Mat, system and method for validating an autonomous parking function

Abstract

Mat, System and Method for Validating an Autonomous Parking Function. One aspect of the invention relates to a mat (100) for validating an autonomous parking function implemented on a vehicle (301) enabling the vehicle (301) to park autonomously in a parking space (300). The mat (100) comprises a plurality of first markings (101) intersecting at a first point (P). Each first marking (101) comprises a first line (1011) and a second line (1012) intersecting said first point (P). The second line (1012) is perpendicular to the first line (1011). Each first marking (101) is offset by a predefined angle relative to a first reference marking (1010) among the plurality of first markings (101). Figure to be published with the abstract: Figure 7

Description

Title of the invention: Mat, system and method for validating an autonomous parking function TECHNICAL FIELD OF THE INVENTION

[0001] The technical field of the invention is that of vehicles equipped with an autonomous parking function, and more particularly that of the validation of such a function.

[0002] The present invention relates to a mat for validating an autonomous parking function, and more particularly to a mat for validating an autonomous parking function implemented on a vehicle. The present invention also relates to a system and a method for validating an autonomous parking function. TECHNOLOGICAL BACKGROUND OF THE INVENTION

[0003] The autonomous parking function, or Remote Parking (RPK), is a feature that allows the driver to park a vehicle in a parking space located, for example, in a garage or between two other vehicles, while outside the vehicle and using a connected device, such as a smartphone. This function is particularly advantageous when the parking space is narrow and does not allow the vehicle's occupants to open the doors wide enough to exit the vehicle once it is parked.

[0004] For the autonomous parking maneuver to succeed, it is essential that the vehicle be correctly positioned in front of the parking space. To this end, suppliers provide recommendations regarding certain vehicle positioning parameters. As illustrated in [Fig. 1], the positioning parameters are, for example, an angular offset DA between a longitudinal axis of the vehicle 3011 passing through the middle of the vehicle 301 and a main longitudinal axis 3001 of the parking space 300 passing through the middle of the parking space 300; a longitudinal offset DL and a transverse offset DT between a point PV of the vehicle 301 located on the longitudinal axis of the vehicle 3011 and closest to the parking space 300 and a point PP of the parking space 300 located on the main longitudinal axis 3001 of the parking space 300 and closest to the vehicle 301.

[0005] To ensure that the autonomous parking function behaves as desired when the vehicle is positioned in accordance with the recommendations, it is necessary to test and validate the autonomous parking function. Summary of the invention

[0006] The invention offers a solution to the problems mentioned above, by proposing a system and a method allowing the validation of an autonomous parking function.

[0007] A first aspect of the invention relates to a mat for validating an autonomous parking function implemented on a vehicle enabling the vehicle to park autonomously in a parking space, the mat comprising a plurality of first markings intersecting at a first point, each first marking comprising a first line and a second line intersecting said first point, the second line being perpendicular to the first line, each first marking being offset by a predefined angle with respect to a reference first marking among the plurality of first markings.

[0008] Thanks to the invention, it is possible to easily test the autonomous parking function for several values ​​of angular, longitudinal, and transverse offsets between the vehicle and the parking space. To do this, the mat is positioned according to the desired longitudinal and transverse offset values ​​using the first reference marking corresponding to a zero angular offset, and then the vehicle is positioned on the mat according to the desired angular offset value using the first corresponding marking.

[0009] In addition to the characteristics mentioned in the preceding paragraph, the carpet according to the invention may have one or more additional characteristics from among the following, considered individually or according to all technically possible combinations.

[0010] According to one embodiment, the carpet according to the invention consists of a plurality of removable tiles linked together.

[0011] Thus, the positioning and movement of the mat are facilitated.

[0012] According to an embodiment compatible with the preceding embodiment, each first marking is made in a different color

[0013] Thus, the positioning of the vehicle on the mat using the aerial view of the vehicle is facilitated.

[0014] A second aspect of the invention relates to a system for validating an autonomous parking function implemented on a vehicle, enabling the vehicle to park itself autonomously in a parking space, the system comprising: • a carpet according to the invention; • in front of the parking space, a plurality of second longitudinal markings and a plurality of second transverse markings perpendicular to the plurality of second longitudinal markings, each second longitudinal marking being separated by a distance predefined transverse distance from a second reference longitudinal marking among the plurality of second longitudinal markings, and each second transverse marking being separated by a predefined longitudinal distance from a second reference transverse marking among the plurality of second transverse markings.

