / or audible directives: "turn the steering wheel to the left" respectively "turn the steering wheel to the right".

[0051] In the example considered in [Fig.2], in a first approach phase, the VHL vehicle is positioned facing the PTQ gantry while being strongly offset to the right of the central axis PSC of the PTQ gantry, which results in a very large difference between the distances dl and d2: the distance dl is much greater than the distance d2 (dl»d2).

[0052] The left indicator light ILG indicates that all the light segments (all four) are in "green", which means that there is no trajectory correction to be made (offset to be made up) from the steering wheel VDD, from left to right.

[0053] Conversely, the two rightmost adjacent luminous segments of the four-segment right-hand ILD indicator are "red". Only one of the segments is "green": the leftmost one. The intermediate segment, between the "green" segment and the "red" segments, is "orange".

[0054] The color of each segment and the number of segments having the same color among the three colors (green, orange and red) make it possible to translate a "dynamic" of the "virtual" visual representation in relation to the "real" life situation, seen from the right VR1, and to adapt the amplitude (the dosage) of the trajectory correction by the driver acting on the steering wheel VDD of the vehicle VHL.

[0055] The right-hand indicator light (ILD) therefore indicates that the vehicle is significantly offset to the right relative to the centering axis (PSC) (d1»d2). A virtual view on the IFG graphical interface, representing the driver's hands on the VDD steering wheel of the VHL vehicle, surmounted by an arrow indicating the direction (here from right to left), allows the driver to visualize the action to be performed on the VDD steering wheel. This virtual view can also be a "real" IMG image displayed as an overlay on the IFG graphical interface as a visual instruction, to indicate to the driver, but also to encourage the driver, to maneuver the VDD steering wheel in the direction indicated by the arrow. Prior to or at the beginning of the approach phase, a voice, synthesized, and / or text message (displayed on the ECT screen) prompts the driver to move the VHL vehicle towards the PTQ gantry.

[0056] Another voice and / or text message during the first approach phase prompts the driver to turn the steering wheel VDD to the left.

[0057] In the second approach phase, illustrated in [Fig.3], the driver began to correct the trajectory of his VHL vehicle to get closer to the reference position (VHL vehicle centered on the PSC axis): the distance gap between the distances dl and d2 was reduced but the VHL vehicle still remains significantly offset to the right with respect to the central axis PSC: the distance dl remains greater than the distance d2 (dl>d2).

[0058] This trajectory correction and therefore of the positioning of the VHL vehicle, results in a change of state of the right-hand indicator light ILD.

[0059] The rightmost segment of the right-hand ILD indicator is still in "red" and the one immediately to its left, which was in "red", has turned "orange". The segment in "orange" has turned "green".

[0060] Finally, in the third and final approach phase, illustrated in [Fig. 4], all the light segments of the right-hand indicator light ILD are in "green". This means that the VHL vehicle has reached the reference position: the VHL vehicle is perfectly centered on the central axis PSC of the PTQ gantry: there is no longer a distance difference between the distances dl and d2: the distance dl is equal to the distance d2 (dl=d2).

[0061] Another scenario, in which the VHL vehicle would be shifted to the left (dl <d2) n’est volontairement pas décrit : le lecteur appliquera aisément, de manière symétrique, le même mode opératoire.

[0062] Fig. 5 illustrates, by means of a block diagram, or sequence diagram, a synthesis of a positioning aid method according to the invention implemented by a system as described above.

[0063] The method consists, in a first preliminary step 500, of activating the positioning assistance, which is, for example, one of the functions offered by the AD AS system, either manually, for example from a menu displayed on the touch screen ECT (multimedia screen) of an infotainment system or IVI (In-Vehicle Infotainment) of the VHL vehicle, either automatically, for example following an automatic detection of a PTQ gantry of an SLA automatic car wash station.

[0064] Once the positioning aid 500 is activated, the method consists of prompting 510 the driver to move their vehicle (VHL) towards the gantry PTQ and, during the vehicle's progress towards the gantry PTQ, calculating 520 in real time the distances dl and d2, and depending on the result of the calculation, if dl <d2, 530, alors à inviter 540 le conducteur à tourner le volant de direction VDD vers la droite, ou si dl> d2, 550 then to invite 560 the driver to turn the steering wheel VDD to the left when approaching the gantry PTQ, and if dl=d2, 570 then to inform 580 the driver that the vehicle VHL is centered with respect to the gantry PTQ and to invite him to move the vehicle VHL forward without turning the steering wheel VDD until the vehicle VHL is immobilized in the shoe SBT, ready for washing.

