EP3390966A1 - Verfahren und system zur optimierung der parkplatzsuche eines fahrzeuges und ein computerprogrammprodukt - Google Patents
Verfahren und system zur optimierung der parkplatzsuche eines fahrzeuges und ein computerprogrammproduktInfo
- Publication number
- EP3390966A1 EP3390966A1 EP16815837.6A EP16815837A EP3390966A1 EP 3390966 A1 EP3390966 A1 EP 3390966A1 EP 16815837 A EP16815837 A EP 16815837A EP 3390966 A1 EP3390966 A1 EP 3390966A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- optimization
- solution
- destination
- parking space
- parking lot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000004590 computer program Methods 0.000 title claims abstract description 9
- 238000005457 optimization Methods 0.000 claims abstract description 102
- 238000003066 decision tree Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 6
- 238000013459 approach Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3423—Multimodal routing, i.e. combining two or more modes of transportation, where the modes can be any of, e.g. driving, walking, cycling, public transport
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3617—Destination input or retrieval using user history, behaviour, conditions or preferences, e.g. predicted or inferred from previous use or current movement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N7/00—Computing arrangements based on specific mathematical models
- G06N7/01—Probabilistic graphical models, e.g. probabilistic networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
Definitions
- the present invention relates to a method and a system for optimizing the parking space search of a vehicle as well as a related matter
- Object of the present invention is therefore to provide a solution by means of which the parking space search can be optimized.
- the invention is based on the finding that this object can be achieved by determining one or more solution options, wherein the
- Probability of availability is taken into account at least together with the relative position of the parking lot to a destination, to a starting place and optionally to at least one other parking lot. From the solution options then preferably the optimal solution option is selected. This can also be called an optimization solution.
- the object is therefore achieved by a method for optimizing the parking space search of a vehicle.
- the method is characterized in that the method determines at least one solution option and from this at least one solution option an optimization solution is determined, as an optimization parameter, the probability of availability of at least one parking lot, as another optimization parameter, the relative position of the at least one parking lot to a Destination, expressed as the duration for reaching the destination of the at least one parking lot, and as a further optimization parameter, the travel time from a starting place to the
- the search for a parking space of a vehicle is preferably carried out by the driver of the vehicle, who preferably at least partially receives information to improve the search for a parking space.
- Assisted driver assistance system or a navigation system.
- the search for a parking space can also be done by the vehicle itself
- At least one solution option is determined. From the at least one solution option is then a
- a solution option is an option, in particular a parking space, which could possibly be an optimization solution.
- the optimization solution is a solution to an optimization problem.
- An optimization problem is a problem definition or task whose solution leads to the driver's preferred choice of one or more parking spaces.
- the optimization problem for example, the
- optimization criteria in one predetermined range or reach a certain numerical value.
- optimization criteria for example, the minimum time and / or a maximum claim of the driver understood.
- the formulation of the optimization problem is in particular the specification of values, ranges or ratios for optimization criteria for the
- the optimization solution therefore preferably represents one or more parking spaces that meet or meet the optimization criteria defined in more detail in the optimization problem.
- At least one of the following features are provided. According to the invention, at least one of the following features:
- Optimization solution uses several optimization parameters. As a
- Optimization parameter here is the probability of availability of at least one parking space used.
- the probability of availability may be determined, for example, by using historically derived parking lot findability probabilities from other services. Additionally or alternatively, currently reported online or foreseeable future
- Parking availability can be used to determine the likelihood.
- a parking availability currently reported online may be the reporting of a parker or nearby car park visitor who is observing a trip. The foreseeable future
- Parking availability can be determined, for example, by carpooling vehicles that are likely to soon be parked out or through to a vehicle
- the relative position of the at least one parking space to a destination is used.
- the duration for reaching the destination of the at least one parking lot may also be referred to as the target duration.
- the destination can be entered by the driver of the vehicle, for example in a navigation system.
- the relative position of the parking lot to the destination can be determined by using digital maps or information from a navigation system. According to the present invention is preferably for determining the
- Solution options determines the distance of a parking lot to a destination. This can be done for example by determining a radius around a destination.
- probabilities are preferably determined for possible parking lots. Only if a parking space, for example, within a given
- the parking lot is considered as a solution option, which can then be used to determine the optimization solution.
- the relative position of a parking space, that is to say a solution option, to the destination is used according to the invention as an optimization parameter.
- the relative distance of the parking space is used to the destination, which can be specified for example by determining a radius around the destination.
- the duration for reaching the destination from the parking space is preferably determined as an optimization parameter.
- Optimization solution to the optimization problem can be identified, if, for example, due to an awning that can be reached on foot, the destination can be reached in a shorter time than with a parking lot located closer to the destination.
