EP2017807B1 - Method of automatically determining speed limits on a road and associated system - Google Patents

Method of automatically determining speed limits on a road and associated system Download PDF

Info

Publication number
EP2017807B1
EP2017807B1 EP08160548A EP08160548A EP2017807B1 EP 2017807 B1 EP2017807 B1 EP 2017807B1 EP 08160548 A EP08160548 A EP 08160548A EP 08160548 A EP08160548 A EP 08160548A EP 2017807 B1 EP2017807 B1 EP 2017807B1
Authority
EP
European Patent Office
Prior art keywords
speed limit
index
confidence
information
road
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
EP08160548A
Other languages
German (de)
French (fr)
Other versions
EP2017807A1 (en
Inventor
Benazouz Bradai
Anne Herbin-Sahler
Jean-Philippe Lauffenburger
Michel Basset
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.)
Valeo Vision SA
Original Assignee
Valeo Vision 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
Priority to FR0705299A priority Critical patent/FR2919098B1/en
Application filed by Valeo Vision SA filed Critical Valeo Vision SA
Publication of EP2017807A1 publication Critical patent/EP2017807A1/en
Application granted granted Critical
Publication of EP2017807B1 publication Critical patent/EP2017807B1/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle

Description

  • The present invention relates to a method for determining speed limits on a road taken by a motor vehicle, and a system for implementing this method. The main purpose of the invention is to propose a solution for automatically determining, in all circumstances, information relating to a speed limit that applies to a road taken, or about to be borrowed, by a motor vehicle. The information thus determined is then exploitable in different applications equipping the vehicle in question. In particular, but without limitation, the information relating to a speed limit is used in the context of a driving assistance system by explicitly indicating to the driver what is the maximum speed allowed, for example when this last is in excess of this maximum speed.
  • The field of the invention is, in general, that of the driver assistance, which proposes a set of assistance systems for the driver, primarily intended to improve the traffic safety conditions. We have recently developed, for example:
    • so-called night vision systems to help the driver to early detect obstacles difficult to perceive in night traffic conditions;
    • early turn detection systems, to warn the driver of the presence of a turn as soon as possible;
  • As part of the driver assistance systems, it is also now sought to provide the driver with a warning system of speed limits: such a system must automatically detect a speed limit in force on a borrowed road, or on a road that is about to be taken by a vehicle. In fact, actions concerning excessive speeds are necessary to reduce the number of accidents and the severity of their consequences. Many drivers do not respect the prescribed speeds: 40% of drivers do not respect them on highways, 60% on national and departmental roads and 25% exceed the regulatory speed in the city by more than 10 km / h.
  • Two different types of solutions have been proposed so far to automatically determine a speed limit in force on a road.
  • The first type of solution lies in the exploitation of information from a navigation system. These navigation systems are increasingly equipped vehicles for guiding the driver from a starting point (corresponding to the current position of his vehicle) to an end point (selected by the driver). They combine mapping information with vehicle position information, given by a GPS system, and often make it possible to know in advance the characteristics of the road. In addition, information associated with the characteristics of the road lies in the speed limitation associated with this route. Other information, such as indication of the presence of intersections, motorway exit ... are also available through such a system. Moreover, if the driver selects a so-called guiding option to go from point A to point B, the path that the vehicle is likely to take is known in advance, and knowledge of the speed limits that will be in force. on this journey can be widely anticipated, up to ten kilometers in advance.
  • However, a number of defects inherent in this system limit its effectiveness:
    • the current mapping is still very imprecise. It happens very often that in a given place, the information is missing. Indeed, there are entire areas of the world that are not covered by the mapping databases;
    • the information provided by the navigation system may also be aberrant. For example, if the driver has planned to go to a place B that he memorized in his navigation system and if, ultimately, en route, he is led to go to a place C without following the instructions given by the navigation system, then the information given by the navigation system is inconsistent, even contradictory, with respect to the characteristics of the trajectory actually followed by the vehicle;
    • changes in the configuration of the road due to one-off events, for example the carrying out of work, entail a modification of the speed restrictions in force on the part of the road considered; these modifications are not then known to the navigation system;
    • a loss of GPS coverage is also possible, for example when passing under a long tunnel.
  • A second type of solution for automatically determining a speed limitation in force lies in the exploitation of information from an image processing system. Such a system involves at least one camera and image processing software applications. The camera takes an image of the road scene, and image processing is used to detect the speed limit signs and to recognize the characters written in these signs. This system displays the speed limit of the detected panel, with a certain confidence index. A system known as "Speed Limit Support" is such a driver assistance system that informs the driver of the speed limit of the road taken to help him not to exceed said speed; it is intended to complement the manual speed limiter, already marketed on certain vehicles.
  • However, this type of system has a certain number of malfunctions under certain traffic conditions, especially in the presence of motorway exits, during the night or when the vehicle is moving at high speed, as well as in cases where there are specific speeds for different vehicle categories. In such cases, the proper operation of character recognition algorithms on speed limit signs is not guaranteed. In addition, in situations of intersections, bifurcations or the presence of several traffic lanes, such systems are unable to detect the speed limitation signs actually in force, various panels for the various lanes present being identified, without being able to effectively realize the association between each panel and the corresponding road. It adds to this the fact that the range of such systems is only a few tens of meters; therefore, in the presence of obstacles in front of the vehicle or in the presence of several turns consecutive, speed limit signs are not detected by such systems.
