CN109070878A - For assisting to drive vehicle automatically to the method and system of specific position - Google Patents
For assisting to drive vehicle automatically to the method and system of specific position Download PDFInfo
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- CN109070878A CN109070878A CN201780017386.9A CN201780017386A CN109070878A CN 109070878 A CN109070878 A CN 109070878A CN 201780017386 A CN201780017386 A CN 201780017386A CN 109070878 A CN109070878 A CN 109070878A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000004590 computer program Methods 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 230000003466 anti-cipated effect Effects 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000010009 beating Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/10—Automatic or semi-automatic parking aid systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
It assists to drive vehicle (1) to the method for specific position (P4) automatically the present invention relates to a kind of.The positioning of the vehicle (1) is based on the explanation of the image of the ambient enviroment (L) including the specific position (P4).Method includes the following steps: determining the current location of the vehicle (1)；Before by the vehicle (1) automatically driving to the specific position (P4), the image (1i) of the vehicle is provided at the specific position (P4) in the image of the ambient enviroment (L)；And the vehicle (1) is driven automatically to the position of the described image (1i) of the vehicle.The invention further relates to a kind of assistance to drive vehicle automatically to the system of specific position.The invention further relates to a kind of vehicles.The invention further relates to a kind of computer programs and a kind of computer program product.
Description
Technical field
The present invention relates to a kind of assistance as described in the preamble according to claim 1 to drive vehicle automatically to certain bits
The method set.The invention further relates to a kind of assistance to drive vehicle automatically to the system of specific position.The invention further relates to one kind
Vehicle.The invention further relates to a kind of computer programs and a kind of computer program product.
Background technique
Heavy vehicle (such as truck) needs relatively skilled driver, by vehicle manual actuation and is located in certain positions
Place, such as loading depot and/or discharge point are set, to load and/or unload the vehicle.Such loading/unloading station may need
Want certain position mode, the docking of such as vehicle.Less skilled driver may cause in this case and drive and determine
Vehicle is relevant damages caused by vehicle and/or loading depot for position.
In order to assist parking for vehicle, it has been suggested that the different solutions for parking automatically.Such solution
It is usually directed to parking for vehicle.
US2014058613 and US2015127208 discloses the system for parking automatically, and wherein the positioning of vehicle is based on
Explanation including being intended to the image of the relevant ambient enviroment in the position parked to vehicle.
However, it is necessary to be improved to driving vehicle to specific position automatically.
Summary of the invention
A purpose of the invention is to provide a kind of assistance and drives vehicle automatically to the method for specific position, and this method provides
It by vehicle safety and effectively drives and is located in automatically at the position for needing good driving efficiency, to avoid driving manually performing
Vehicle and/or position are damaged by driver in the case where dynamic and positioning.
It is a further object of the present invention to provide a kind of assistance to drive vehicle to the system of specific position automatically, with assist by
Vehicle is driven automatically to specific position, which, which provides vehicle safety and effectively drive and be located in automatically, needs driver
Good driving efficiency position at, to avoid manually perform driving and positioning in the case where vehicle and/or position are caused
Damage.
The these and other objects appeared from being described below pass through the method as described in accompanying independent claim, are
System, vehicle, computer program and computer program product are realized.The preferred embodiment of this method and system it is appended from
Belong to and being limited in claim.
Specifically, vehicle is driven the method to specific position come real by a purpose of the invention automatically by a kind of assistance
It is existing.The explanation of image of the positioning of the vehicle based on the ambient enviroment for including the specific position.This method includes following step
It is rapid: to determine the current location of the vehicle；It is driven to before the specific position automatically by the vehicle, the ring around described
The image of the vehicle is provided in the specific position in the image in border；And the vehicle is driven automatically to the vehicle
The position of described image.
The step of determining the current location of vehicle includes using global navigation satellite system GNSS, example according to an embodiment
Such as the global position system GPS for continuously determining the position of vehicle.The image of ambient enviroment including the specific position
Explanation obtained according to an embodiment by means of extracting the cartographic information that is related to one's environment, which includes vehicle
It is intended to the position for positioning its own, such as loading/unloading station.Therefore, according to an embodiment, this method includes extracting
The step of cartographic information being related to one's environment, the cartographic information include cartographic information related with the specific position, from
And obtain the image of the ambient enviroment of the specific position.
The explanation of the image of ambient enviroment including the specific position is usually view viewed from above.It is described specific
The image of the ambient enviroment of position can be map view or earth view.
The image of the vehicle can be accessed from any suitable storage device, and the storage device such as external storage fills
Set (such as server unit, tablet computer, laptop computer and/or smart phone) and/or arrangement in the car for depositing
The internal storage device of image data is stored up, such internal storage device is included in the electronic control unit of vehicle or connects
To the electronic control unit of vehicle.
It can be by the step of the specific position provides the image of the vehicle in the image of the ambient enviroment
In by image drag and drop and being located in specific position and execute.Institute is provided in the specific position in the image of the ambient enviroment
The image for stating vehicle can be executed by the operator of vehicle or execute in outside or execute automatically.
By providing the image of the vehicle in the specific position in the image of the ambient enviroment, assist vehicle
The position is securely and effectively driven and is located in automatically, wherein the position, which can be, should need good driving efficiency
Position (such as loading/unloading station), to avoid manually perform driving and positioning in the case where vehicle and/or position are caused
Damage.
According to an embodiment, this method includes that the image of the configuration of the determining specific position is used as by the vehicle
Driving to the specific position basis step.
According to the embodiment of this method, the step of determining the image of the configuration of the specific position includes creating the spy
The step of positioning the present image for the configuration set and/or the image of storage of configuration of the specific position be provided.In this way
Image be usually from the image of ground observation in horizontal direction, i.e., by stand (such as loading/unloading station) in the position
People on the ground of front shoots from ground location or (such as loads/unload in the position by means of the vehicle or other vehicles
Carry station) image that shoots of front.
