Method for controlling an automated parking system and automated parking system

Abstract

A method for controlling an automated parking system including determining a position and route of a vehicle for transmitting driving commands for the route to the vehicle, detecting an object within the parking system, determining the position and a movement path of the object, checking whether the route of the vehicle and the movement path of the object overlap, and initiating at least one measure by the parking system to prevent a collision between the vehicle and the object.

Claims

1. A method of controlling an automated parking system the method comprising: determining a position and a route of a vehicle; detecting an object within the parking system; determining a position and a movement path of the object; determining that the route of the vehicle and the movement path of the object will overlap; and transmitting driving commands by the parking system to the vehicle to prevent a collision between the vehicle and the object.

2. The method according to claim 1, further comprising transmitting a warning to the object by the parking system that indicates the collision between the vehicle and the object.

3. The method according to claim 2, wherein transmitting the warning comprises influencing the movement path of the object.

4. The method according to claim 3, wherein the warning is an acoustic warning.

5. The method according to claim 3, wherein the warning is an optic warning.

6-11. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Further advantages and features are found in the following description in conjunction with the accompanying drawings, in which:

[0035] FIG. 1 shows a schematic illustration of an automated parking system; and

[0036] FIG. 2 shows a flowchart of a method for checking a vehicle in the parking system from FIG. 1.

DETAILED DESCRIPTION

[0037] FIG. 1 shows an automated parking system 10. The parking system has a transfer region 12, in which a vehicle 14 can be transferred to the parking system 10, and a parking region 16, in which the vehicle 12 can be parked.

[0038] The parking system 10 has a communication device 18 which can set up communication with the vehicle 14. The parking system 10 also has a plurality of sensors 20, which monitor the entire parking region 16, and a control unit 21 which calculates a route 22 for the vehicle 14 from the transfer region 12 to a parking space 24 in the parking region 16 and transmits driving commands to the vehicle 14 so that the vehicle independently drives along the route 22 to the parking space 24.

[0039] The vehicle user transfers his vehicle 14 to the parking system 10 in the transfer region 12. The parking system 10 then assumes control of the vehicle 14 and controls it along the route 22 to the parking space 24. If the vehicle user wishes to use his vehicle 14, the control unit 21 calculates a route 22 from the parking space 24 to the transfer region 12. The communication device 18 then transmits corresponding driving commands to the vehicle 14, with the result that the vehicle 14 can be driven to the transfer region by the parking system 10.

[0040] After the vehicle 14 has been transferred in the transfer region, the parking system 10 assumes control of the vehicle within the parking system 10 until the vehicle 14 is returned to the vehicle user.

[0041] The vehicle 14 is controlled in this case using a control loop in which the position and the direction of travel of the vehicle are repeatedly checked using the sensors 20 of the parking system 10 and the route of the vehicle is adapted or corrected if necessary (see FIG. 2). If there are a plurality of vehicles 14 in the parking system 10, the routes 22 are calculated for these vehicles in such a manner that the routes do not overlap.

[0042] In addition to the vehicle 14 or a plurality of vehicles 14, there may also be other objects within the parking system 10, in particular within the parking region 16. For example, persons may enter the parking region 16 without authorization or animals may be located in the parking region 16. Furthermore, other objects may also enter the parking system.

[0043] The entire parking system 10, in particular the parking region 16, is captured or monitored by the sensors 20. Since the vehicles present in the parking system were previously registered in the transfer region 12 and their position and direction of movement are known, further objects 26 which have entered the parking system 10 can be identified as foreign objects.

[0044] If a foreign object 26 is detected within the parking system 10, in particular within the parking region 16, it is possible to check first of all what type of object is involved. For example, a database and/or a recognition algorithm for various objects 26 may be available to the control unit 21. Furthermore, a check is carried out in order to determine whether and how the object 26 is moving within the parking system, and a likely movement path 28 of the object 26 is possibly calculated and/or estimated.