  • The document DE19938266 discloses a method and system for detecting speed limitations to supplement the results from optical vision with map data.
  • None of the existing systems is therefore entirely satisfactory for the automatic determination of the speed limits in force on a road taken by a motor vehicle.
  • The object of the invention proposes a solution to the problems that have just been exposed. In general, in order to determine a desired speed limit in force on a given road, the invention proposes the combination of the two previously mentioned systems, namely the navigation system and the system associating camera and image processing applications, in proposing to merge these two sources of information. This gives a system for determining the speed limit in force much more reliable than the systems of the prior art. This in particular avoids the risk of confusion due to misinformation or misinterpretation of this information. A particular example of implementation of the invention thus offers the advantage of being able to propose a degraded mode of operation, useful in the event of failure of one of the two systems, based on the other system, not failing; such a degraded mode is not available in the state of the art.
  • The invention thus makes it possible to obtain information relating to a speed limit in force on a road taken or about to be taken by a motor vehicle, said information resulting from the merging of the information provided by the two systems. distinct. Advantageously, a confidence index is assigned at least to the navigation system, the confidence index then intervenes in the fusion of the information. Advantageously, the information relating to the speed limits provided by at least one of the two systems is extrapolated to consider other speed limits as being likely to be in force on the road considered; we then associate each of these other speed limits with a weighting coefficient, called mass of belief, involved in the merging of all the information then available. relating to the speed likely to be actually in effect, merging information ensuring the final determination of the speed limit sought.
  • The invention therefore essentially relates to a method for automatically determining a speed limit in force on a road taken or about to be taken by a motor vehicle, comprising the following steps:
    • establishing, by means of a first system, said navigation system including in particular a data receiver of a geographical positioning system and mapping data, a likely speed limitation associated with a first confidence index;
    • constituting a first set of information including at least the likely speed limitation, and the first confidence index;
    • to establish, by means of a second system, an image processing system, notably involving a camera and image processing applications able to identify and interpret speed limitation panels arranged in the vicinity of the road, a likely speed limitation associated with a second confidence index;
    • constituting a second set of information including at least the likely speed limit, and the second confidence index;
    • determine the speed limit in force on the considered route, from the first set of information and the second set of information and taking into account the first confidence index and the second confidence index.
  • In addition to the main features which have just been mentioned in the preceding paragraph, the method according to the invention may have one or more additional characteristics among the following:
    • the first set of information is supplemented by a set of additional likely speed limitations;
    • the likely speed limitation and each additional likelihood speed limitation are associated with a weighting coefficient, said belief mass, determined from at least one of the following parameters:
    • the first confidence index, and
    • an index of coherence between the probable speed limitation and characteristics of the route provided by the navigation system;
    • the additional likely speed limits are the two regulatory speed limits directly bordering on the likely speed limitation,
    • the second set of information is supplemented by a set of additional likely speed limits;
    • the probable speed limit and each additional probable speed limitation are associated with a weighting coefficient, said belief mass, determined from at least one of the following parameters:
      • the second confidence index;
      • an indication of possible confusion between the figures constituting the established probable speed limit and other figures;
    • the additional probable speed limits are the prescribed speed limits for which an index of possible confusion between the figures constituting the probable probable speed limit and the figures of the additional probable speed limitation is greater than a threshold value called critical threshold value;
    • the determined current speed limit is associated with a third confidence index, developed at least from the first confidence index and the second confidence index;
    • the method comprises the additional step of exploiting the current speed limitation determined only if the third confidence index is greater than a third threshold value;
    • the first confidence index is developed from one or more parameters of a first set of parameters consisting of the following parameters:
      • accuracy of the geographical positioning system,
      • level of information on the road,
      • functional class of the road,
      • type of road,
      • vehicle environment,
      • selection of a driver guidance mode and level of compliance between a planned route and information provided by onboard sensors of the vehicle,
      • accuracy of mapping digitization,
      • date of update of the cartography, and
      • state of road traffic (density of vehicles on the road taken and fluidity); this state can be obtained for example by means of the traffic information in real time.
    • the first confidence index is developed by performing a weighted average of values assigned to the following parameters, said parameters being associated with weighting coefficients resulting from a learning phase:
      • accuracy of the geographical positioning system,
      • level of information on the road,
      • functional class of the road,
      • type of road,
      • vehicle environment, and
      • selecting a driver guidance mode and compliance level between a planned route and information provided by onboard sensors of the vehicle;
    • the second confidence index is developed from one or more parameters, from a second set of parameters relating to one or more images obtained by the camera, from the following:
      • consistency index for the identification of speed limitation signs from one image to another,
      • texture measurement of the considered image,
      • shadow factor on the image considered,
      • vertical gradient of decay of light, and
      • symmetry index of the image considered;
    • the second confidence index is developed by performing a weighted average of values assigned to all the parameters of the second set of parameters, these parameters being associated with weighting coefficients resulting from a learning phase;
    • the method comprises the additional steps of:
      • comparing the first confidence index with a first threshold value and the second confidence index with a second threshold value,
      • in determining the speed limit in force, consider only the set (s) of information, among the first set information and the second set of information, whose confidence index is greater than the threshold value at which it is compared;
    • the step of determining the current speed limit involves a Dempster - Shafer equation.
  • The present invention also relates to a system for automatically determining a speed limit in force on a road taken, or about to be taken, by a motor vehicle, implementing the method according to the invention with its main features and possibly one or more additional features mentioned, characterized in that it comprises:
    • a first system, said navigation system, including geographical positioning system and mapping data to establish a likely speed limitation associated with a first confidence index and to constitute a first set of information including at least the limitation of likely speed, and the first confidence index;
    • a second system, called an image processing system, notably involving a camera and image processing applications, capable of identifying and interpreting speed limitation panels arranged in the vicinity of the road, to establish a speed limit likely to be associated with a second confidence index and to constitute a second set of information including at least the likely speed limit and the second confidence index;
    • information processing means for determining, from the first set of information and the second set of information, the speed limit in effect on the considered route.
  • In addition to the main features which have just been mentioned in the preceding paragraph, the system according to the invention may have the following additional characteristic:
    • the system comprises means for restoring the determined speed limit.
  • Finally, the present invention relates to any motor vehicle equipped with the automatic determination system of a speed limit in force on a road taken, or about to be borrowed, by the motor vehicle considered, with its main characteristics and possibly its complementary feature.
  • The geographical positioning system may for example be a system comprising a network of satellites for geodetic positioning of receivers with which they communicate, such as for example the GPS network. The data receiver is in this case a receiver or GPS antenna.
  • The invention and its various applications will be better understood by reading the following description and examining the figures that accompany it.
  • These are presented only as an indication and in no way limitative of the invention. The figures show:
    • to the figure 1 , a representation of the principle of the invention, illustrating the combination of systems embedded in the vehicle;
    • to the figure 2 a schematic representation of a first example of implementation of the method according to the invention;
    • to the figure 3 , a schematic representation of a second example of implementation of the method according to the invention.
  • The different elements appearing in several figures will have kept, unless otherwise specified, the same reference.
  • On the figure 1 schematically shows the various elements involved in an exemplary implementation of the method according to the invention within a motor vehicle, to obtain a speed limitation 153 in force on a borrowed road, or about to be borrowed by a motor vehicle. The vehicle in question carries a first system 101, said navigation system, allowing in particular an estimation of the authorized speed at a given location, and in particular involving mapping data 111 and a GPS antenna 112 placed on the vehicle and able to receive data. precise location information. In the example considered, the first system 101 also makes use of on-board sensors 113 of the vehicle in question, of the type of speed sensor, gyroscope, etc. These different sensors are capable of delivering various information making it possible in particular to check the coherence between the route. actually followed by the vehicle, and the course provided by the navigation system.
  • The navigation system 101 provides a first set of information 151 on the desired speed limit at a location, particularly near the instantaneous position of the vehicle. The first set of information 151 comprises at least a likely speed limitation corresponding to the speed limitation established by the navigation system 101, associated with a first confidence index IC1.
  • The first confidence index can be calculated for example by adopting the following equation: IC 1 = α 1 × VS 1 + α 2 × VS 2 + α 3 × VS 3 + α 4 × VS 4 + α 5 × VS 5 + α 6 × VS 6 / α 1 + α 2 + α 3 + α 4 + α 5 + α 6 ,
    Figure imgb0001
    with:
    • C 1 : GPS positioning confidence index;
    • C 2 : Level of information on the road (given by the ADAS classification);
    • C 3 : Functional class of the road: FC1 or FC2;
    • C 4 : Type of road;
    • C 5 : Environment (City, Highway exit, Intersection, ...);
    • C 6 : Guidance mode selected or not by the driver;
    • and wherein α 1 , α 2 , α 3 , α 4 , α 5 and α 6 are weighting coefficients, called intermediate confidence indices, assigned to the various criteria according to the reliability of their information.
  • Thus different weights can be attributed to these criteria. For example, the type of road can be a discriminating criterion on speed limits because the speed limits at the base are already defined by type of road. Consequently, this criterion can have a greater weight than for the guidance mode, and therefore have a coefficient of 3 for the type of road and a coefficient 1 for the guidance mode.