- the travel time from a starting location to the at least one parking space is used as a further optimization parameter.
- the travel time is understood here as the time that is necessary to get from the starting location to at least one of the solution options, that is, at least one parking space.
- the distance, which must be covered here and also as a route may be referred to, may include the sum of the distances from the starting location to a first parking lot and from this to a second parking space.
- Travel time is the sum of the times required for the individual sections.
- a starting position is understood to be a position from which the vehicle is located within a defined radius around the destination. This radius can also be referred to as a target area.
- the perimeter may be entered by the driver or preset in the system according to the invention.
- the distance which a driver may have to cover between his current position and the starting point may also be referred to as the approach distance.
- the travel time is the time required by the driver of the vehicle in the vehicle from the starting point to an actually available parking space. If, for example, a parking space is identified in which the probability that it is available is low, it is preferable to identify at least one additional parking space where the probability is greater, even if the travel time to this additional parking space is longer than the journey time to the first Parking is. Namely, since the likelihood at the other parking lot is higher, the driving time at this parking lot may be higher and yet the expectation of the driver can be fulfilled.
- the optimization solution leads to a reliable statement regarding an optimal parking space and preferably to a reliable statement regarding a route along which there is a high probability of finding a parking space that meets the expectations of the driver.
- the optimization solution is determined from the solution options by taking into account an expected value of the driver.
- the expected value in the simplest embodiment represents the product of probability of
- Destination duration This may be specified by the driver, whether the
- the weighting of the optimization parameters can be specified by the driver.
- the driver can specify this, for example, by entering into a navigation system or an input unit of the optimization system. For example, the driver may indicate that the maximum search time should be minimized. In this case, if necessary, a longer target duration can be accepted, the
- Probability of availability of the parking space is maximized.
- the driver may indicate that the maximum target duration should be minimized. In that case, a longer search time can be accepted and the probability of availability reduced.
- the effort required to reach the destination from the at least one parking space is determined.
- the effort here takes into account at least the duration for reaching the destination of the at least one parking lot, that is the
- the effort is used as a parameter to determine the duration for reaching the destination of the at least one parking lot, that is, the target duration.
- effort is understood to be the effort existing for the respective driver.
- the effort therefore preferably personal preferences and / or characteristics of the driver are used.
- the maximum tolerated walking time can be taken into account when determining the effort.
- the effort serves as a limit.
- the walking speed of the driver can be taken into account.
- the effort to determine the target duration that is, this is calculated using the effort.
- the effort can also be considered as costs and, in particular, as target costs or in-person costs.
- the effort is expressed, for example, by a function.
- the effort required to reach the at least one parking space from a starting location is determined.
- the effort here takes into account at least the journey time from the starting location to the at least one parking space, that is, the at least one solution option.
- the effort is used to determine the journey time.
- the existing driver for the effort To determine the effort therefore preferably personal preferences of the driver and / or properties of the vehicle are used. For example, when determining the effort, the maximum fuel consumption tolerated by the driver can be taken into account. In this case, the effort serves as a limit. Alternatively or additionally, for example, the maximum speed of the
- Determination of the journey time ie this is calculated using the effort.
- the effort can also be referred to as costs and in particular as travel costs.
- the effort is expressed, for example, by a function.
- At least one of the at least one parking lot is used to determine the time to reach the destination
- At least one alternative mode of locomotion may be used in determining the duration to achieve the
- Solution options such as being displayed.
- Optimization solution for the formulated optimization problem is to spend first of all this optimization solution and only in case of failure, for example, if the parking space was occupied against a probability estimate, to find further solution options and to search for another optimization solution.
- the optimization order in which the solution options can be brought when determining multiple solution options is
- Prioritization understood according to one of the optimization criteria or a ratio of the optimization criteria.
- the order of the solutions can be displayed to the driver of the vehicle or otherwise output, for example transmitted to a unit of a navigation system.
- Optimization order specifies an optimization solution in which the expected total duration, ie the sum of travel duration and destination duration, is the lowest for reaching the destination.
- the optimization order is thus determined by the optimization criteria of the duration for reaching the destination from the parking space and the search duration for searching the parking space.
- the Optimization criterion of probability is treated as subordinate.
- the first optimization solution in the optimization order is an optimization solution in which the
- Probability of availability of at least one parking space is highest. For example, in this embodiment, a parking lot where the likelihood of availability is high, but relatively far from the destination, may be preferable, since the driver then surely has a parking space and the footpath or transportation with alternative
- each optimization order that is, each potential route, receives an expected total duration, that is, sum of travel duration and destination duration.