[0015] Thus, the positioning of the mat is carried out using the first reference marking and the second longitudinal and transverse markings corresponding to the desired longitudinal and transverse offset values.

[0016] According to one embodiment, the system according to the invention includes a system for adjusting the width and length of the parking space.

[0017] Thus, it is possible to test the performance of the autonomous parking function for several parking space sizes.

[0018] According to a sub-embodiment of the preceding embodiment, the adjustment system comprises: • a hangar in which the parking space is located; • on the floor of the hangar, a plurality of third longitudinal markings and a plurality of third transverse markings perpendicular to the plurality of third longitudinal markings, each third longitudinal marking being separated from each other third longitudinal marking by a predefined distance, and each third transverse marking being separated from each other third transverse marking by a predefined distance; the hangar including means for adjusting its length and width using the plurality of longitudinal and transverse third markings.

[0019] Thus, the adjustment of the dimensions of the space can be easily carried out using the third longitudinal and transverse markings corresponding to the desired length and width.

[0020] A third aspect of the invention relates to a method for validating an autonomous parking function implemented on a vehicle, enabling the vehicle to park autonomously in a parking space. The validation is carried out for a given angular offset relative to a main longitudinal axis passing through the middle of the space, and for a given longitudinal and transverse offset relative to a point in the space located on the main longitudinal axis and closest to the vehicle before parking. The vehicle includes means for calculating and displaying an aerial view of the vehicle. The method is carried out using the system according to the invention and comprises the following steps: • Positioning the mat in front of the parking space using the first reference marking and the second longitudinal and transverse markings corresponding to the given longitudinal and transverse offsets; • Positioning the vehicle on the mat using the aerial view of the vehicle and the first marking corresponding to the given angular offset.

[0021] According to an alternative embodiment, a longitudinal axis of the vehicle passing through the middle of the vehicle and a transverse axis of the vehicle passing through the front or rear of the vehicle are implemented on the aerial view and the positioning of the vehicle is carried out by aligning the longitudinal axis of the vehicle with the first line, and the transverse axis of the vehicle with the second line of the first marking corresponding to the given angular offset.

[0022] According to an embodiment compatible with the previous embodiment, the method according to the invention further includes a step of triggering the autonomous parking function once the vehicle is positioned on the mat.

[0023] According to an embodiment compatible with the previous embodiments, the method according to the invention includes a step of adjusting the width and length of the parking space prior to the triggering step.

[0024] The invention and its various applications will be better understood by reading the following description and examining the accompanying figures. BRIEF DESCRIPTION OF THE FIGURES

[0025] The figures are presented for illustrative purposes only and are in no way limiting of the invention. • Fig. 1 illustrates a set of vehicle positioning parameters that influence the success of an autonomous parking maneuver in a parking space. • Figure [Fig. 2] shows a schematic representation of a carpet according to the invention. • Figure 3 shows a schematic representation of a system according to the invention, before the positioning of the mat according to the invention. • Figure 4 shows a schematic representation of a hangar according to a method of embodiment of the invention. • Figure 5 is a synoptic diagram illustrating the sequence of steps of a process according to the invention. • Figure 6 shows a schematic representation of one step of positioning of the process mat according to the invention. • Figure 7 shows a schematic representation of one step of positioning of the vehicle of the process according to the invention. DETAILED DESCRIPTION

[0026] Unless otherwise specified, the same element appearing on different figures has a unique reference.

[0027] A first aspect of the invention relates to a mat intended for the validation of an autonomous parking function implemented on a vehicle.

[0028] The autonomous parking function allows the driver to park his vehicle in a parking space while outside the vehicle, without having to perform the parking maneuver himself.

[0029] Once the vehicle is positioned in front of the parking space, the autonomous parking function is triggered by the driver using a connected object, for example a smartphone or a tablet, and the vehicle parks itself autonomously in the parking space.

[0030] The validation of the autonomous parking function aims to verify that when the vehicle is positioned respecting the positioning parameters recommended by the suppliers, the autonomous parking maneuver is a success, i.e. that the vehicle manages to park autonomously in the parking space without colliding with any obstacle.

[0031] As previously described with reference to the prior art and visible in [Fig.1], the positioning parameters are for example an angular offset DA, a longitudinal offset DL and a transverse offset DT between the vehicle 301 and the parking space 300.