The step of creating the present image of the configuration of the specific position can be examined by means of any suitable image
It surveys unit to obtain, which includes the one or more camera units being arranged on vehicle and/or one or more
A external camera unit, the camera unit being such as included in the smart phone used by the operator of vehicle.It is described
The one or more camera units being arranged on vehicle can be arranged to front phase related to the rear portion of vehicle, with vehicle
It closes, related to the one or both sides of vehicle, and/or top correlation with vehicle.
The configuration of the specific position (such as loading/unloading station) may include the size of specific position, and such as vehicle is anticipated
Figure in positioning potential wall therebetween, such potential wall height and between distance, constitute vehicle and be intended to away from its spy
The potential end wall of retainer, the height of potential platform and such potential platform, potential top and the top that set a distance positions
Highly, i.e., the distance of the sealing from ground to top.
By so determine the image of the configuration of the specific position be used as by the vehicle traction to described specific
The basis of position provides additional information related with the position, therefore further improves the automatic driving and positioning of vehicle.If
Described image is by means of the operator of vehicle and/or by means of driving and to be located in specific location relevant to by vehicle is practical
The camera unit on the vehicle is arranged in create, then can detecte when being automatically positioned vehicle and is adjusted and certain bits
The specific position phase setting the potential variation of the configuration of (such as loading/unloading station) and/or being not present in the image of ambient enviroment
The related information of the barrier of pass.
According to an embodiment, this method includes the configuration based on the so determining specific position and the vehicle
Configuration positioning of the image to adjust the vehicle the step of.
The configuration of the vehicle includes and, in the relevant any information of the specific position, which includes by vehicle location
The size of vehicle, such as height, width and length, if vehicle includes tractor and trailer, the information include tractor and
The size of trailer, potential tail portion lifting platform etc..
By so being adjusted based on the image of the configuration of the specific position so determined and the configuration of the vehicle
The positioning of the whole vehicle, further improves the automatic positioning of the vehicle, because including configuration and the vehicle of the position
The more detailed information of configuration is taken into account.
According to the embodiment of this method, the vehicle is distribution vehicle and wherein the specific position includes for filling
Carry and/or unload the loading and/or discharge point of the vehicle.
Vehicle can be automatic drive type vehicle.Vehicle can be the vehicle in row, and wherein vehicle is intended to be located in spy
The other vehicles positioned in setting and arranging are intended to be located in other specific positions of regulation ambient enviroment, according to an embodiment
Different location be different loading/unloading station.Vehicle can be leader's vehicle in the row with driver, wherein vehicle
Rest part is intended in the automotive vehicle for pulling leader's vehicle, wherein the driver for the leader's vehicle arranged can be intended to wrap
It includes in the described image of the corresponding vehicle of leader's vehicle and provides the image of the corresponding vehicle in row in each position.
Specifically, the purpose of the present invention is by a kind of for assisting to drive vehicle the system to specific position automatically come real
It is existing.The positioning of the vehicle is arranged as the explanation of the image based on the ambient enviroment for including the specific position.The system includes
For determining the device of the current location of the vehicle；For before being driven the vehicle automatically to the specific position
The device of the image of the vehicle is provided in the image of the ambient enviroment in the specific position；And it is used for the vehicle
The device of the position of described image of the automatic driving to the vehicle.
According to an embodiment, which includes that image for determining the configuration of the specific position is used as by institute
State the device of vehicle traction to the basis of the specific position.
According to the embodiment of the system, the device of the image of the configuration for determining the specific position includes for creating
It builds the device of the present image of the configuration of the specific position and/or is used to provide the described having deposited for the configuration of specific position
Store up the device of image.
According to an embodiment, which includes for based on the configuration of the specific position that so determines and described
The image of the configuration of vehicle adjusts the device of the positioning of the vehicle.
According to the embodiment of the system, the vehicle is distribution vehicle and wherein the specific position includes for filling
Carry and/or unload the loading and/or discharge point of the vehicle.
For assisting to drive vehicle automatically the system to specific position to be adapted for carrying out method as described herein.
The system according to the present invention has the advantages that according to corresponding method.
Specifically, the purpose of the present invention is by a kind of vehicle including the system according to the present invention as described herein come real
It is existing.
Specifically, the purpose of the present invention is by a kind of for assisting to drive vehicle automatically to the computer journey of specific position
Sequence realizes that the computer program includes program code, and the program code is when in electronic control unit or being connected to electronics control
When running on another computer of unit processed, electronic control unit is caused to execute according to the method for the present invention.
Specifically, the purpose of the present invention passes through a kind of computer journey including storing the digital storage media of computer program
Sequence product is realized.
Detailed description of the invention
For a better understanding of the present invention, following specific embodiments are referred to when read in conjunction with the accompanying drawings, wherein identical
Appended drawing reference refers to identical part in several views, and wherein:
Fig. 1 schematically shows the side view of vehicle according to the invention；
Fig. 4 schematically shows the driving vehicle to specific position automatically for assistance of embodiment according to the present invention
System；
Fig. 3 a schematically show the position of the vehicle in the ambient enviroment of embodiment according to the present invention plan view,
The image of the image of ambient enviroment and the vehicle provided in the image of the ambient enviroment in specific position；
Fig. 3 b schematically shows specific position and is located in the side view of the configuration of the vehicle of the specific location；
Fig. 3 c schematically shows the front view of the configuration of specific position；
Fig. 4 schematically shows the driving vehicle to specific position automatically for assistance of embodiment according to the present invention
Method block diagram；And
Fig. 5 schematically shows the computer of embodiment according to the present invention.