  • Table 1 below gives an example of assigning values to the various criteria involved. The abbreviation "SL" in Table 1 below indicates the speed limit considered. Table 1. Speed limits criteria SL1 SL2 SL3 SL4 SL5 SL6 SL7 SL8 SL9 SL10 SL11 SL12 SL13 SL14 SL15 5 10 20 30 45 50 60 70 80 90 100 110 120 130 999 C1: GPS MLCP Validated (> = 0.6) 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 C1: GPS MLCP between (0.3 <= MLCP <0.6) 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 C1: GPS MLCP Not validated (<0.3) 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 0.2 C2 : Validated ADAS attribute 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 C2 : Attribute ADAS Not Validated 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 C3 : Functional class of the road (FC1, FC2) Validated 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 0.9 C3 : Functional class of the road (FC1, FC2) Not Validated Not Validated 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 0.7 C4: Type of road: European 0 0 0 0 0 0.2 0.4 0.7 0.8 0.9 0.9 0.9 0.9 0.9 0.9 C4: Type of road: Highway 0 0 0 0 0 0.2 0.4 0.7 0.8 0.9 0.9 0.9 0.9 0.9 0.9 C4 : Type of route: National 0 0 0 0 0 0.2 0.5 0.8 0.9 0.9 0.8 0.7 0 0 0 C4: Type of route: Departmental 0 0 0 0 0.2 0.4 0.8 0.9 0.9 0.9 0.5 0.3 0 0 0 C4: Type of road: Communal 0 0.4 0.7 0.8 0.9 0.9 0.7 0.4 0 0 0 0 0 0 0 C5: Driving situation: City 0.6 0.6 0.7 0.8 0.8 0.9 0.8 0.7 0 0 0 0 0 0 0 C5: Driving situation: Out of town 0 0 0 0 0.4 0.5 0.6 0.7 0.9 0.9 0.9 0.8 0.8 0.8 0.8 C5: Driving situation: Intersection 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0 0 0 0 0 C5: Driving situation: No Intersection 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.7 0.7 0.7 0.7 0.7 C5: Driving situation: Highway exit 0 0 0 0 0.5 0.8 0.8 0.9 0.8 0.7 0.5 0.5 0.2 0.2 0.2 C5: Driving situation: No Motorway Exit 0 0 0 0 0 0.1 0.2 0.7 0.8 0.9 0.9 0.9 0.8 0.8 0.8 C6: Valid Guidance Mode 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 0.8 C6 : Guidance Mode Not Validated 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6 0.6
  • In other examples of determination of the first confidence index, other parameters may be taken into account, in particular the accuracy of the digitization of the map, the date of update of this map, the state of the road traffic. ..
  • The state of the road traffic (vehicle density on the route taken and fluidity) can be obtained for example through the traffic information in real time. Real-time traffic information, also known as "RDS / TMC" (for "Radio Data System / Traffic Message Channel", allows the navigation system to calculate routes by taking into account information provided in real time by service operators, who transmit information about the state of road traffic . This transmission to the user is done by radio waves. The information relating to road traffic can also be transmitted by the mobile telephone networks and thus be picked up on a reception terminal associated with the navigation system. It is also possible to obtain the information via an access device to a global or global computer network (such as the Internet), connected to or integrated into the navigation system.
  • The vehicle also carries a second system 102, said image processing system, which is also able to estimate the speed limit on a road taken or about to be taken by the vehicle. The system 102 notably uses a camera 121 capturing images of the road about to be taken by the vehicle, and a set of image processing applications 122 whose algorithms make it possible in particular to identify limitation panels. located in the vicinity of the road, that is to say visible from the vehicle, and to interpret the figures shown on these panels to deduce the speed in effect on the road in question. The algorithms used may for example involve shape recognition applications to recognize the round shapes of the speed limitation panels, associated with a color discrimination allowing to retain only the panels having a red outline, and recognition algorithms of character to identify the figures represented, individually or as a whole.
  • The image processing system 102 makes it possible to obtain a second set of information 152 comprising at least one probable speed limitation at the considered location. In certain embodiments of the invention, the probable speed limitation is associated with a second confidence index IC2.
  • An example of calculation of the second confidence index may correspond, for a captured image, to the following equation: IC 2 = α e × VS e + α o × VS o + α boy Wut × VS boy Wut + α s × VS s + α vs × VS vs / α e + α o + α boy Wut + α s + α vs ,
    Figure imgb0002
    where the various criteria C i intervening have the following attributions:
    • C e : Entropy (texture measurement of the considered image);
    • C o : Shadow factor on the image considered;
    • C g : Vertical gradient of decrease of the light on the considered image;
    • C s : index of symmetry of the considered image;
    • C c : Coherence index for identifying speed limit panels from one image to another: the greater the number of consecutive images resulting in the establishment of the same speed limit value, the greater the value of this index is important;
    • and where α e , α o , α g , α s and α c are weighting coefficients assigned to the various criteria Ci as a function of the reliability of the information and the relevance of the associated criterion.
  • Information sets 151 and 152 are then merged into a data merging system 154 to determine the desired speed limitation 153. For this purpose, information processing means intervene, in particular with a microprocessor and specific software applications. , implemented in the data fusion system 154. The desired speed limitation necessarily corresponds to a regulation speed limitation, ie a speed limit that can be encountered on the roads. The regulatory speed limits therefore constitute a closed set, called discernment frame D, which also represents all the speed limits that can be obtained as a result of output of one of the two systems. This framework is defined, for example, as follows:
    • D = {5,10,20,30,45,50,60,70,80,90,100,110,120,130,999}. The value 999 represents the case where there is no or no speed limit.
  • A third confidence index IC3 is advantageously associated with the desired speed limitation 153. It makes it possible to present a level of reliability of the information obtained at the output of the fusion system 154. It is then used freely according to the examples of implementation. for example, if the third confidence index is below a threshold value, it is expected to choose the use of a degraded operating mode in which no information on a current speed limit is provided to the driver. The speed limiting results provided by the system according to the invention are then not exploited. In an exemplary implementation, the third confidence index is equal to the average of the first confidence index and the second confidence index.
  • In a particular embodiment of the invention, if at least one of the two confidence indices is too low, for example less than a previously determined threshold, then only the system providing the best confidence index is considered and considers the speed limitation provided by this system as a desired speed limitation.