[0032] The term "longitudinal" refers to the dimension along its length relative to a given reference frame, and "transverse" refers to the dimension along its width relative to the given reference frame and is therefore perpendicular to the longitudinal dimension. In the remainder of this description, and unless otherwise stated, the reference frame is that of parking space 300, and everything referred to as longitudinal therefore relates to the length of parking space 300, and everything referred to as transverse DT relates to the width of parking space 300.

[0033] As illustrated in [Fig.2], the mat 100 according to the invention comprises a first surface intended to be in contact with the ground and a second surface opposite the first surface, which has a plurality of markings, hereafter referred to as first markings 101.

[0034] Each first marking 101 comprises a first line 1011 and a second line 1012 intersecting at a point, hereafter referred to as the first point P, such that the first line 1011 is substantially perpendicular to the second line 1012. Each first marking 101 can therefore be seen as a cross, whose arms are substantially perpendicular.

[0035] All the first markings 101 of the plurality of first markings 101 intersect at the first point P and each first marking 101 is offset by a predefined angle with respect to a first reference marking 1010, chosen from the plurality of first markings 101 to correspond to a zero angle.

[0036] On [Fig.2], the mat 100 has three first markings 101, a first first marking 101 separated by a first angle from the first reference marking 1010, and a second first marking 101 separated by a second angle from the first reference marking 1010, the value of the second angle being greater than the value of the first angle.

[0037] The first angle is for example 5° and the second angle is 10°.

[0038] Alternatively, the plurality of first markings 101 is positioned so as to cover an angular range from -60° to 60° relative to the first reference marking 1010, with an angular gap of 5° between two successive first markings 101.

[0039] According to one embodiment, each first marking 101 is made in a different color from the other first markings 101 of the plurality of first markings 101, for example the first reference marking 1010 is made in red, the first first marking 101 in green and the second first marking 101 in blue.

[0040] According to one embodiment, the first surface of the mat 100 has the same first markings 101 as the second surface of the mat 100 and the mat 100 is therefore reversible.

[0041] According to one embodiment, the carpet 100 consists of a plurality of removable tiles linked together.

[0042] Each tile, for example, has a dimension of 50 cm by 50 cm and is made of non-slip PVC.

[0043] Each tile can, for example, be fitted together with one or more other tiles, like a puzzle.

[0044] A second aspect of the invention relates to a system for validating an autonomous parking function implemented on a vehicle, comprising the mat 100 according to the invention.

[0045] As illustrated in Figures 3 and 6, the system 200 comprises a plurality of longitudinal markings, hereafter referred to as second longitudinal markings 201, and a plurality of transverse markings, hereafter referred to as second transverse markings 202, located in front of the parking space 300.

[0046] Each second longitudinal marking 201 is separated by a predefined transverse distance from a second reference longitudinal marking 2010 chosen from the plurality of second longitudinal markings 201.

[0047] As illustrated in Figures 3 and 6, the second longitudinal reference marking 2010 is for example located on a main longitudinal axis 3001 of the parking space 300 passing through the middle of the parking space 300, and thus corresponds to a zero longitudinal offset DL.

[0048] In figures 3 and 6, the system 200 comprises four second longitudinal markings 201, a first second longitudinal marking 201 separated from the second longitudinal reference marking 2010 by a first transverse distance, a second second longitudinal marking 201 separated from the second longitudinal reference marking 2010 by a second transverse distance and a third second longitudinal marking 201 separated from the second longitudinal reference marking 2010 by a third transverse distance.

[0049] The first transverse distance is for example 1 m, the second transverse distance is 2 m and the third transverse distance is 3 m.

[0050] Alternatively, the plurality of second longitudinal markings 201 is positioned so as to cover a transverse distance of 10 m relative to the second longitudinal reference marking 2010, with a transverse gap of 1 m between two successive second longitudinal markings 201.

[0051] Each second transverse marking 202 is separated by a predefined longitudinal distance from a second reference transverse marking 2020 chosen from the plurality of second transverse markings 202.

[0052] As illustrated in Figures 3 and 6, the second transverse reference marking 2020 is, for example, located on a front transverse axis 3002 of the parking space 300 passing through a point PP of the parking space 300 located on the main longitudinal axis 3001 of the parking space 300 and closest to the vehicle 301 before parking. The second transverse reference marking 2020 then corresponds to a zero transverse offset DT.

[0053] In figures 3 and 6, the system 200 comprises five second transverse markings 202, a first second transverse marking 202 separated from the second longitudinal reference marking 2020 by a first longitudinal distance, a second second transverse marking 202 separated from the second longitudinal reference marking 2020 by a second longitudinal distance, a third second transverse marking 202 separated from the second longitudinal reference marking 2020 by a third longitudinal distance and a fourth second transverse marking 202 separated from the second longitudinal reference marking 2020 by a fourth longitudinal distance.