- each optimization order receives a maximum total duration with at least one probability p and / or a minimum total duration with at least one probability p.
- the driver can therefore indicate which of the optimization criteria should be decisive.
- a route is determined that the
- the duration of travel determined from the start location to the first solution option is the duration for achieving a second solution option from the first solution option
- the route can, for example, via the navigation system of the vehicle
- Optimization order defined route departs.
- a suitable route for the individual vehicle to this optimal parking space can be determined.
- the selection of the optimization solutions is based on a decision tree.
- a decision tree has the advantage that not all possible combinations of routes need to be analyzed along solution options. Rather, by weighting the individual branches of the decision tree, a targeted finding of one or more solutions to the optimization problem can take place.
- a decision tree is used in which the root node indicates the starting point of the optimization, that is, the point from which a search for a parking space takes place.
- the starting point of the optimization is usually different from the current location of the vehicle.
- the starting point of the optimization can be determined, for example, by simple distance analysis, that is to say definition of a search area around the destination. In this search area are then the solution options, ie parking, at least one of which is a probability of
- This testing method also known as upper bound / lower bound, further improves the result of the optimization, in particular the solution (s) of the optimization problem.
- branch-and-bound method is used, that is, the optimization solutions by using a
- the expected value of the driver used preferably the probability of availability as well as the travel cost and the target cost.
- the optimization problem can be divided into subproblems.
- the tree structure is determined by dividing the possible parking lots in a different order.
- the bound step it is determined which branches of the decision tree are not pursued. This limits the calculation effort.
- an upper limit value (upper bound UB) and a lower limit value LB are preferably calculated and the values of the respective node, in particular the expected values of the respective node, are compared with limit values of another node.
- the present invention relates to a system for optimizing the parking space search of a vehicle.
- the system is characterized in that the system comprises at least one solution unit for determining at least one optimization solution from at least one solution option, at least one determination unit for determining the probability of availability of at least one parking space, at least one determination unit for determining the duration for reaching the destination from the parking space and
- At least one calculation unit for calculating the travel time from a start location to at least one parking space and the solution unit is connected to the determination unit, the determination unit and the calculation unit.
- the units of the system according to the invention can be designed as separate units. However, it is also within the scope of the invention that the units are at least partially summarized.
- the units can be implemented at least partially as software.
- the determination unit for determining the probability of availability is preferably connected to at least one database and / or a service server, and can receive current and / or historical data on the availability of a parking space via the connection.
- Destination from the parking lot and / or the calculation unit for calculating the travel time from a starting location to at least one parking space is preferably connected to a further database, in which preferences of the
- the solution unit By connecting the solution unit to the other units of the system, when determining the at least one optimization solution from at least one solution option, the probability of availability as well as the duration of the journey and the time to reach the destination from the parking space can be taken into account.
- the solution unit can also be connected to at least one database in which, for example, preferences of the driver can be stored, and based on the information of the preferences obtained from this database, the optimization problem can be formulated accordingly in the solution unit.
- the solution unit or a further unit of the system is preferably connected to a database in which at least information on alternative means of transportation is contained in parking spaces.
- the geographical indications required for identifying parking spaces and calculating the different time periods (travel time and destination duration) are preferably obtained from a digital map.
- the system comprises
- Navigation system or has at least one interface for communication with a navigation system.
- Navigation system or the integration of the system in a navigation system has the advantage that on the one hand required information, such as positions of parking lots, the destination, road courses, gravitwegverformat and the like of the System can be easily obtained.
- an output unit for optically and / or acoustically outputting information is generally provided on a navigation system.
- This output unit can be used by the system according to the invention and the optimization solutions, for example in the form of a route, can be output via this.
- the invention relates to a computer program product which can be loaded into a digital computer or computer system, in particular into the internal memory and comprises software code sections with which the steps of the method according to the invention are carried out when the product is running on the computer or computer system ,
- the computer or the computer system may, for example, the computer unit of the system according to the invention and preferably the computer unit of a
- the software code sections may also be referred to as an algorithm.
- the computer program product comprises at least two
- the computer program product and in particular the software code sections preferably have at least one interface to a navigation system of the vehicle. This interface may act as a polling command in the
- the present invention thus provides a possibility, in the case in which a place with too few parking spaces on the road is searched for a place for the vehicle, to provide support, such as fast and not too far from the destination a parking space can be found.
- a route may be generated for the "last mile" to a destination in a vehicle.
- FIG. 1 shows a schematic representation of several positions of a vehicle
- FIG. 2 is a schematic representation of a decision tree
- Figure 3 a schematic representation of a review of a
- FIG. 1 shows a possible route of a vehicle by specifying positions x.
- the vehicle (not shown) is located, for example, at the position x s .