Specific embodiment
Hereinafter, term " link " refers to communication link, can be physical connector (such as photoelectric communication line)
Or non-physical connections device (being such as wirelessly connected, such as radio or microwave link).
Hereinafter, term " assistance drive vehicle to specific position automatically " refer to by propulsion and steering vehicle come
Vehicle is automatically brought into operation from a position to specific position, so as to correctly close to specific position and in a manner of safe and efficient
By vehicle location in specific position, the configuration to vehicle and specific position is avoided to damage.
Hereinafter, term " specific position " refers to any position that vehicle (such as truck) can position.Term is " special
Positioning set " may include vehicle be intended to positioning ground region and when positioning on location when vehicle periphery ground
The specific additional areas in face.Term " specific position " may include that vehicle is intended to the space of the vehicle periphery positioned and when fixed
Position on location when vehicle periphery ground specific exceptional space.Term " specific position " may include for loading
And/or the loading/unloading station suitable for distribution vehicle of unloading.Term " specific position " may include be suitable for will be filled fuel or
Convey the fuel station of the fuel truck of fuel.
Hereinafter, term " configuration of specific position " refer to when by vehicle traction to specific position and by vehicle with
Any construction of relevant specific position when specific position relatively positions.Term " construction of specific position " can refer to certain bits
The size set, such as vehicle be intended to position potential wall therebetween, such potential wall height and the distance between,
Constitute the height that vehicle is intended to the potential end wall of the retainer positioned away from its specific range, potential platform and such potential platform
It spends, the height at potential top and top, the i.e. distance of the sealing from ground to top.
Hereinafter, term " configuration of vehicle " refer to about to for by vehicle location it is related in the specific position
Vehicle any information.Term " configuration of vehicle " can be the size (such as height, width and length) of vehicle, if vehicle
Include tractor and trailer, then the size include tractor and trailer, potential tail portion lifting platform and such tail portion lifting
Platform from vehicle rear reduce position extension and reduce position tail portion lifting platform horizontal, potential back door and they beating
Extension, (one or more) potential side door (it can be sliding door), the level of vehicle body in open state and therefore vehicle
The size of the loading of rear and/or the side of vehicle/unloading surface level.
According to an embodiment, term " provides the vehicle in the specific position in the image of the ambient enviroment
Image " refer to by the image configurations of vehicle in the image of the specific position of ambient enviroment, the wherein image of vehicle and week
The image in collarette border is identical ratio.
The image of the ambient enviroment of the image of the vehicle and the specific position is according to an embodiment usually from upper
Side's observation.The image of the ambient enviroment of the specific position can be map view or earth view.
The image of the ambient enviroment of the image of the vehicle and the specific position is 3D view according to an embodiment.
Fig. 1 schematically shows the side view of vehicle according to the invention 1.Example vehicle 1 is the weight in truck shape
Type vehicle.Vehicle according to the invention can be any suitable vehicle, such as bus or car.Vehicle according to the present invention
It can be automatic drive type vehicle.Vehicle includes for assisting to drive vehicle automatically to the system I of specific position.
Fig. 2 schematically show embodiment according to the present invention for assisting to drive vehicle to specific position automatically
System I.
Vehicle is distribution vehicle according to an embodiment, and specific position includes for loading according to an embodiment
And/or the loading and/or discharge point of the unloading vehicle.
System I includes electronic control unit 100.
System I includes the device 110 for the explanation for determining the image of the ambient enviroment including the specific position.
For determining that the device 110 of the explanation of the image of the ambient enviroment including the specific position includes for extracting packet
Include the device 112 of the cartographic information of the explanation of the image of the ambient enviroment of the specific position.
The device 112 that cartographic information for extracting the image including ambient enviroment illustrates includes ground according to an embodiment
Figure information unit, which includes map datum, which includes the ambient enviroment with the specific position
And the related information of potential explanation of specific position.
The explanation of the image of ambient enviroment including the specific position is view usually viewed from above.It is described specific
The image of the ambient enviroment of position can be map view or earth view.
System I includes the device 120 for determining the current location of the vehicle.For determining the present bit of the vehicle
The device 120 set includes global navigation satellite system GNSS, such as the position for continuously determining vehicle according to an embodiment
Global position system GPS.
System I includes the storage device 130 for storing the data of the vehicle according to an embodiment.The vehicle
Data include the data of the image of the vehicle.Storage device 130 is configured to store according to an embodiment viewed from above
The data of the image of the vehicle.The vehicle it is such stored image may have access to offer (such as duplication, it is mobile, drag
Put) to another image, such as in the image of map view/earth view form ambient enviroment.The data of the vehicle include
The data of the configuration of vehicle, the data include and the data by vehicle location in the relevant information of the specific position, including vehicle
Size, such as height, width and length, and the size including tractor and trailer, potential tail under applicable circumstances
The data etc. of portion's lifting platform.
Storage device 130 includes vehicle-mounted internal storage device 132.Internal storage device 132 can be for storing letter
Any suitable device of breath, control unit, computer etc..Internal storage device 132 included according to an embodiment
In electronic control unit 100.
Storage device includes the external memory 134 of outside vehicle.External memory 134 can be any suitable
External memory, such as server unit, personal computer, tablet computer, laptop computer, smart phone and/or so-called
Storage cloud etc..
System I include for before being driven the vehicle automatically to the specific position in the figure of the ambient enviroment
The device 140 of the image of the vehicle is provided in the specific position as in.For in the image of the ambient enviroment in institute
The device 140 for stating the image that specific position provides the vehicle includes for assisting image drag and drop and being located in specific position
Device, such as smart phone, laptop computer or with the display for the image for showing the vehicle of the specific position
Computer.Device 140 for providing the image of the vehicle in the specific position in the image of the ambient enviroment can
To be manually operated by the operator of vehicle or in peripheral operation or be automatically brought into operation.