  • A first detailed embodiment of the method according to the invention is illustrated with reference to the figure 2 :
    • In this first mode of implementation, the fusion system 154 only involves the probable speed limitation, here 80 km / h, and the probable speed limitation, here 90 km / h, respectively established by the first system 101 and by the second system 102, associated with their respective confidence index, 50% for IC1 and 64% for IC2.
  • Different decision calculations are possible: either the speed limit associated with the best confidence index or the weighted average of the two probable and probable speed limits can be directly determined as the desired speed limit, the weighting coefficients then corresponding to the respective confidence indices. An intermediate value of speed limitation is then obtained; the desired speed limit is then the regulation speed limit that comes closest to the intermediate speed limit, 90 km / h in the illustrated example.
  • In a second embodiment of the method according to the invention, illustrated in FIG. figure 3 , a step 300 is added, relative to the first embodiment, in the flow of the process.
  • The added step 300 consists, for each of the two systems, in enriching the sets of information 151 and 152 with other, respectively probable or probable, complementary speed limits, from the speed limitation obtained at the output of each of the two embedded systems.
  • Thus, for example, for the navigation system 101, the likely speed limitation initially determined is supplemented by the two regulatory speed limits which directly border the speed limit initially determined. In the illustrated example, if the speed limit 80 km / h has been determined as likely the first set of information 151 is then supplemented by the speed limits 70 km / h and 90 km / h. Other examples of implementation take into account the presence of particular characteristics of the road taken, considering for example the presence or the absence of a motorway exit (in order to avoid for example, that the process of determination does not confuse the speed limitation of the deceleration band, detected by the image processing system, with that of the taxiway on which the vehicle is moving), the possible presence of intersections, of particular geographical characteristics ( very uneven ...). Table 2 below gives an example indicating which additional likely speed limitations, also called focal elements, complete the first set of information 151 for each likely speed limitation that was determined by the first system 101. Table 2. Probable speed limits Number of Complementary Probable Speed Limitations Additional likelihood velocities (focal elements) 5 2 10, 999 10 3 5, 20, 999 20 3 10, 30, 999 30 3 20, 45, 999 45 3 30, 50, 999 50 6 45, 60, 90, 110, 130, 999 60 3 50, 70, 999 70 3 60, 80, 999 80 3 70, 90, 999 90 4 50, 80, 100, 999 100 3 90, 110, 999 110 6 50, 90, 100, 120, 130, 999 120 3 110, 130, 999 130 5 50, 90, 110, 120, 999 999 0 x
  • Each of the speed limits present in the information set 151 is then assigned an index, designated as belief mass M, which corresponds, for each of the speed limits considered, to a probability that said speed limit considered is the speed limitation sought. Thus, the most important mass of belief is attributed to the likely speed limitation given by the navigation system 101, the additional likely speed limitations adopting lower belief masses, determined in particular according to the characteristics of the road available by the system. navigation (for example, if the road is identified as a motorway, the belief masses of the focal elements will be more important for the high speed limit values); the sum of the belief masses attributed for the first set of information is then 100%.
  • Similarly, for the image-processing-based system 102, the initially determined probable speed limit is supplemented by regulatory speed limits with which the pattern recognition algorithm could have confused at least one of the present numbers. on the panel. In the illustrated example, if the speed limit of 90 km / h has been determined to be probable, the second set of information 152 is then supplemented by the speed limits 60 km / h and 80 km / h, the risk of confusion between 9 and 6 on the one hand, and between 9 and 8 on the other hand, being important. Other exemplary embodiments take into account the continuity over several successive images of the presence of the information relating to the presence of a given speed limitation to determine the focal elements: if between several images detecting the speed limitation 90 km / h appear one or more isolated images on which appears another speed limitation, then this other speed limit will belong to the focal elements.
  • Here again, each of the speed limits present in the information set 152 is assigned an index, designated as belief mass M, which corresponds, for each of the speed limits considered, to a probability that said speed limit considered to be the speed limit sought. So the most important belief mass is attributed to the likely speed limitation given by the image processing system 102, the additional probable speed limits adopting masses of lower belief, determined in particular according to a possible index of confusion between the figures of the established probable speed limit and other figures. This possible confusion index is specific to each shape recognition algorithm that can intervene in the system 102.
  • In general, the determination of confidence indices, and / or belief masses, and their intervention in the fusion of knowledge from the two systems depend on the merger strategy chosen. Advantageously, in the invention, various methods extracted from the so-called belief theory can be used in the data fusion system 154. In particular, one of the methods known under the name of "conjunctive combination" of Dempster-Shafer, associated with a so-called Dempster-Shafer equation, gives particularly convincing results. Other methods, based on Bayesian theories, or fuzzy logic set theory, can also be used in the data fusion system 154. These methods appear in a step 301 shown in FIG. figure 3 .
  • Once the speed limit in force has been established, it can for example be displayed on a screen.
  • Embodiments may also be provided where the established effective speed limit is compared to the vehicle speed. According to certain embodiments, if the speed of the vehicle is greater than the speed limit in force established, the system alerts the driver, either by a display on a screen, or acoustically or haptically (vibrator under the seat for example) or by hardening the accelerator pedal. According to an alternative embodiment, the system can automatically reduce the speed of the vehicle (by intervening at the speed regulator for example), when the speed of the vehicle is greater than the speed in effect determined by the method according to the present invention.

