EP3729404A1 - Procédé de surveillance d'un environnement d'un premier élément positionné au niveau d'une voie de circulation, et système associé - Google Patents
Procédé de surveillance d'un environnement d'un premier élément positionné au niveau d'une voie de circulation, et système associéInfo
- Publication number
- EP3729404A1 EP3729404A1 EP18833267.0A EP18833267A EP3729404A1 EP 3729404 A1 EP3729404 A1 EP 3729404A1 EP 18833267 A EP18833267 A EP 18833267A EP 3729404 A1 EP3729404 A1 EP 3729404A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- detected
- terminal
- list
- vehicle
- geolocation
- 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.)
- Pending
Links
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- 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
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Definitions
- the present invention relates to the field of autonomous vehicles and assistance in driving a vehicle or moving a living being, and more particularly relates to a technique for monitoring an environment of a first element positioned at level of a taxiway, such as a vehicle or a living being.
- Such a system generally comprises a means for obtaining data concerning the environment of the vehicle (such as a camera or a radar positioned on the vehicle), and a means for analyzing the data obtained, able to detect an event occurring. on the taxiway from the data, then to determine a possible action to be performed in response to this event.
- a means for obtaining data concerning the environment of the vehicle such as a camera or a radar positioned on the vehicle
- a means for analyzing the data obtained able to detect an event occurring. on the taxiway from the data, then to determine a possible action to be performed in response to this event.
- the determination of an action to be performed by such a system is thus based solely on the data obtained by the vehicle system and the analysis capabilities of this system.
- the analysis is limited to the data obtained by the means for obtaining at the vehicle level. These data are, however, insufficient in certain driving situations, for example in the event of reduced visibility (typically in bad weather conditions, or when the vehicle arrives at a raised intersection and / or at which the view is blocked by a wall). Analyzing this data can lead to unwise actions.
- the present invention relates to a method of monitoring an environment of a first element positioned at a traffic lane, implemented by a system comprising at least a first terminal associated with the first element, characterized in that it includes the following steps:
- the list does not include the second detected element, recording a geolocation position of said second detected element.
- element here means a vehicle or a living being capable of running on a taxiway, or a fixed element positioned at a taxiway, such as a roadside control radar, or a surveillance camera. .
- the invention makes it possible to implement driving assistance techniques, autonomous driving techniques and techniques for assisting the movement of a living being, based on communications between terminals, even during a transitional period. during which some elements are not equipped with terminals able to implement such techniques based on communications.
- the invention makes it possible to detect an element that is not equipped with such a terminal and then makes it possible to notify other elements equipped with such terminals of the presence and position of the non-equipped element.
- the other elements are thus informed of the presence of the non-equipped element at a given position and can then adapt their behavior, and are also aware of the impossibility of communicating with this non-equipped element.
- the invention thus enables elements that can not detect the presence of a non-equipped element to take this presence into account, which makes it possible to determine more finely any actions to be performed.
- the method further comprises, when the list does not include the second element, a step of determining an element, said third element, for which the presence of the second detected element can have an impact.
- said third element is determined according to:
- the method further comprises a step of sending said geolocation position of said second detected element to a second terminal associated with the third selected element.
- the second detected element is a mobile element, the method further comprising, if the list does not include the second detected element:
- the step of determining at least one trajectory hypothesis comprises determining a probability associated with said at least one trajectory hypothesis, and / or
- the step of determining at least one speed assumption comprises determining a probability associated with said at least one speed assumption.
- the method further comprises a step of determining at least one geolocation position hypothesis of the second detected element, according to said at least one path hypothesis of the second detected element and / or said at least one hypothesis of speed of the second detected element,
- said third element being determined according to said at least one geolocation position assumption of the second detected element.
- the invention further relates to a system for monitoring an environment of a first element positioned at a traffic lane, comprising at least a first terminal associated with the first element, characterized in that it comprises:
- the monitoring system further comprises a module for determining an element, said third element, for which the presence of the second detected element can have an impact, if the list does not include the second detected element.
- the various steps of the monitoring method according to the invention are determined by instructions of computer programs.