System I includes the device 150 for the vehicle to be driven to the position of the described image to the vehicle automatically.With
Device 150 in the position that the vehicle is driven to the described image to the vehicle automatically may include being used to drive vehicle
Any suitable driving device of (including promoting vehicle, turning to vehicle, abrupt deceleration vehicle and the driving for controlling vehicle).Driving device
It may include any suitable driving device, such as driving the internal combustion engine of vehicle, including electrically driven (operated) electricity for vehicle
The electric driver of motivation or the combination drive construction of the combination drive for vehicle.
Device 150 for the vehicle to be driven to the position of the described image to the vehicle automatically includes being used to be based on
The image of the configuration of the configuration and vehicle of the specific position so determined adjusts the dress of the positioning of the vehicle
Set 152.
Therefore system I includes the configuration for configuration and the vehicle based on the specific position so determined
Image adjusts the device 152 of the positioning of the vehicle.
System I include image for determining the configuration of the specific position be used as by the vehicle traction to described
The device 160 on the basis of specific position.
For determining that the device 160 of the image of the configuration of the specific position includes institute for creating the specific position
State the device 162 of the present image of configuration.Device 162 for creating the present image of the configuration of the specific position can
To include any suitable image detecting element, which includes the one or more cameras being arranged on vehicle
Unit and/or one or more external camera units, are such as included in the smart phone used by the operator of vehicle
Camera unit.The one or more of camera units being arranged on vehicle can be arranged to the rear portion phase with vehicle
It closes, is related to the front of vehicle, related with the one or both sides of vehicle, and/or top correlation with vehicle.
For determining that the device 160 of the image of the configuration of the specific position includes being used to provide the described matching for specific position
The device 164 for having stored image set.
System I includes the device 170 for determining the distance of the configuration from vehicle to specific position.For determining from vehicle
Device 170 to the distance of the configuration of specific position may include being arranged to front phase related to the rear portion of vehicle, with vehicle
Pass, related to one or two side of vehicle, and/or top with vehicle and/or specific position (such as loading/unloading station)
Relevant one or more detector cell.For determining that the device 170 of the distance of configuration from vehicle to specific position can be with
It is single including one or more radar cells, one or more camera units and/or one or more laser radars (Lidar)
Member.
The configuration of the specific position (such as loading/unloading station) may include the size of specific position, and such as vehicle is anticipated
Figure in positioning potential wall therebetween, such potential wall height and between distance, constitute vehicle and be intended to away from its spy
The potential end wall of retainer, the height of potential platform and such potential platform, potential top and the top that set a distance positions
Highly, i.e., the distance of the sealing from ground to top.For determining the device 170 of the distance of the configuration from vehicle to specific position
Thus it is configured to determine such distance.
Electronic control unit 100 is operably coupled to via link 10 for determining to include around the specific position
The device 110 of the explanation of the image of environment.Electronic control unit 100 is arranged to receive via link 10 from described device 110
Signal, the signal indicate for including the specific position ambient enviroment image explanation data.
Electronic control unit 100 is operably coupled to the device 112 illustrated for extracting cartographic information via link 12,
The cartographic information illustrate include ambient enviroment image, which includes cartographic information unit, the map according to an embodiment
Information unit includes map datum, which includes potential with the ambient enviroment of the specific position and specific position
The related information illustrated.Electronic control unit 100 is arranged to receive the signal from described device 112 via link 12, should
Signal indicates the map datum illustrated for cartographic information, the cartographic information illustrate include the specific position ambient enviroment
Image.
Electronic control unit 100 is operably coupled to the dress for determining the current location of the vehicle via link 20
Set 120.Electronic control unit 100 is arranged to receive the signal from described device 120 via link 20, and signal expression is used for
The data of the current location of the vehicle.
Electronic control unit 100 is operably coupled to the storage dress of the data for storing the vehicle via link 30
Set 130.Electronic control unit 100 is arranged to receive the signal from the storage device 130 via link 30, which indicates
For the storing data of the vehicle, the data of the image including the vehicle and with by vehicle location in the specific position
The data of relevant information, the data of the size including vehicle.
Electronic control unit 100 is operably coupled to vehicle-mounted internal storage device 132 via link 32.Electronic control
Unit 100 is arranged to receive the signal from the internal storage device 132 via link 32, which indicates to be used for the vehicle
Storing data, the storing data include the image of the vehicle data and with by vehicle location in the specific position
The data of relevant information, the data include the data of the size of vehicle.
Electronic control unit 100 is operably coupled to vehicle-mounted external memory 134 via link 34.Electronic control
Unit 100 is arranged to receive the signal from the external memory 134 via link 34, which indicates the vehicle
Storing data, the storing data include the data of the image of the vehicle and related in the specific position to by vehicle location
Information data, which includes the data of the size of vehicle.
Electronic control unit 100 is operably coupled to via link 40a for being driven automatically by the vehicle to institute
The device of the image of the vehicle is provided in the specific position in the image of the ambient enviroment before stating specific position
140.Electronic control unit 100 is arranged to send signal to described device 140 via link 40a, which indicates for described
The data of the image of the ambient enviroment of specific position.
Electronic control unit 100 is operably coupled to via link 40b for being driven automatically by the vehicle to institute
The device of the image of the vehicle is provided in the specific position in the image of the ambient enviroment before stating specific position
140.Electronic control unit 100 is arranged to send signal to described device 140 via link 40b, which indicates to be used for vehicle
Image data.
Electronic control unit 100 is operably coupled to via link 40c for being driven automatically by the vehicle to institute
The device of the image of the vehicle is provided in the specific position in the image of the ambient enviroment before stating specific position
140.Electronic control unit 100 is arranged to receive the signal from described device 140 via link 40c, which indicates in institute
It states in the image of ambient enviroment in the data of the image for the vehicle of the specific position.