Claims (17)

  1. Process for automatic determination of a speed limit in force on a road which is being followed, or is on the point of being followed, by a motor vehicle, characterised in that it comprises the following different steps:
    - establishing, by means of a first system (101), called the navigation system, which in particular causes the intervention of a data receiver of a geographical positioning and cartography data system (111), a likely speed limit which is associated with a first index of confidence (IC 1);
    - constituting a first set of information (151), comprising at least the likely speed limit and the first index of confidence;
    - establishing, by means of a second system (102), called the image processing system, which in particular causes the intervention of a camera (121) and image processing applications (122) which are able to identify and to interpret speed limit panels which are disposed in the vicinity of the road, a probable speed limit associated with a second index of confidence (IC2);
    - constituting a second set of information (152), comprising at least the probable speed limit and the second index of confidence (IC2); and
    - determining the speed limit in force (153) on the road concerned, on the basis of the first set of information and the second set of information, and by taking into consideration the first index of confidence (IC1) and the second index of confidence (IC2).
  2. Process according to the preceding claim, characterised in that the first set of information is completed by a set of complementary likely speed limits.
  3. Process according to the preceding claim, characterised in that the likely speed limit and each complementary likely speed limit are associated (300) with a weighting coefficient, called mass of belief, which is determined on the basis of at least one of the following parameters:
    - the first index of confidence;
    - an index of compatibility between the likely speed limit and characteristics of the road which are provided by the navigation system.
  4. Process according to at least one of claims 2 or 3, characterised in that the complementary likely speed limits are the two statutory speed limits which are immediately preceding and following the likely speed limit.
  5. Process according to at least one of the preceding claims, characterised in that the second set of information is completed by a set of complementary probable speed limits.
  6. Process according to the preceding claim, characterised in that the probable speed limit and each complementary probable speed limit are associated with a weighting coefficient, called the mass of belief, which is determined on the basis of at least one of the following parameters:
    - the second index of confidence;
    - an index of possible confusion between the figures which constitute the probable speed limit established and other figures.
  7. Process according to at least one of claims 5 or 6, characterised in that the complementary probable speed limits are the statutory speed limits for which an index of possible confusion between the figures which constitute the probable speed limit established and the complementary probable speed limit figures, is greater than a threshold value called the critical threshold value.
  8. Process according to at least one of the preceding claims, characterised in that the speed limit in force determined is associated with a third index of confidence (IC3), produced at least on the basis of the first index of confidence and the second index of confidence.
  9. Process according to the preceding claim, characterised in that it comprises the additional step consisting of using the speed limit in force determined only if the third index of confidence (IC3) is greater than a third threshold value.
  10. Process according to at least one of the preceding claims, characterised in that the first index of confidence is produced on the basis of one or a plurality of parameters of a first set of parameters constituted by the following parameters:
    - accuracy of the geographical positioning system;
    - level of information on the road;
    - functional class of the road;
    - type of road;
    - surroundings of the vehicle;
    - selection of a guidance mode by the driver and level of conformity between a planned itinerary and information provided by sensors on board the vehicle;
    - accuracy of the digitisation of the cartography;
    - date of updating of the cartography;
    - condition of the road traffic.
  11. Process according to the preceding claim, characterised in that the first index of confidence is produced by creating a weighted average of values allocated to the following parameters, the said parameters being associated with weighting coefficients obtained from a learning stage:
    - accuracy of the geographical positioning system;
    - level of information on the road;
    - functional class of the road;
    - type of road;
    - surroundings of the vehicle;
    - selection of a guidance mode by the driver and level of conformity between a planned itinerary and information provided by sensors on board the vehicle.
  12. Process according to at least one of the preceding claims, characterised in that the second index of confidence (IC2) is produced on the basis of one or a plurality of parameters, of a second set of parameters relating to one or a plurality of images obtained by the camera, from amongst the following:
    - index of consistency of the identification of the speed limit panels from one image to the next one ;
    - texture measurement of the image in question ;
    - factor of shadow on the image in question;
    - vertical gradient of decrease of the light;
    - index of symmetry of the image in question.
  13. Process according to the preceding claim, characterised in that the second index of confidence (IC2) is produced by creating a weighted average of values allocated to all of the parameters of the second set of parameters, these parameters being associated with weighting coefficients obtained from a learning stage.
  14. Process according to at least one of the preceding claims, characterised in that it comprises the additional steps consisting of:
    - comparing the first index of confidence (IC1) with a first threshold value, and the second index of confidence (IC2) with a second threshold value;
    - in the determination of the speed limit in force, taking into consideration only the set(s) of information, from the first set of information and the second set of information, the index of confidence of which is greater than the threshold value with which it is compared.
  15. Process according to at least one of the preceding claims, characterised in that the step of determination of the speed limit in force involves a Dempster - Shafer equation.
  16. System for automatic determination of a speed limit in force on a road which is being followed, or is on the point of being followed, by a motor vehicle, which implements the process according to at least one of the preceding claims, characterised in that it comprises:
    - a first system (101), called the navigation system, which in particular causes the intervention of a geographical positioning (112) and cartography data (111), in order to establish a likely speed limit which is associated with a first index of confidence (IC1), and in order to constitute a first set of information (151) comprising at least the likely speed limit and the first index of confidence;
    - a second system (102), called the image processing system, which notably causes the intervention of a camera (121) and image processing applications (122) which can identify and interpret speed limit panels which are disposed in the vicinity of the road, in order to establish a probable speed limit associated with a second index of confidence (IC2), and in order to constitute a second set of information (152) comprising at least the probable speed limit and the second index of confidence;
    - information processing means in order to determine, on the basis of the first set of information and the second set of information, the speed limit in force on the road concerned.
  17. System according to the preceding claim characterised in that it comprises means for restitution of the speed limit in force determined.
EP08160548A 2007-07-20 2008-07-16 Method of automatically determining speed limits on a road and associated system Active EP2017807B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR0705299A FR2919098B1 (en) 2007-07-20 2007-07-20 Method for automatic determination of speed limits on a road and associated system

