JP7486948B2 - 自動バレーパーキング支援システム及び方法、並びにそのためのインフラストラクチャ及び車両 - Google Patents
自動バレーパーキング支援システム及び方法、並びにそのためのインフラストラクチャ及び車両 Download PDFInfo
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Classifications
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- 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
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- 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
- 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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- 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
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- 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
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- 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
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3661—Guidance output on an external device, e.g. car radio
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- 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
- G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- 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
- G05D1/0248—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 in combination with a laser
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
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- 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
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- 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
- G08G1/148—Management of a network of parking areas
-
- 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
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
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Description
Claims (18)
- 自動バレーパーキングを行う方法であって、
自動バレーパーキングを開始するステップと、
インフラストラクチャから車両へターゲットポジション及びガイドルートを伝送するステップと、
前記ガイドルートに沿って前記車両が自律走行を行うステップと、
前記ターゲットポジションに前記車両が自律駐車を行うステップと、
自動バレーパーキングを終了するステップとを含み、
前記ガイドルートは、駐車場内に設置された発光装置による発光として前記インフラストラクチャから前記車両へ伝送され、
前記車両は、搭載されたセンサを介して前記発光を認識し、
前記発光は、複数の車両が区別認識するために時分割される、自動バレーパーキングを行う方法。 - 発光は開始パターン、区分パターン、ガイドルートパターン及び終了パターンを含む、請求項1に記載の自動バレーパーキングを行う方法。
- 前記インフラストラクチャは、複数の車両それぞれに第n時間フレームを割り当て、
前記複数の車両それぞれは、前記開始パターン及び前記区分パターンに基づいて前記第n時間フレームを区別する、請求項2に記載の自動バレーパーキングを行う方法。 - 前記車両は、自分に割り当てられた前記第n時間フレームに認識される前記発光に基づいて前記自律駐車を行う、請求項3に記載の自動バレーパーキングを行う方法。
- 前記ガイドルートパターンは2進数パターンを含む、請求項2に記載の自動バレーパーキングを行う方法。
- 前記2進数パターンは前記車両の制御命令を表示する、請求項5に記載の自動バレーパーキングを行う方法。
- 前記2進数パターンは前記車両の緊急ブレーキを表示する、請求項6に記載の自動バレーパーキングを行う方法。
- 前記2進数パターンは前記車両のターゲットポジションを表示する、請求項5に記載の自動バレーパーキングを行う方法。
- 自動バレーパーキングを行う方法であって、
自動バレーパーキングを開始するステップと、
インフラストラクチャから車両へターゲットポジション及びガイドルートを伝送するステップと、
前記ガイドルートに沿って前記車両が自律走行を行うステップと、
前記ターゲットポジションに前記車両が自律駐車を行うステップと、
自動バレーパーキングを終了するステップとを含み、
前記ガイドルートは、駐車場内に設置された発光装置による発光として前記インフラストラクチャから前記車両へ伝送され、
前記車両は、搭載されたセンサを介して前記発光を認識し、
前記発光は、複数の車両が区別認識するために周波数分割される、自動バレーパーキングを行う方法。 - 前記搭載されたセンサはカメラセンサを含む、請求項1乃至9のいずれか一項に記載の自動バレーパーキングを行う方法。