[0054] The first longitudinal distance is for example -0.2 m, the second longitudinal distance is -0.1 m, the third longitudinal distance is 0.1 m and the fourth longitudinal distance is 0.2 m.

[0055] Alternatively, the plurality of second transverse markings 202 is positioned so as to cover a longitudinal distance from -1 m to 1 m relative to the second reference transverse marking 2020, with a longitudinal gap of 10 cm between two successive second transverse markings 202.

[0056] According to one embodiment, the system 200 according to the invention includes an adjustment system allowing the width and length of the parking space 300 to be adjusted.

[0057] According to an example of an embodiment illustrated in [Fig.4], the adjustment system comprises a hangar 210 including means for adjusting the length of the hangar 210 and the width of the hangar 210, a plurality of longitudinal markings, hereafter referred to as third longitudinal markings 2101, and a plurality of transverse markings, hereafter referred to as third transverse markings 2102, located on the floor of the hangar 210. The parking space 300 is located in the hangar 210.

[0058] Each third longitudinal marking 2101 is separated by a predefined transverse distance from each other third longitudinal marking 2101 of the plurality of third longitudinal markings 2101, and each third transverse marking 2102 is separated by a predefined longitudinal distance from each other third transverse marking 2102 of the plurality of third transverse markings 2102.

[0059] On [Fig.4], the adjustment system comprises twelve longitudinal third markings 2101, separated respectively by a transverse distance of -1.3 m, -1.25 m, -1.2 m, -1.15 m, -1.1 m, -1.05 m, 1.05 m, 1.1 m, 1.15 m, 1.2 m, 1.25 m and 1.3 m from the main longitudinal axis 3001 and ten transverse third markings 2102, separated respectively by a longitudinal distance of 5 m, 5.1 m, 5.2 m, 5.3 m, 5.4 m, 5.5 m, 5.6 m, 5.7 m, 5.8 m and 5.9 m from the anterior transverse axis 3002.

[0060] According to one embodiment, each third longitudinal marking 2101 is made in the same color as the third longitudinal marking 2101 which is its symmetrical counterpart with respect to the main longitudinal axis 3001 and in a different color from those of the other third longitudinal markings 2101 of the plurality of third longitudinal markings 2101.

[0061] According to one embodiment, each third transverse marking 2102 is made in a different color from those of the other third transverse markings 2102 of the plurality of third transverse markings 2102.

[0062] The means for adjusting the length of the hangar 210 and the width of the hangar 210 are, for example, movable panels each placed on a base that can be moved and aligned on the third longitudinal marking 2101 or the third transverse marking 2102 corresponding to the desired length or width.

[0063] The panels are for example made of wood or extruded polystyrene.

[0064] A third aspect of the invention relates to a method 400 for validating an autonomous parking function implemented on a vehicle 301, the sequence of steps of which is illustrated in [Fig. 5]. The method 400 is carried out using the system 200 according to the invention.

[0065] Validation is performed for a given set of positioning parameters, namely a given angular offset DA, longitudinal offset DL and transverse offset DT.

[0066] The method 400 according to the invention may include a first step 401 of adjusting the width and length of the parking space 300 using the adjustment system of the system 200 according to the invention.

[0067] Alternatively, the first step 401 can be carried out after a second step 402 or after a third step 403 of the process 400.

[0068] The second step 402 of the process 400 consists of positioning the mat 100 in front of the parking space 300.

[0069] For this, the first line 101 of the first reference marking 1010 is for example aligned with the second longitudinal marking 201 corresponding to the longitudinal offset DL and the second line 102 of the first reference marking 1010 is for example aligned with the second transverse marking 202 corresponding to the transverse offset DT.

[0070] On [Fig.6], the mat 100 is positioned so as to be aligned with the second longitudinal marking 201 and the second transverse marking 202.

[0071] The third step 403 of the process 400 consists of positioning the vehicle 301 to be parked on the previously positioned mat 100.

[0072] The vehicle 301 includes means for calculating and reproducing an aerial view of the vehicle 301 or "bird eye view" in English.

[0073] On the aerial view of vehicle 301, a longitudinal axis of vehicle 3011 passing through the middle of vehicle 301 and a transverse axis of vehicle 3012 passing through the front or rear of vehicle 301 are implemented depending on whether the parking maneuver is carried out in forward or reverse.