Publications (2)

Publication Number Publication Date
EP2017807A1 EP2017807A1 (en) 2009-01-21
EP2017807B1 true EP2017807B1 (en) 2010-07-28

Family

ID=39111397

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08160548A Active EP2017807B1 (en) 2007-07-20 2008-07-16 Method of automatically determining speed limits on a road and associated system

Country Status (6)

Country Link
US (1) US8428307B2 (en)
EP (1) EP2017807B1 (en)
JP (1) JP5405775B2 (en)
AT (1) AT475959T (en)
DE (1) DE602008001926D1 (en)
FR (1) FR2919098B1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103226895A (en) * 2012-01-26 2013-07-31 罗伯特·博世有限公司 A method for providing speed alarm information for a navigation apparatus
EP3021302A1 (en) 2014-11-12 2016-05-18 Valeo Schalter und Sensoren GmbH Automatic determination of a speed limit on a road
EP3021303A1 (en) 2014-11-13 2016-05-18 Valeo Schalter und Sensoren GmbH Automatic determination of a speed limit on a road from a navigation system

Families Citing this family (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9067565B2 (en) * 2006-05-22 2015-06-30 Inthinc Technology Solutions, Inc. System and method for evaluating driver behavior
US7859392B2 (en) 2006-05-22 2010-12-28 Iwi, Inc. System and method for monitoring and updating speed-by-street data
US9129460B2 (en) 2007-06-25 2015-09-08 Inthinc Technology Solutions, Inc. System and method for monitoring and improving driver behavior
US9117246B2 (en) * 2007-07-17 2015-08-25 Inthinc Technology Solutions, Inc. System and method for providing a user interface for vehicle mentoring system users and insurers
US8818618B2 (en) * 2007-07-17 2014-08-26 Inthinc Technology Solutions, Inc. System and method for providing a user interface for vehicle monitoring system users and insurers
FR2919098B1 (en) * 2007-07-20 2010-06-11 Valeo Vision Method for automatic determination of speed limits on a road and associated system
EP2154663B1 (en) * 2008-08-11 2016-03-30 Xanavi Informatics Corporation Method and apparatus for determining traffic data
US8963702B2 (en) 2009-02-13 2015-02-24 Inthinc Technology Solutions, Inc. System and method for viewing and correcting data in a street mapping database
FR2947231B1 (en) * 2009-06-30 2013-03-29 Valeo Vision Method for predictively determining the road situations of a vehicle
US8706409B2 (en) 2009-11-24 2014-04-22 Telogis, Inc. Vehicle route selection based on energy usage
CN101807341B (en) * 2010-04-09 2011-12-07 北京工业大学 Speed limit determining method based on safety
US20130103302A1 (en) * 2010-06-23 2013-04-25 Stephen T'Siobbel Electronic map creation process
JP5845616B2 (en) * 2011-04-20 2016-01-20 日産自動車株式会社 Driving support device and driving support method
US8996234B1 (en) * 2011-10-11 2015-03-31 Lytx, Inc. Driver performance determination based on geolocation
US9298575B2 (en) 2011-10-12 2016-03-29 Lytx, Inc. Drive event capturing based on geolocation
US9958272B2 (en) 2012-08-10 2018-05-01 Telogis, Inc. Real-time computation of vehicle service routes
US9344683B1 (en) 2012-11-28 2016-05-17 Lytx, Inc. Capturing driving risk based on vehicle state and automatic detection of a state of a location
DE102012025067A1 (en) 2012-12-19 2014-06-26 Valeo Schalter Und Sensoren Gmbh Driver assistance system for motor vehicle, has computing device to identify longitudinal markings mounted on road-way, and to determine wether identified traffic signs for motor vehicle are applied or not, based on longitudinal markings
DE102013208709A1 (en) * 2013-05-13 2014-11-13 Bayerische Motoren Werke Aktiengesellschaft Method for determining input data of a driver assistance unit
CN104331703A (en) * 2013-07-22 2015-02-04 博世汽车部件(苏州)有限公司 Method of monitoring vehicle running state and automobile navigation equipment for implementing method
US9172477B2 (en) 2013-10-30 2015-10-27 Inthinc Technology Solutions, Inc. Wireless device detection using multiple antennas separated by an RF shield
KR102058897B1 (en) * 2013-11-12 2019-12-24 현대모비스 주식회사 Apparatus and method for controlling automatic driving of vehicle
FR3017739B1 (en) 2014-02-14 2016-02-12 Renault Sas Method for determining a speed limitation in effect on a road borrowed by a motor vehicle
US9336448B2 (en) * 2014-08-11 2016-05-10 Here Global B.V. Variable speed sign value prediction and confidence modeling
US9459626B2 (en) 2014-12-11 2016-10-04 Here Global B.V. Learning signs from vehicle probes
US10204460B2 (en) 2015-07-10 2019-02-12 Verizon Patent And Licensing Inc. System for performing driver and vehicle analysis and alerting
KR101678095B1 (en) * 2015-07-10 2016-12-06 현대자동차주식회사 Vehicle, and method for controlling thereof
JP6428546B2 (en) * 2015-09-25 2018-11-28 トヨタ自動車株式会社 Driving assistance device
US9747506B2 (en) * 2015-10-21 2017-08-29 Ford Global Technologies, Llc Perception-based speed limit estimation and learning
JP6459926B2 (en) * 2015-11-25 2019-01-30 株式会社デンソー Speed control device
GB201605137D0 (en) * 2016-03-25 2016-05-11 Jaguar Land Rover Ltd Virtual overlay system and method for occluded objects
JP6414567B2 (en) * 2016-06-02 2018-10-31 トヨタ自動車株式会社 Speed limit display device for vehicle
FR3055287A1 (en) * 2016-08-31 2018-03-02 Valeo Schalter & Sensoren Gmbh Device for determining a speed limitation, on-board system comprising such a device and method for determining a speed limitation
KR20180097269A (en) * 2017-02-23 2018-08-31 현대자동차주식회사 Image information acquisition device, vehicle and method for controlling thereof