- 前記発光装置は、前記駐車場内の地面に埋め込まれたLEDランプであることを特徴とする、請求項1乃至9のいずれか一項に記載の自動バレーパーキングを行う方法。
- 前記発光装置は、前記駐車場内の天井、外壁または柱に取り付けられたレーザーランプであり、
前記車両は、前記レーザーランプが前記駐車場の地面へ放出する前記発光を認識する、請求項1乃至9のいずれか一項に記載の自動バレーパーキングを行う方法。 - 自動バレーパーキングを行うための装置であって、
演算を行うように構成されるプロセッサと、
光を出力するように構成される発光装置とを含み、
前記プロセッサは、自動バレーパーキングを行う車両がターゲットポジションへ走行するためのガイドルートを決定し、決定されたガイドルートに基づいて前記発光装置を制御し、
前記発光装置は、前記プロセッサの制御に基づいて前記ガイドルートに対応する発光を表示し、
前記プロセッサは、複数の車両によって区別認識されるために時分割された発光が出力されるよう前記発光装置を制御する、装置。 - 自動バレーパーキングを行うための装置であって、
演算を行うように構成されるプロセッサと、
光を出力するように構成される発光装置とを含み、
前記プロセッサは、自動バレーパーキングを行う車両がターゲットポジションへ走行するためのガイドルートを決定し、決定されたガイドルートに基づいて前記発光装置を制御し、
前記発光装置は、前記プロセッサの制御に基づいて前記ガイドルートに対応する発光を表示し、
前記発光は開始パターン、区分パターン、ガイドルートパターン及び終了パターンを含む、装置。 - 自動バレーパーキングを行うための装置であって、
演算を行うように構成されるプロセッサと、
光を出力するように構成される発光装置とを含み、
前記プロセッサは、自動バレーパーキングを行う車両がターゲットポジションへ走行するためのガイドルートを決定し、決定されたガイドルートに基づいて前記発光装置を制御し、
前記発光装置は、前記プロセッサの制御に基づいて前記ガイドルートに対応する発光を表示し、
前記発光装置は、前記複数の車両それぞれに割り当てられた複数の時間フレームに時分割された発光を出力する、装置。 - 前記ガイドルートパターンは、前記車両の制御命令を表示する2進数パターンを含む、請求項14に記載の装置。
- 前記2進数パターンは前記車両のターゲットポジションを表示する、請求項16に記載の装置。
- 前記発光装置は、駐車場内の地面に埋め込まれたLEDランプである、請求項13乃至17のいずれか一項に記載の装置。
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KR1020180173384A KR102651412B1 (ko) | 2018-12-31 | 2018-12-31 | 자율 발렛 주차를 지원하는 시스템 및 방법, 그리고 이를 위한 인프라 및 차량 |
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JP7095968B2 (ja) * | 2017-10-02 | 2022-07-05 | トヨタ自動車株式会社 | 管理装置 |
DE102021203107A1 (de) | 2021-03-29 | 2022-09-29 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Bestimmen einer Position und Ausrichtung eines Fahrzeugs innerhalb einer von einem Parkplatz umfassten Abholposition |
CN113997932A (zh) * | 2021-11-30 | 2022-02-01 | 北京万集科技股份有限公司 | 一种自动泊车方法、路侧设备、车辆及*** |
CN114572100B (zh) * | 2022-02-24 | 2023-10-13 | 岚图汽车科技有限公司 | 代客泊车的灯光迎宾方法、装置、设备及可读存储介质 |
CN115457798B (zh) * | 2022-08-15 | 2023-09-19 | 东风汽车集团股份有限公司 | 自动驾驶车辆停车位导引方法、装置、设备及存储介质 |
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DE102012222562A1 (de) | 2012-12-07 | 2014-06-12 | Robert Bosch Gmbh | System für bewirtschaftete Parkflächen zur Überführung eines Fahrzeugs von einer Startposition in eine Zielposition |
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TW542739B (en) * | 2001-05-25 | 2003-07-21 | Interlego Ag | System for transmitting and receiving information about the orientation of a robot and information about the distance between the system and a robot |
WO2009117755A2 (en) * | 2008-03-26 | 2009-10-01 | Software System Solutions Fc-Llc | Automated parking guidance and management system |
KR101182853B1 (ko) * | 2008-12-19 | 2012-09-14 | 한국전자통신연구원 | 자동 주차 대행 시스템 및 방법 |
KR101488571B1 (ko) * | 2012-12-31 | 2015-02-02 | 대성전기공업 주식회사 | 가시광 무선 통신을 이용한 주차 안내 시스템 및 주차 안내 방법 |
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CN111508251A (zh) | 2020-08-07 |
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