FR3109213B1 - Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving - Google Patents

Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving Download PDF

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Publication number
FR3109213B1
FR3109213B1 FR2003715A FR2003715A FR3109213B1 FR 3109213 B1 FR3109213 B1 FR 3109213B1 FR 2003715 A FR2003715 A FR 2003715A FR 2003715 A FR2003715 A FR 2003715A FR 3109213 B1 FR3109213 B1 FR 3109213B1
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France
Prior art keywords
relative pose
future relative
correcting
motor vehicle
controlling
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
FR2003715A
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French (fr)
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FR3109213A1 (en
Inventor
Emmanuel Stawiarski
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Renault SAS
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Renault SAS
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Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to FR2003715A priority Critical patent/FR3109213B1/en
Publication of FR3109213A1 publication Critical patent/FR3109213A1/en
Application granted granted Critical
Publication of FR3109213B1 publication Critical patent/FR3109213B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Abstract

Dispositif et procédé de correction de la future pose relative d’un véhicule automobile, comprenant pour chaque cycle de calcul, une étape (104) de calcul du futur biais relatif en fonction de la future pose relative et de ladite future pose relative brute ; et une étape de correction, pour le cycle de calcul suivant. Figure de l’abrégé : Figure 5Device and method for correcting the future relative pose of a motor vehicle, comprising for each calculation cycle, a step (104) of calculating the future relative bias as a function of the future relative pose and of said raw future relative pose; and a correction step, for the next calculation cycle. Abstract Figure: Figure 5

FR2003715A 2020-04-14 2020-04-14 Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving Active FR3109213B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2003715A FR3109213B1 (en) 2020-04-14 2020-04-14 Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2003715 2020-04-14
FR2003715A FR3109213B1 (en) 2020-04-14 2020-04-14 Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving

Publications (2)

Publication Number Publication Date
FR3109213A1 FR3109213A1 (en) 2021-10-15
FR3109213B1 true FR3109213B1 (en) 2022-03-11

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FR2003715A Active FR3109213B1 (en) 2020-04-14 2020-04-14 Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving

Country Status (1)

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FR (1) FR3109213B1 (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7689321B2 (en) * 2004-02-13 2010-03-30 Evolution Robotics, Inc. Robust sensor fusion for mapping and localization in a simultaneous localization and mapping (SLAM) system
US11274928B2 (en) 2015-08-03 2022-03-15 Tomtom Global Content B.V. Methods and systems for generating and using localization reference data
KR20180106417A (en) * 2017-03-20 2018-10-01 현대자동차주식회사 System and Method for recognizing location of vehicle

Also Published As

Publication number Publication date
FR3109213A1 (en) 2021-10-15

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