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0785400A (en) * 1993-09-20 1995-03-31 Mitsubishi Motors Corp Automobile running controller
DE19852631C2 (en) * 1998-11-14 2001-09-06 Daimler Chrysler Ag Apparatus and method for traffic sign recognition
DE19938266A1 (en) * 1999-08-12 2001-02-15 Volkswagen Ag Method and equipment for visual recognition of traffic signs, electronically identifies obscure traffic signs by comparison with known signs
AU2002251807A1 (en) * 2001-01-23 2002-08-19 Donnelly Corporation Improved vehicular lighting system for a mirror assembly
US6265989B1 (en) * 2000-06-17 2001-07-24 Richard Taylor GPS enabled speeding detector
JP2002163643A (en) * 2000-11-28 2002-06-07 Toshiba Corp Driving guiding device
US6515596B2 (en) * 2001-03-08 2003-02-04 International Business Machines Corporation Speed limit display in a vehicle
US20060061461A1 (en) * 2004-09-20 2006-03-23 Shih-Hsiung Li Vehicle speed limit reminding device
JP2006275690A (en) * 2005-03-29 2006-10-12 Fujitsu Ten Ltd Driving support system
US7739036B2 (en) * 2005-08-26 2010-06-15 Gm Global Technology Operations, Inc. Speed limit advisor
US7783406B2 (en) * 2005-09-22 2010-08-24 Reagan Inventions, Llc System for controlling speed of a vehicle
US7706964B2 (en) * 2006-06-30 2010-04-27 Microsoft Corporation Inferring road speeds for context-sensitive routing
US20090079555A1 (en) * 2007-05-17 2009-03-26 Giadha Aguirre De Carcer Systems and methods for remotely configuring vehicle alerts and/or controls
FR2919098B1 (en) * 2007-07-20 2010-06-11 Valeo Vision Method for automatic determination of speed limits on a road and associated system
US8233670B2 (en) * 2007-09-13 2012-07-31 Cognex Corporation System and method for traffic sign recognition
US8725394B2 (en) * 2007-10-09 2014-05-13 Siemens Corporation Multi-modal speed limit assistant
US7711468B1 (en) * 2008-01-07 2010-05-04 David Levy System and method for controlling speed of a moving vehicle

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103226895A (en) * 2012-01-26 2013-07-31 罗伯特·博世有限公司 A method for providing speed alarm information for a navigation apparatus
CN103226895B (en) * 2012-01-26 2017-07-21 罗伯特·博世有限公司 Method and data processing equipment for providing speed warning message for guider
EP3021302A1 (en) 2014-11-12 2016-05-18 Valeo Schalter und Sensoren GmbH Automatic determination of a speed limit on a road
EP3021303A1 (en) 2014-11-13 2016-05-18 Valeo Schalter und Sensoren GmbH Automatic determination of a speed limit on a road from a navigation system

Also Published As

Publication number Publication date
JP5405775B2 (en) 2014-02-05
US8428307B2 (en) 2013-04-23
EP2017807A1 (en) 2009-01-21
JP2009037613A (en) 2009-02-19
FR2919098B1 (en) 2010-06-11
US20090041304A1 (en) 2009-02-12
DE602008001926D1 (en) 2010-09-09
AT475959T (en) 2010-08-15
FR2919098A1 (en) 2009-01-23

Similar Documents

Publication Publication Date Title
US6785606B2 (en) System for providing traffic information
EP0638887B1 (en) Navigation system to be mounted on vehicles
US6175803B1 (en) Vehicle navigation route generation with user selectable risk avoidance
JP4502386B2 (en) Judgment method of road traffic situation
US7406382B2 (en) System for determining weather information and providing ambient parameter data
US6366851B1 (en) Method and system for automatic centerline adjustment of shape point data for a geographic database
US7339496B2 (en) Geographic data transmitting method, information delivering apparatus and information terminal
US6674434B1 (en) Method and system for automatic generation of shape and curvature data for a geographic database
US6173231B1 (en) Method and system for collecting data concerning thermal properties of roads for a geographic database and use thereof in a vehicle safety system
DE69631280T2 (en) Vehicle navigation device that takes into account the road width
EP0932134A1 (en) Positional information providing system and apparatus
US6295503B1 (en) Route setting device for setting a destination route from a departure point to a destination
US6622087B2 (en) Method and apparatus for deriving travel profiles
EP1862989B1 (en) Image forming system
EP0939297A2 (en) Vehicle position information displaying apparatus and method
EP2313741B1 (en) Method for updating a geographic database for a vehicle navigation system
EP1804223B1 (en) A travel link identification system
US9134133B2 (en) Data mining to identify locations of potentially hazardous conditions for vehicle operation and use thereof
US20090138497A1 (en) Method and system for the use of probe data from multiple vehicles to detect real world changes for use in updating a map
EP1865479B1 (en) A vehicle surrounding information device, method and computer program product
JP3496479B2 (en) Road data maintenance system
JP3972366B2 (en) Vehicle information providing device
US8618952B2 (en) Method of intersection identification for collision warning system
EP0901001B1 (en) Method and apparatus for displaying current position of a vehicle
JP3279009B2 (en) The vehicle navigation system

Legal Events

Date Code Title Description
AX Request for extension of the european patent to:

Extension state: AL BA MK RS

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

17P Request for examination filed

Effective date: 20090706

17Q First examination report despatched

Effective date: 20090729

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REF Corresponds to:

Ref document number: 602008001926

Country of ref document: DE

Date of ref document: 20100909

Kind code of ref document: P

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20100728

LTIE Lt: invalidation of european patent or patent extension

Effective date: 20100728

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101028

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101028

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101128

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101029

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20101108

26N No opposition filed

Effective date: 20110429

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602008001926

Country of ref document: DE

Effective date: 20110429

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

BERE Be: lapsed

Owner name: VALEO VISION

Effective date: 20110731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110731

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20120716

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120716

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110716

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100728

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 9

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 10

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 11

PGFP Annual fee paid to national office [announced from national office to epo]

Ref country code: DE

Payment date: 20190711

Year of fee payment: 12

Ref country code: FR

Payment date: 20190731

Year of fee payment: 12