Electronic control unit 100 is operably coupled to via link 50a for being driven the vehicle automatically to described
The device 150 of the position of the described image of vehicle.Electronic control unit 100 is arranged to send out via link 50a to described device 150
The number of delivering letters, the signal indicate in the image of the ambient enviroment in the number of the image for the vehicle of the specific position
According to.
Electronic control unit 100 is operably coupled to via link 50b for being driven the vehicle automatically to described
The device 150 of the position of the described image of vehicle.Electronic control unit 100 is arranged to send out via link 50b to described device 150
The number of delivering letters, the signal indicate the data of the image of the configuration for the specific position.
Electronic control unit 100 is operably coupled to via link 50c for being driven the vehicle automatically to described
The device 150 of the position of the described image of vehicle.Electronic control unit 100 is arranged to send out via link 50c to described device 150
The number of delivering letters, the signal indicate the data of the configuration for the vehicle.
Electronic control unit 100 is operably coupled to via link 50d for being driven the vehicle automatically to described
The device 150 of the position of the described image of vehicle.Electronic control unit 100 is arranged to send out via link 50d to described device 150
The number of delivering letters, the signal indicate the data for (one or more) distance between vehicle and the configuration of specific position.
Electronic control unit 100 is operably coupled to the figure for determining the configuration of the specific position via link 60
The device 160 of picture.Electronic control unit 100 is arranged to receive the signal from described device 160, the signal table via link 60
Show the image of the configuration for the specific position.
Electronic control unit 100 is operably coupled to the configuration for creating the specific position via link 62
Present image device 162.Electronic control unit 100 is arranged to receive the signal from described device 162 via link 62,
The signal indicates the data of the image of the configuration for the specific position.
Electronic control unit 100 is operably coupled to via link 64 has been used to provide the described the configuration of specific position
Store the device 164 of image.Electronic control unit 100 is arranged to receive the signal from described device 164 via link 64, should
Signal indicates the data of the image of the configuration for the specific position.
Electronic control unit 100 is operably coupled to via link 70 for determining the configuration from vehicle to specific position
Distance device 170.Electronic control unit 100 is arranged to receive the signal from described device 170, the letter via link 70
Number indicate for the configuration from vehicle to specific position distance data.
Fig. 3 a schematically shows the flat of position of the vehicle 1 in ambient enviroment L according to an embodiment of the present invention
Face figure, the image of ambient enviroment L and the vehicle provided in the image of the ambient enviroment L in specific position P4
Image 1i.
Wherein distribution vehicle is intended to driving to for loading and/or unloading to ambient enviroment L according to this embodiment
The place of specific position P1, P2, P3, P4, P5, P6.Specific position P1, P2, P3, P4, P5, P6 therefore include for load and/
Or the loading and/or discharge point of the unloading vehicle 1.It loads and/or discharge point is to load and/or unload place LS herein
A part.
A vehicle 1 shown here, vehicle is the distribution vehicle in truck form according to this embodiment.Vehicle 1 can
To be automatic drive type vehicle.Vehicle 1 can be the vehicle in row according to unshowned embodiment, and wherein vehicle is intended to fixed
Position is in specific position P1, P2, P3, P4, P5, and other vehicles at any position in P6, and in arranging are intended to be located in week
Remaining specific position P1, P2, P3 in the L of collarette border, P4, P5, any position in P6.
Embodiment according to the present invention, vehicle reach ambient enviroment L, it is intended that specific position P4, this is specific for driving
Position P4 is loading/unloading station herein.The current location of vehicle 1 is for example by means of the Global Navigation Satellite System of such as vehicle
GNSS is determined.Determine the image of ambient enviroment, the image according to an embodiment is extracted by means of cartographic information.As a result,
The image of the ambient enviroment of specific position P4, the image are shown by the ambient enviroment L in Fig. 3 a.Therefore the image is from certain bits
Set the view of the top observation of the ambient enviroment L of P4 (i.e. loading/unloading station).The image is in the map view with desired proportion
Or the form of earth view, to cover the current location for loading place LS and vehicle 1.
Vehicle is intended to be automatically driven to specific position P4, i.e. loading/unloading station.It is driven automatically by the vehicle 1
To before specific position P4, the image 1a of the vehicle 1 is provided in specific position P4 in the image of the ambient enviroment L.
In addition, the image of the configuration of the specific position P4 be determined as by the vehicle traction to described specific
The basis of position.The image of the configuration of the specific position P4 can be obtained by means of any suitable image detecting element, should
Image detecting element includes the one or more camera units being arranged on vehicle and/or one or more external camera lists
Member, the camera unit in smart phone such as used by the operator O of vehicle.Therefore such operator O can be shot
The image of specific position P4.Operator can shoot other specific position P1, P2, P3, and the image of P5, P6 is to store and to be used for
Vehicle in other vehicles, such as row.
Determine therefore the image of the configuration of the specific position P4 can be examined by the image by means of being arranged on vehicle 1
It surveys unit and/or the present image of the configuration of the specific position is created by operator O to obtain.
Determine that the image of the configuration of the specific position P4 can also be by providing the storage of the configuration of specific position P4
Image obtains.Having stored information can be based on by another vehicle and/or execute driving and be located in specific position P4
Another operator creation image.
Next vehicle 1 is automatically driven to the position of the image 1i of vehicle, using position P4 configuration image this
It is also act as outside by the basis of vehicle traction to specific position.The automatic driving of vehicle 1 can be for example logical by the operator O of vehicle
Cross the starting such as smart phone.Vehicle 1 it is automatic driving can outside start, such as by delocalization in ambient enviroment L but
The people's starting being located at any desired place opens the automatic driving of vehicle 1 automatically when retrieving above- mentioned information
It is dynamic, such as automatic drive type vehicle.
