FR3080344B1 - RELIABLE DETECTION OF AN OBJECT BY A VEHICLE - Google Patents

RELIABLE DETECTION OF AN OBJECT BY A VEHICLE Download PDF

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Publication number
FR3080344B1
FR3080344B1 FR1853507A FR1853507A FR3080344B1 FR 3080344 B1 FR3080344 B1 FR 3080344B1 FR 1853507 A FR1853507 A FR 1853507A FR 1853507 A FR1853507 A FR 1853507A FR 3080344 B1 FR3080344 B1 FR 3080344B1
Authority
FR
France
Prior art keywords
vehicle
detection
sensors
data
reliable detection
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.)
Active
Application number
FR1853507A
Other languages
French (fr)
Other versions
FR3080344A1 (en
Inventor
Audrey Mandard
Celine Etcheverry
Loic Chambrin
Jean Michel Pascal
Vincent Abadie
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PSA Automobiles SA
Original Assignee
PSA Automobiles SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by PSA Automobiles SA filed Critical PSA Automobiles SA
Priority to FR1853507A priority Critical patent/FR3080344B1/en
Priority to PCT/FR2019/050887 priority patent/WO2019202252A1/en
Publication of FR3080344A1 publication Critical patent/FR3080344A1/en
Application granted granted Critical
Publication of FR3080344B1 publication Critical patent/FR3080344B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • B60W40/04—Traffic conditions
    • 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
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • 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
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de traitement de données relatives à la conduite assistée d'un véhicule (Vk) courant, pour la détection d'un objet de nature à modifier la conduite dudit véhicule, comportant les étapes de : • acquisition par au moins deux capteurs de données relatives audit objet ; • calcul d'une probabilité d'existence dudit objet, au moins à partir des données des capteurs ; • détection dudit objet en fonction, au moins : ○ de la probabilité d'existence ; ○ du nombre de capteurs ayant acquis, à eux seuls, des données indiquant la présence de l'objet ; • génération d'une instruction d'assistance à la conduite fonction de ladite détection.The invention relates to a method for processing data relating to the assisted driving of a current vehicle (Vk), for the detection of an object likely to modify the driving of said vehicle, comprising the steps of: • acquisition by at least two data sensors relating to said object; • calculation of a probability of existence of said object, at least from the data of the sensors; • detection of said object as a function, at least: ○ of the probability of existence; ○ the number of sensors having acquired, on their own, data indicating the presence of the object; • generation of a driving assistance instruction based on said detection.

FR1853507A 2018-04-20 2018-04-20 RELIABLE DETECTION OF AN OBJECT BY A VEHICLE Active FR3080344B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1853507A FR3080344B1 (en) 2018-04-20 2018-04-20 RELIABLE DETECTION OF AN OBJECT BY A VEHICLE
PCT/FR2019/050887 WO2019202252A1 (en) 2018-04-20 2019-04-15 Reliable detection of an object by a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1853507 2018-04-20
FR1853507A FR3080344B1 (en) 2018-04-20 2018-04-20 RELIABLE DETECTION OF AN OBJECT BY A VEHICLE

Publications (2)

Publication Number Publication Date
FR3080344A1 FR3080344A1 (en) 2019-10-25
FR3080344B1 true FR3080344B1 (en) 2022-01-21

Family

ID=63143238

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1853507A Active FR3080344B1 (en) 2018-04-20 2018-04-20 RELIABLE DETECTION OF AN OBJECT BY A VEHICLE

Country Status (2)

Country Link
FR (1) FR3080344B1 (en)
WO (1) WO2019202252A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011003614A1 (en) * 2011-02-03 2012-08-09 Robert Bosch Gmbh Method for defining a search corridor in a monitoring system in a vehicle
WO2012119596A1 (en) * 2011-03-04 2012-09-13 Continental Teves Ag & Co. Ohg Method for the predictive display of an evasive maneuver
US8880272B1 (en) * 2012-03-16 2014-11-04 Google Inc. Approach for estimating the geometry of roads and lanes by using vehicle trajectories
US8793046B2 (en) * 2012-06-01 2014-07-29 Google Inc. Inferring state of traffic signal and other aspects of a vehicle's environment based on surrogate data
DE102013021827A1 (en) * 2013-12-21 2015-06-25 Valeo Schalter Und Sensoren Gmbh A method for warning a driver of a motor vehicle of a risk of collision by outputting a non-optical warning signal, collision warning system and motor vehicle
DE102015201555A1 (en) * 2015-01-29 2016-08-04 Robert Bosch Gmbh Method and device for operating a vehicle
DE102015107391A1 (en) * 2015-05-12 2016-11-17 Valeo Schalter Und Sensoren Gmbh Method for controlling a functional device of a motor vehicle on the basis of fused sensor data, control device, driver assistance system and motor vehicle

Also Published As

Publication number Publication date
WO2019202252A1 (en) 2019-10-24
FR3080344A1 (en) 2019-10-25

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