Claims

Demands

1. A system to assist in positioning a motor vehicle (MV) in a wash lane (WL) of an automatic car wash (ACL) comprising a gantry (PTQ) spanning the wash lane (WL); said gantry (PTQ) being capable of moving along the wash lane (WL) for washing said vehicle (MV) when the latter is immobilized in a determined position called the "reference position";said vehicle (VHL) comprising detection means (CPG, CPD) of the gantry (PTQ), data processing means (MDT) of the data provided by the detection means (CPG, CPD) capable of calculating left (d1) and right (d2) lateral distances separating the gantry (PTQ) from the left and right lateral faces (FLG, FLD) of the vehicle (VHL), and means (ECT, IFG) capable of visually providing the driver of the vehicle (VHL) with the positioning of the vehicle (VHL) relative to the gantry (PTQ) allowing the driver to adapt the trajectory of the vehicle (VHL) to guide it towards the reference position.;

2. System according to the preceding claim, wherein the gantry (PTQ) comprises left and right parallel vertical posts (MTG, MTD) extending each on either side of the wash lane (VLA); the left and right parallel vertical posts (MTG, MTD) comprising respectively left and right internal flat walls (PIG, PID) extending opposite each other parallel to the wash lane (LVA).

3. System according to the preceding claim, wherein the detection means comprise front left and front right sensors (CPG, CPD) arranged respectively in the front left and front right corners (CAG, CAD) of the vehicle (VHL) capable of detecting the inner flat walls left and right (PIG, PID) of the vertical posts of the gantry (PTQ); the detection data processing means (MDT) being capable of calculating lateral distances (dl,d2) separating respectively the inner flat walls left and right (PIG, PID) of the vertical posts left and right (MTG, MTD) of the gantry (PTQ), from the left and right side faces (FLG, FLD) of the vehicle (VHL).

4. System according to the preceding claim, wherein the front left and front right sensors (CPG, CPD) are corner radars arranged respectively in the front left and front right corners (FLC, FDC) of the vehicle (VHL) so that the coverage area (ZCG, ZCD) associated with each corner radar (FLC, FDC), defining a determined angular sector, allows the detection of the gantry (PTQ) during the entire positioning of the vehicle (VHL).

5. A system according to any one of the preceding claims, wherein the means capable of visually restoring the positioning of the vehicle (VHL) to the driver of the vehicle (VHL) comprise a graphical interface (GAI) supported by a display screen (ECT) in the vehicle (VHL), capable of restoring in real time to the driver of the vehicle (VHL), the positioning of the vehicle (VHL) relative to the reference position.

6. A system according to the preceding claim, wherein the graphical interface represents a silhouette (SIL) of the vehicle (VHL) in top view, oriented in the direction of travel of the vehicle (VHL) and centered in the screen (ECT), and includes left and right indicator lights (ILG, ILD) arranged in the screen (ECT), respectively to the left and right of the silhouette (SIL) of the vehicle (VHL); each indicator light (ILG, ILD) being able to translate respectively a displacement of the vehicle (VHL) to the left or right, with respect to the reference position, and the real-time evolution of the positioning of the vehicle (VHL) during the maneuver to correct the trajectory of the vehicle (VHL) by the driver acting on the steering wheel (VDD) to reach the reference position.

7. System according to the preceding claim, wherein each light indicator (ILG, ILD) comprises a determined number of adjacent light segments capable of taking on different colors determined according to the positioning of the vehicle (VHL) relative to the reference position; the number of segments changing color depending on the amplitude of the vehicle trajectory correction maneuver (VHL) by the driver acting on the steering wheel (VDD) to reach the reference position.

8. A system according to any one of claims 5 to 7, wherein the screen (ECT) supporting the graphical user interface (IFG) is capable of displaying an image (IMG) overlaid on the graphical user interface (IFG) indicating to the driver of the vehicle (VHL) in which direction to turn the

9.

10. steering wheel (VDD) of the vehicle (VHL) to move closer to the reference position. System according to any one of claims 5 to 8, wherein determined vehicle guidance (VHL) directives, visual and / or audible, are further disseminated in the vehicle (VHL) for the driver during the entire vehicle (VHL) positioning maneuver to reach the reference position. A positioning aid method implemented by the system, according to any one of the preceding claims, consisting of, once the gantry (PTQ) is detected (500), prompting (510) the driver to move towards the gantry (PTQ) and, during the vehicle's (VHL) movement towards the gantry (PTQ), calculating (520) the left (dl) and right (d2) lateral distances separating the gantry (PTQ) from the vehicle (VHL), and depending on the result of the calculation, if (530) the left lateral distance (dl) is less than the right lateral distance (d2) then prompting (540) the driver to turn the steering wheel (VDD) to the right, or if (550) the left lateral distance (dl) is greater than the right lateral distance (d2), then prompting (560) the driver to turn the steering wheel (VDD) to the left, and if (570) the left (dl) and right lateral distances (d2) are equal,then to inform (580) the driver that the vehicle (VHL) is centered in relation to the gantry (PTQ) and to invite him to move the vehicle (VHL) forward without turning the steering wheel (VDD) until the vehicle (VHL) has come to a complete stop and is ready for washing.

Images