[0045] If a stationary or immovable object 26 is identified, corresponding measures are initiated in order to avoid a collision with the vehicle 14. For example, the vehicle 14 may be braked or the route 22 of the vehicle 14 may be changed. Furthermore, personnel can be informed that the object 26 is moving away.

[0046] If a moving object 26, for example an animal or a person, is identified, the position and movement thereof are detected and the likely movement path 28 of the object 26 is calculated and/or estimated.

[0047] A check is then carried out in order to determine whether the calculated and/or estimated movement path 28 of the object 26 overlaps the route 22 of the vehicle 14. If the control unit 21 determines a possible overlap of the movement path 28 and the route 22, at least one measure is initiated that is intended to cause the object to leave the route 22 of the vehicle or to change the movement path in such a manner that it does not overlap the route 22 of the vehicle 14.

[0048] In this case, the measures are designed to act on the object 26 in order to avoid hindering or delaying the parking process of the vehicle 14 if possible. If there is nevertheless the risk of a collision with the vehicle 14, the vehicle 14 can be braked via the control unit 21 or its route 22 can be changed.

[0049] Interaction with the object may comprise acoustic signals, for example, wherein the acoustic signals can be output via loudspeakers in the parking system 10. Alternatively or additionally, it is also possible to use systems of the vehicle 14.

[0050] The acoustic signals comprise, for example, warning tones which are used to make the object 26 aware of a risk. These warning tones are preferably output such that the object 26 or the person can identify the direction from which the vehicle is approaching or from which there is a risk of a collision. For example, signals from the vehicle or individual loudspeakers within the parking system 10 can be used for this purpose.

[0051] Deliberately controlling individual loudspeakers within the parking system 10 also makes it possible to actively influence the movement path 28 of the object 26, for example. For example, the intensity of a warning tone can increase if the object 26 moves toward the vehicle 14 or the route 22, or can decrease if the object 26 moves away from the vehicle 14 or the route 22. In this case, the volume of the warning tone, its frequency or pitch or a repetition frequency can be changed, for example.

[0052] Furthermore, advice or voice commands can also be output via loudspeakers. Warnings may likewise be output via said loudspeakers. However, it is also possible to additionally output instructions, for example which path is intended to be used by a person or how the person is intended to move within the parking system 10.

[0053] Alternatively, it is also possible to output optical signals, in which case the systems of the vehicle or systems present in the parking system 10 can also be used here. For example, a guidance system which can specify a movement path to a person may be installed in the parking system 10. Furthermore, paths which are not intended to be used by the person in order to avoid crossing the route of the vehicle may also be indicated using such a guidance system.

[0054] If the object 26 is identified as a person, it is also possible to output signals, for example, which can be received via a communication device belonging to the person, for example via a smartphone. For example, signals can be output to the smartphone using Bluetooth, WLAN or another transmission possibility.

[0055] In this case, the measures are selected on the basis of the detected object 26, its movement path 28 and possibly further external circumstances, such as brightness, other noise sources or the time of day. For example, light signals can be seen better at night or in the case of low lighting. Furthermore, acoustic signals can be perceived to be disruptive at night outside the parking system.

[0056] After carrying out the measures, the movement path 28 of the object 26 is checked and is newly determined or estimated. The measures are continued or stopped or further measures are initiated depending on the newly determined or estimated movement path 28. For example, the measures can be suspended if the object 26 is on a desired movement path which does not overlap the route 22 of the vehicle 14.

[0057] Even if the movement path 28 no longer overlaps the route 22 of the vehicle 14, the movement path 28 of the object is still monitored or the likely movement path 28 is determined and/or estimated. As soon as there is an overlap with the route 22 of the vehicle 14 again, corresponding measures for interacting with the object are initiated again.

[0058] This process is continued until the object 26 is no longer in the parking system 10, in particular is no longer in the parking region 16.

[0059] In addition, the measures and the movement path 28 of the object 26 can be documented by the parking system 10. For example, this information can be evaluated in order to be able to assess the effectiveness of individual measures or to be able to document misbehavior of particular objects, in particular individual persons, and initiate corresponding measures.