- the driver indicates the position xt. For example, the driver can enter this information in a
- the driver may unnecessarily start at xi and X2 if the likelihood of their availability is too low or if they choose the parking lot at position xi, even though the parking lot at x2 has a smaller relative distance to the destination xt.
- an optimization problem is solved in which at least the optimization parameters of the probability of availability, the travel time and the relative position of the parking space to the destination are taken into account.
- At least one of the options must have a probability of success of one. For example, there may be a parking garage. Has none of the options one
- the costs can also be described as expenses.
- the cost function is especially in the
- Expenses are taken into account, for example, the walking speed of the driver.
- a cost function Cd (i, j, s) with 0 ⁇ j, i ⁇ n, which quantifies the cost to travel from Xj to xi when the current position of the vehicle is s is also given.
- This position can be used, for example, to distinguish between directions in which the vehicle is directed.
- the cost may be the difference for a vehicle pointing north on the left lane and a vehicle heading south on the right lane.
- the costs which are also referred to as expenses, also in the
- the possible driving speed or the driver's reasonable reasonable fuel costs can be considered.
- ⁇ : ⁇ 1,..., N ⁇ - > ⁇ 1,..., N ⁇ is a permutation which describes the order.
- the goal is to find the permutation that minimizes the following: arg min E ( ⁇ ,)
- ⁇ 3 (1 - ⁇ ⁇ ⁇ ⁇ 2 ) ⁇ 3
- ⁇ ⁇ . defines the probability that the j-th attempt succeeds after previously j-1 unsuccessful attempts.
- k n. sl + Plwl + P2 (tl2 + w2) + P3 (tl2 + t23 + w3) + ⁇
- the optimal permutation ⁇ ie the optimization solution, can be found by evaluating all permutations. However, these can be numerous. For n options, n! different permutations are checked. In order to obtain a suitable solution in an acceptable time, a branch-and-bound scheme is preferably used according to the invention.
- the root node at which optimization begins and is also called the start location is xo (represented as 0). From this starting point several decisions are possible. In particular, the parking lot xi comes into consideration as an option. Also the parking lots X2 and X3 could be considered.
- E ft, p j can be evaluated without considering n j , ..., ⁇ ⁇ .
- an upper limit (Upper Bound UB) is preferably determined.
- One of the advantages of the present invention is that it represents a time saving for the driver.
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015225893.9A DE102015225893A1 (de) | 2015-12-18 | 2015-12-18 | Verfahren und System zur Optimierung der Parkplatzsuche eines Fahrzeuges und ein Computerprogrammprodukt |
PCT/EP2016/081508 WO2017103157A1 (de) | 2015-12-18 | 2016-12-16 | Verfahren und system zur optimierung der parkplatzsuche eines fahrzeuges und ein computerprogrammprodukt |
Publications (1)
Publication Number | Publication Date |
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EP3390966A1 true EP3390966A1 (de) | 2018-10-24 |
Family
ID=57589035
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP16815837.6A Ceased EP3390966A1 (de) | 2015-12-18 | 2016-12-16 | Verfahren und system zur optimierung der parkplatzsuche eines fahrzeuges und ein computerprogrammprodukt |
Country Status (5)
Country | Link |
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US (1) | US11150094B2 (de) |
EP (1) | EP3390966A1 (de) |
JP (1) | JP6921076B2 (de) |
DE (1) | DE102015225893A1 (de) |
WO (1) | WO2017103157A1 (de) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102017221179A1 (de) * | 2017-11-27 | 2019-05-29 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Unterstützung bei der Parkplatzsuche, Fahrzeug, Backend, System, Computerprogramm und Computerprogrammprodukt |
CN110293961B (zh) * | 2018-03-23 | 2021-01-01 | 比亚迪股份有限公司 | 一种自动泊车***、方法及车辆 |
DE102018207863A1 (de) * | 2018-05-18 | 2019-11-21 | Bayerische Motoren Werke Aktiengesellschaft | Vorrichtung und Verfahren zum Ausgeben von Navigationsinformation sowie Fahrzeug |
EP3611470B1 (de) * | 2018-08-14 | 2021-04-07 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und vorrichtungen zur ermittlung von routen zur streckenführung eines fahrzeugs |
CN109186611B (zh) * | 2018-10-31 | 2020-09-15 | 南京航空航天大学 | 无人机飞行路径分配方法及装置 |
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JP6921076B2 (ja) | 2021-08-18 |
WO2017103157A1 (de) | 2017-06-22 |
DE102015225893A1 (de) | 2017-06-22 |
US11150094B2 (en) | 2021-10-19 |
JP2018537674A (ja) | 2018-12-20 |
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