Fig. 3 b schematically shows the side of the configuration of specific position P4 and the vehicle 1 being located at the specific position P4
View, and Fig. 3 c schematically shows the front view of the configuration of specific position P4.
The configuration of the specific position P4 (being loading/unloading station herein) includes the size of specific position P4.Certain bits
The construction for setting P4 includes that vehicle is intended to position wall P4a, P4b therebetween, provides the top at width W and height H
P4c, height H are constituted from ground G to the distance of the sealing of top P4c.The configuration of specific position P4 includes platform Pd and in this way
Potential platform height.The construction of specific position P4 includes the stop for constituting vehicle 1 and being intended to position away from its specific range D1
The end wall P4e in portion.
It provides for determining from vehicle 1 to the device 170 of the distance of the configuration of specific position P4.For determine from vehicle to
The device 170 of the distance of the configuration of specific position may include be arranged to it is related to the rear portion of vehicle, related with the front of vehicle,
Related, and/or top with vehicle and/or specific position (such as loading/unloading station) phase to one or two side of vehicle
One or more detector cells of pass.
When by vehicle 1, driving is to specific position P4 automatically, the positioning adjusted close to the vehicle 1 of specific position P4 is based on such as
The image of the configuration of the configuration and vehicle of this specific position P4 determined.The configuration of vehicle 1 include with by vehicle
It is located in the relevant any information of the specific position, which includes the size of vehicle, such as height, width and length.It should
Vehicle 1 in embodiment is included in lifting platform TL in tail portion shown in Fig. 3 b, and wherein lifting platform TL in tail portion is in for loading/unloading
The reduction position of carrier vehicle 1.When the positioning of adjust automatically vehicle 1, from lifting platform TL to the distance of end wall P4e and platform
The distance and height of P4d is the received information of image from the configuration of specific position P4, and the letter with the configuration about vehicle 1
Breath is taken into account together, which includes reducing position from vehicle 1 with tail portion lifting platform TL and tail portion lifting platform TL
Potential height adjustment related information of the extension and tail portion lifting platform at rear portion relative to slope P4d.
The configuration of vehicle includes the level of vehicle 1, i.e. level of the vehicle body of vehicle 1 relative to ground, wherein the water of vehicle 1
It is flat to be adjusted relative to the platform P4d of such as configuration of specific position P4.
Positioning at specific position P4 can be expressed as docking.Therefore, vehicle 1 is intended to docking according to an embodiment and exists
At specific position P4.Therefore, vehicle 1 is driven automatically to specific position P4 (being loading/unloading station herein) includes by vehicle 1
Docking is at the loading/unloading station.
Fig. 4 is schematically shown for assisting to drive vehicle automatically to the block diagram of the method for specific position.The vehicle
Positioning based on include the specific position ambient enviroment image explanation.
According to the embodiment, for assisting to drive vehicle into the method to specific position automatically to include step S1.At this
In step, the current location of the vehicle is determined.
According to the embodiment, for assisting to drive vehicle into the method to specific position automatically to include step S2.At this
It in step, is driven to before the specific position automatically by the vehicle, in the spy in the image of the ambient enviroment
Positioning, which is set, provides the image of the vehicle.
According to the embodiment, for assisting to drive vehicle into the method to specific position automatically to include step S3.At this
In step, vehicle is automatically driven the position of the described image to the vehicle.
The step of determining the current location of vehicle includes using global navigation satellite system GNSS, example according to an embodiment
Such as the global position system GPS of the position for continuously determining vehicle.The image of ambient enviroment including the specific position
Illustrate to obtain by means of extracting the cartographic information being related to one's environment according to an embodiment, which includes vehicle
It is intended to the position for positioning its own, such as loading/unloading station.Therefore, according to an embodiment, this method include extract with
The step of ambient enviroment related cartographic information, which includes cartographic information related with the specific position, to obtain
Obtain the image of the ambient enviroment of the specific position.
The explanation of the image of ambient enviroment including the specific position is view usually viewed from above.It is described specific
The image of the ambient enviroment of position can be map view or earth view.
The image of the vehicle can be accessed from any suitable storage device, the storage device such as external memory
(server unit, tablet computer, laptop computer and/or smart phone etc.) and/or arrangement being used in the car
The internal storage device of image data is stored, such internal storage device is included in the electronic control unit of vehicle or connects
It is connected to the electronic control unit of vehicle.
It can be by the step of the specific position provides the image of the vehicle in the image of the ambient enviroment
In by image drag and drop and being located in specific position and execute.Institute is provided in the specific position in the image of the ambient enviroment
The image for stating vehicle can be executed by the operator of vehicle or execute in outside or execute automatically.
By providing the image of the vehicle in the specific position in the image of the ambient enviroment, assist vehicle
The position is securely and effectively driven and is located in automatically, wherein the position can be the good driving skill for needing driver
Can position (such as loading/unloading station), to avoid manually perform driving and positioning in the case where by driver to vehicle and/
Or position damages.
According to an embodiment, this method includes that the image of the configuration of the determining specific position is used as by the vehicle
Driving to the specific position basis step.
According to the embodiment of this method, the step of determining the image of the configuration of the specific position includes creating the spy
The step of positioning the present image for the configuration set and/or the image of storage of configuration of the specific position be provided.In this way
Image be usually from the image of ground observation in horizontal direction, i.e., by stand (such as loading/unloading station) in the position
People on the ground of front shoots from ground location or (such as loads/unload in the position by means of the vehicle or other vehicles
Carry station) image that shoots of front.
The step of creating the present image of the configuration of the specific position can be examined by means of any suitable image
It surveys unit to obtain, which includes the one or more camera units being arranged on vehicle and/or one or more
A external camera unit, the camera unit being such as included in the smart phone used by the operator of vehicle.It is described
The one or more camera units being arranged on vehicle can be arranged to front phase related to the rear portion of vehicle, with vehicle
It closes, related to the one or both sides of vehicle, and/or top correlation with vehicle.
