Guiding of a motor vehicle in a parking lot

• US 10,048,698 B2
• Filed: 01/28/2016
• Issued: 08/14/2018
• Est. Priority Date: 03/11/2015
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Nordbruch, Stefan, Hoffmann, Stefan
• Primary Examiner(s): Nguyen, Tan Q
• Application Number:
  US15/556,513
• Publication Number:
  US 20180046198A1
• Time in Patent Office: 929 Days
• Field of Search: 701 2, 701 96
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: G01C 21/3685 the POI's being parking facilities
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/0282 generated in a local control room
• CPC Class Codes: G08G 1/096822 where the segments of the route are transmitted to the vehicle at different locations and times
• CPC Class Codes: G08G 1/143 inside the vehicles
• CPC Class Codes: G08G 1/146 where the parking area is a limited parking space, e.g. parking garage, restricted space
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A method for guiding a motor vehicle in a parking facility encompasses steps of ascertaining, externally to the motor vehicle, a trajectory in the parking facility from a starting position to a destination position; transmitting at least a segment of the trajectory to the motor vehicle via a communication network; and monitoring the motor vehicle, by way of a monitoring system external to the motor vehicle, as the segment is traversed, to determine a deviation, the trajectory being ascertained as a function of a property of the motor vehicle. Also described are a corresponding apparatus, a parking system, and a computer program.

Claims

1. A method for guiding a motor vehicle in a parking facility, the method comprising:

ascertaining, externally to the motor vehicle, a trajectory in the parking facility from a starting position to a destination position; and

transmitting at least a segment of the trajectory to the motor vehicle via a communication network;

wherein the motor vehicle is monitored by an off-board monitoring system, as the segment is traversed, to determine a deviation as the segment is autonomously traversed,

wherein the trajectory is ascertained as a function of a property of the motor vehicle,

wherein the property includes vehicle parameters, the vehicle parameters including static dimensions of the motor vehicle, including at least one of a length, a width, and a height of the vehicle, the vehicle parameters further including vehicle dynamic parameters, including at least one of a minimum curve radius and a steering rate, and

wherein the vehicle parameters of the motor vehicle are stored in a table, a key to which is a vehicle type of the motor vehicle.

2. The method of claim 1, wherein the property includes an equipment inventory.

3. The method of claim 1, wherein the trajectory is associated with a path between the starting position and the destination position.

4. The method of claim 1, wherein the trajectory is ascertained by experiment.

5. The method of claim 1, wherein the trajectory is determined based on geometrical or functional data of the parking facility and of the motor vehicle.

6. The method of claim 1, wherein the trajectory ends in front of a parking position, and an entry operation of the motor vehicle into the parking position is controlled autonomously by the motor vehicle.

7. The method of claim 1, wherein the trajectory includes a parking position.

8. The method of claim 1, wherein a determination is made of the destination positions in the parking facility for which a trajectory for the motor vehicle can be ascertained.

9. A computer readable medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having program code means for guiding a motor vehicle in a parking facility, by performing the following;

ascertaining, externally to the motor vehicle, a trajectory in the parking facility from a starting position to a destination position; and

transmitting at least a segment of the trajectory to the motor vehicle via a communication network;

wherein the motor vehicle is monitored by an off-board monitoring system, as the segment is traversed, to determine a deviation as the segment is autonomously traversed,

wherein the trajectory is ascertained as a function of a property of the motor vehicle,

wherein the property includes vehicle parameters, the vehicle parameters including static dimensions of the motor vehicle, including at least one of a length, a width, and a height of the vehicle, the vehicle parameters further including vehicle dynamic parameters, including at least one of a minimum curve radius and a steering rate, and

wherein the vehicle parameters of the motor vehicle are stored in a table, a key to which is a vehicle type of the motor vehicle.

10. An apparatus for guiding a motor vehicle in a parking facility, comprising:

a processor to ascertain a trajectory in the parking facility from a starting position to a destination position; and

a communication interface to transmit at least a segment of the trajectory to the motor vehicle via a communication network;

a monitoring system to monitor the motor vehicle, as the segment is autonomously traversed, to determine a deviation as the segment is traversed; and

an ascertaining device to ascertain the trajectory as a function of a property of the motor vehicle,

wherein the property includes vehicle parameters, the vehicle parameters including static dimensions of the motor vehicle, including at least one of a length, a width, and a height of the vehicle, the vehicle parameters further including vehicle dynamic parameters, including at least one of a minimum curve radius and a steering rate, and

wherein the vehicle parameters of the motor vehicle are stored in a table, a key to which is a vehicle type of the motor vehicle.

11. A parking system for a motor vehicle, comprising:

a parking facility having at least one parking positions; and

an apparatus for guiding the motor vehicle in a parking facility, including;

a processor to ascertain a trajectory in the parking facility from a starting position to a destination position; and

a communication interface to transmit at least a segment of the trajectory to the motor vehicle via a communication network;

a monitoring system to monitor the motor vehicle, as the segment is autonomously traversed, to determine a deviation as the segment is traversed; and

an ascertaining device to ascertain the trajectory as a function of a property of the motor vehicle,

wherein the property includes vehicle parameters, the vehicle parameters including static dimensions of the motor vehicle, including at least one of a length, a width, and a height of the vehicle, the vehicle parameters further including vehicle dynamic parameters, including at least one of a minimum curve radius and a steering rate, and

wherein the vehicle parameters of the motor vehicle are stored in a table, a key to which is a vehicle type of the motor vehicle.