[0074] The third step 403 consists for example of using the aerial view of the vehicle 301 to align the longitudinal axis of the vehicle 3011 and the first line 1011 of the first marking 101 corresponding to the given angular offset DA, and the transverse axis of the vehicle 3012 on the second line 1012 of the first marking 101 corresponding to the given angular offset DA.

[0075] On [Fig.7], vehicle 301 is positioned on the second first marking 101.

[0076] A fourth step 404 of the process 400 consists of triggering the autonomous parking function once the vehicle 301 has been positioned according to the desired positioning parameter set.

[0077] The fourth step 404 is for example carried out using a connected object, such as a smartphone or a tablet.

Claims

Demands

1. Mat (100) for validating an autonomous parking function implemented on a vehicle (301) allowing the vehicle (301) to park autonomously in a parking space (300), the mat (100) comprising a plurality of first markings (101) intersecting at a first point (P), each first marking (101) comprising a first line (1011) and a second line (1012) intersecting said first point (P), the second line (1012) being perpendicular to the first line (1011), each first marking (101) being offset by a predefined angle with respect to a first reference marking (1010) among the plurality of first markings (101).

2. Carpet (100) according to claim 1, consisting of a plurality of removable tiles linked together.

3. Carpet (100) according to any one of the preceding claims, wherein each first marking (101) is made in a different color.

4. System (200) for validating an autonomous parking function implemented on a vehicle (301) allowing the vehicle (301) to park autonomously in a parking space (300), the system (200) comprising: - a mat (100) according to any one of the preceding claims;- in front of the parking space (300), a plurality of second longitudinal markings (201) and a plurality of second transverse markings (202) perpendicular to the plurality of second longitudinal markings (201), each second longitudinal marking (201) being separated by a predefined transverse distance from a second reference longitudinal marking (2010) among the plurality of second longitudinal markings (201), and each second transverse marking (202) being separated by a predefined longitudinal distance from a second reference transverse marking (2020) among the plurality of second transverse markings (202).;

5. System (200) according to claim 4, comprising a system for adjusting the width and length of the parking space (300).

6. System (200) according to claim 5, wherein the adjustment system comprises: - a hangar (210) in which the parking space (300) is located; - on the floor of the hangar (210), a plurality of longitudinal third markings (2101) and a plurality of transverse third markings (2102) perpendicular to the plurality of longitudinal third markings (2101), each longitudinal third marking (2101) being separated from each other longitudinal third marking (2101) by a predefined distance, and each transverse third marking (2102) being separated from each other transverse third marking (2102) by a predefined distance; the hangar (210) comprising means for adjusting its length and width using the plurality of longitudinal (2101) and transverse (2102) third markings.

7. A method (400) for validating an autonomous parking function implemented on a vehicle (301) enabling the vehicle (301) to park autonomously in a parking space (300), the validation being performed for a given angular offset (DA) with respect to a principal longitudinal axis (3001) passing through the middle of the space (300) and for a given longitudinal offset (DL) and transverse offset (DT) with respect to a point (PP) of the space (300) located on the principal longitudinal axis (3001) and closest to the vehicle (301) before parking, the vehicle (301) comprising means for calculating and rendering an aerial view of the vehicle (301), the method (400) being carried out using the system (200) according to any one of claims 4 to 6, and comprising the following steps: - Positioning of the mat (100,402) in front of the parking space (300) using the first reference marking (1010) and the second longitudinal markings, (201) and transverse (202) corresponding to the given longitudinal (DL) and transverse (DT) offsets; - Positioning of the vehicle (301, 403) on the mat (100) using the aerial view of the vehicle (301) and the first marking (101) corresponding to the given angular offset (DA).

8. Method (400) according to claim 7, wherein a longitudinal axis of the vehicle (3011) passing through the middle of the vehicle (301) and a transverse axis of the vehicle (3012) passing through the front or rear of the vehicle (301) are implemented on the aerial view and the positioning of the vehicle (301) is achieved by aligning the longitudinal axis of the vehicle (3011) with the first line (1011), and the transverse axis of the vehicle (3012) with the second line (1012) of the first marking (101) corresponding to the given angular offset (DA).

9. Method (400) according to any one of claims 7 or 8, further comprising a triggering step (404) of the autonomous parking function once the vehicle (301) is positioned on the mat (100).

10. Method (400) according to any one of claims 7 to 9, comprising an adjustment step (401) of the width and length of the parking space (300) prior to the triggering step (404).

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