The configuration of the specific position (such as loading/unloading station) may include the size of specific position, and such as vehicle is anticipated
Figure in positioning potential wall therebetween, such potential wall height and between distance, constitute vehicle and be intended to away from its spy
The potential end wall of retainer, the height of potential platform and such potential platform, potential top and the top that set a distance positions
Highly, i.e., the distance of the sealing from ground to top.
By so determine the image of the configuration of the specific position be used as by the vehicle traction to described specific
The basis of position provides additional information related with the position, therefore further improves the automatic driving and positioning of vehicle.If
Described image is by means of the operator of vehicle and/or by means of driving and being located in the relevant cloth of specific position to by vehicle is practical
The camera unit on the vehicle is set to create, then can detecte when being automatically positioned vehicle and is adjusted and specific position
The potential variation of the configuration of (such as loading/unloading station) and/or the specific position being not present in the image of ambient enviroment are related
The related information of barrier.
According to an embodiment, this method includes the configuration based on the so determining specific position and the vehicle
Configuration positioning of the image to adjust the vehicle the step of.
The configuration of the vehicle includes and, in the relevant any information of the specific position, which includes by vehicle location
The size of vehicle, such as height, width and length, if vehicle includes tractor and trailer, the information include tractor and
The size of trailer, potential tail portion lifting platform etc..
By so being adjusted based on the image of the configuration of the specific position so determined and the configuration of the vehicle
The positioning of the whole vehicle, further improves the automatic positioning of the vehicle, because including configuration and the vehicle of the position
The more detailed information of configuration is taken into account.
According to the embodiment of this method, the vehicle is distribution vehicle and wherein the specific position includes for filling
Carry and/or unload the loading and/or discharge point of the vehicle.
Vehicle can be automatic drive type vehicle.Vehicle can be the vehicle in row, and wherein vehicle is intended to be located in spy
The other vehicles positioned in setting and arranging are intended to be located in other specific positions of regulation ambient enviroment, according to an embodiment
Different location be different loading/unloading station.Vehicle can be leader's vehicle in the row with driver, wherein vehicle
Rest part is intended in the automotive vehicle for pulling leader's vehicle, wherein the driver for the leader's vehicle arranged can be intended to wrap
It includes in the described image of the corresponding vehicle of leader's vehicle and provides the image of the corresponding vehicle in row in each position.
Above with reference to Fig. 4 method described and method and step according to utilizing system I according to fig. 2 according to an embodiment
It executes.
With reference to Fig. 8, the chart of equipment 500 is shown.It according to an embodiment may include setting with reference to Fig. 4 system I described
Standby 500.Equipment 500 includes nonvolatile memory 520, data processing device 510 and read/writable memory device 550.It is non-volatile to deposit
Reservoir 520 has first memory part 530, wherein storage computer program (such as operating system), for controlling equipment 500
Function.In addition, equipment 500 includes bus control unit, communication port, I/O device, A/D converter, Time of Day input
With transmission unit, event counter and interrupt control unit (not shown).Nonvolatile memory 520 also has second memory portion
Divide 540.
There is provided computer program P comprising drive vehicle automatically to the program segment of specific position, the vehicle for assisting
Positioning based on include the specific position ambient enviroment image explanation.According to an embodiment, vehicle is dispatching
Vehicle and the wherein specific position include the loading and/or discharge point for loading and/or unloading the vehicle.Program P
Including the program segment for determining the current location of the vehicle.Program P includes for being driven automatically by the vehicle to institute
The program segment of the image of the vehicle is provided in the specific position in the image of the ambient enviroment before stating specific position.
Program P includes the program segment for the vehicle to be driven to the position of the described image to the vehicle automatically.Program P includes using
In the configuration for determining the specific position image as by the vehicle traction to the specific position basis journey
Sequence section.For determining that the program segment of the image of the configuration of the specific position includes matching described in the specific position for creating
The program segment for having stored image of the configuration of the present image and/or the offer specific position set.Program P includes for being based on
The image of the configuration of the configuration and vehicle of the specific position so determined adjusts the journey of the positioning of the vehicle
Sequence section.Computer program P can be stored in single memory 560 and/or read/write in a manner of executable or with the state of compression
In memory 550.
When claim data processing apparatus 510 executes specific function, it should be understood that data processing device 510 executes
It is stored in the specific part of the program in single memory 560, or the particular portion for the program being stored in read/writable memory device 550
Point.
Data processing device 510 can be communicated by means of data/address bus 515 with data communication port 599.It is non-volatile to deposit
Reservoir 520 is suitable for communicating via data/address bus 512 with data processing device 510.Single memory 560 is suitable for via data/address bus
511 communicate with data processing device 510.Read/writable memory device 550 is suitable for logical via data/address bus 514 and data processing device 510
Letter.Such as it is connected to the link of control unit 100 and can connect to data communication port 599.
When data are received in data port 599, it is temporarily stored in second memory part 540.Work as institute
When received input data has been temporarily stored, data processing device 510 is set to execute code in the above described manner.In data terminal
Received signal can be used by equipment 500 with the current location of the determination vehicle on mouth 599.It is connect in data port 599
The signal of receipts can be by equipment 500 using driven to before the specific position automatically by the vehicle, around described
The image of the vehicle is provided in the specific position in the image of environment.Received signal can be by data port 599
Equipment 500 uses the position the vehicle to be driven to the described image to the vehicle automatically.It is received in data port 599
Signal can be used by equipment 500 using the image of the configuration of the determination specific position as by the vehicle traction extremely
The basis of the specific position.Received signal can be by equipment 500 using based on so determination in data port 599
The image of the configuration of the specific position and the configuration of the vehicle adjusts the positioning of the vehicle.It is used by equipment 500
Signal with the image of the configuration of the determination specific position includes being used as equipment 500 to create described in the specific position
The signal for having stored image of the configuration of the present image and/or the offer specific position of configuration.
Each section of method described herein can be stored in single memory 560 or read/writable memory device by means of operation
The data processing device 510 of program in 550 is executed by equipment 500.When equipment 500 runs program, execute described herein
Each section of method.
Foregoing description to the preferred embodiment of the present invention is provided for the purpose of illustration and description.It is not anticipated
Figure is in exhaustion or limits the invention to disclosed precise forms.Obviously, many modifications and variations are for those skilled in the art
It is apparent for member.Selection and description embodiment be in order to best explain the principle and its practical application of the present invention, from
And make others skilled in the art it will be appreciated that various embodiments of the invention and being suitable for expected special-purpose
Various modifications.
Claims (13)
1. one kind is for assisting automatically to drive vehicle to the method for specific position (P4), the positioning of the vehicle (1) is based on packet
Include the explanation of the image of the ambient enviroment (L) of the specific position (P4), which comprises the following steps:
Determine the current location of (S1) described vehicle；
Before by the vehicle (1) automatically driving to the specific position (P4), in the image of the ambient enviroment (L)
The image (1i) of (S2) described vehicle is provided at the specific position (P4)；And
The vehicle (1) is driven to the position of the described image (1i) of (S3) to the vehicle (1) automatically.
2. according to the method described in claim 1, including that the image of the configuration for determining the specific position (P4) is used as will
The vehicle traction to the specific position (P4) basis step.
3. according to the method described in claim 2, the step of wherein determining the image of the configuration of the specific position (P4) includes
It creates the present image of the configuration of the specific position (P4) and/or having deposited for the configuration of the specific position (P4) is provided
The step of storing up image.
4. according to the method in claim 2 or 3, including based on so determine the specific position (P4) configuration and
The step of positioning of the image of the configuration of the vehicle (1) to adjust the vehicle (1).
5. method according to any of claims 1-4, wherein the vehicle (1) is distribution vehicle and wherein described
Specific position includes the loading and/or discharge point for loading and/or unloading the vehicle (1).
6. one kind is driven vehicle (1) automatically to the system (I) of specific position (P4), the positioning of the vehicle (1) for assisting
It is arranged to the explanation of the image based on the ambient enviroment (L) including the specific position (P4), which is characterized in that for determining
State the device (120) of the current location of vehicle；For before by the vehicle (1) automatically driving to the specific position (P4)
The device (140) of the image (1i) of the vehicle is provided in the image of the ambient enviroment (L) at the specific position (P4)；
And the device (150) for the vehicle to be driven to the position of the described image to the vehicle automatically.
7. system according to claim 6, being used as including the image for determining the configuration of the specific position (P4) will
The device (160) on basis of vehicle (1) driving to the specific position (P4).
8. system according to claim 7, wherein the device of the image of the configuration for determining the specific position (P4)
It (160) include the device (162) of present image for creating the configuration of the specific position (P4) and/or described in providing
The device (164) for having stored image of the configuration of specific position (P4).
9. system according to claim 7 or 8, including for the configuration based on the specific position (P4) so determined
And the image of the configuration of the vehicle (1) adjusts the device (152) of the positioning of the vehicle (1).
10. the system according to any one of claim 6-9, wherein the vehicle (1) is distribution vehicle and wherein institute
Stating specific position (P4) includes the loading and/or discharge point for loading and/or unloading the vehicle.
11. a kind of vehicle (1), including the system (I) according to any one of claim 6-10.
12. a kind of computer program (P), the computer program (P) includes program code, and said program code is when in electronics control
Unit (100) processed or be connected on another computer (500) of electronic control unit (100) run when cause electronic control unit
Execute according to claim 1-5 the step of.
13. a kind of computer program product, the stored digital including storing computer program according to claim 12 is situated between
Matter.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1650382-3 | 2016-03-22 | ||
| SE1650382A SE540315C2 (en) | 2016-03-22 | 2016-03-22 | Method and system for facilitating automatic driving of a vehicle to a certain position |
| PCT/SE2017/050228 WO2017164793A1 (en) | 2016-03-22 | 2017-03-09 | Method and system for facilitating automatic driving of a vehicle to a certain position |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109070878A true CN109070878A (en) | 2018-12-21 |
Family
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| CN201780017386.9A Pending CN109070878A (en) | 2016-03-22 | 2017-03-09 | For assisting to drive vehicle automatically to the method and system of specific position |
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| EP (1) | EP3433150A4 (en) |
| CN (1) | CN109070878A (en) |
| SE (1) | SE540315C2 (en) |
| WO (1) | WO2017164793A1 (en) |
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| CN103661105A (en) * | 2012-09-12 | 2014-03-26 | 通用汽车环球科技运作有限责任公司 | Park assist system |
| DE102014200611A1 (en) * | 2014-01-15 | 2015-07-16 | Robert Bosch Gmbh | Method for the autonomous parking of a vehicle, driver assistance device for carrying out the method, and vehicle with the driver assistance device |
| CN105015419A (en) * | 2015-07-17 | 2015-11-04 | 中山大学 | Automatic parking system and method based on stereoscopic vision localization and mapping |
| CN105094132A (en) * | 2015-08-20 | 2015-11-25 | 遵义坤冰科技有限公司 | Intelligent parking system |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3433150A1 (en) | 2019-01-30 |
| SE540315C2 (en) | 2018-06-12 |
| SE1650382A1 (en) | 2017-09-23 |
| EP3433150A4 (en) | 2019-10-09 |
| WO2017164793A1 (en) | 2017-09-28 |
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