- the invention also relates to a computer program, on an information carrier, this program comprising instructions adapted to the implementation of the steps of a monitoring method according to the invention.
- This program can use any programming language, and be in the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other form desirable shape.
- the invention also relates to a computer-readable information medium, comprising instructions of a computer program as mentioned above.
- the information carrier may be any entity or device capable of storing the program.
- the medium may comprise storage means, such as a ROM, for example a CD ROM or a microelectronic circuit ROM, or a magnetic recording means, for example a hard disk.
- the information medium may be a transmissible medium such as an electrical or optical signal, which may be conveyed via an electrical or optical cable, by radio or by other means.
- the program according to the invention can be downloaded in particular on an Internet type network.
- the information carrier may be an integrated circuit in which the program is incorporated, the circuit being adapted to execute or to be used in the execution of the method in question.
- FIG. 2 schematically represents a system able to implement a method according to an exemplary embodiment of the invention
- FIG. 3 schematically represents a first terminal of the system of FIG. 2;
- FIG. 4 represents, in flowchart form, the main steps of a method according to an exemplary embodiment of the invention.
- the present invention relates to a method of monitoring an environment of a first element 110 positioned on a VC circulation lane.
- FIG. 1A diagrammatically shows a first element 110 in its environment capable of implementing a method according to an exemplary embodiment of the invention.
- the first element 110 is in this example a first vehicle 110 flowing on a first taxiway VC1.
- the first vehicle 110 is associated with a first terminal 120 capable of detecting a second element 130.
- the second element 130 is in this example a second vehicle 130, traveling on a second traffic lane VC2 crossing the first lane VC1.
- the first terminal 120 is further able to send a message indicating the presence of the second vehicle 130 on the second traffic lane VC2 to a second terminal 140 associated with a third element 150.
- the third element 150 is in this example a third vehicle 150 flowing on the first circulation lane VC1.
- the sending of the message by the first terminal 120 to the second terminal 140 allows the second terminal 140 to take into account the presence of the second vehicle 130 on the second traffic lane VC2 while the second vehicle 130 can not be seen by the driver of the third vehicle 150 or be detected from this third vehicle 150, due to the presence of a wall MR positioned between the second vehicle 130 and the third vehicle 150.
- FIG. 1B schematically represents a first element 110 in another environment, capable of implementing a method according to an exemplary embodiment of the invention.
- the first element 110 is in this example a first vehicle 110 traveling on a first VC circulation lane.
- the first vehicle 110 is associated with a first terminal 120 capable of detecting a second element 130.
- the second element 130 is in this example a second vehicle 130, traveling on the same first traffic lane VC1, in front of the first vehicle 110 and in the vicinity of the first vehicle 130.
- the first terminal 120 is further able to send a message indicating the presence of the second vehicle 130 to a second terminal 140 associated with a third element 150.
- the third element 150 is in this example a third vehicle 150 traveling on the first traffic lane VC1, several kilometers from the first vehicle 110 and the second vehicle 130.
- the sending of the message by the first terminal 120 to the second terminal 140 allows the second terminal 140 to take into account the presence of the second vehicle 130 while the second vehicle 130 can not be seen by the driver of the third vehicle 150 or be detected since this third vehicle 150, because of the great distance between the second vehicle 130 and the third vehicle 150.
- FIG. 2 schematically represents a system 200 able to implement a method of monitoring an environment of a first element 110 according to an exemplary embodiment of the invention.
- the system 200 includes a first terminal 120, and may further include a main remote server 260.
- the system may include a second terminal 140.
- the system 200 may also include several secondary remote servers 270, each secondary remote server 270 being associated with a predetermined geographical zone ZV1, called "first geographical zone ZV1".
- Each first geographical zone ZV1 corresponds in one example to a predetermined portion of taxiway VC, or to a geographical area of several kilometers in diameter, typically 20 kilometers. As shown in Figure 2, two adjacent first ZV1 geographic areas may overlap.
- the first terminal 120, the main remote server 260, the second terminal 140 and / or the secondary remote servers 270 may be connected to a telecommunication network 280 in order to communicate with each other.
- a telecommunication network 280 may be, for example, an Internet network (for example Wifi) or a mobile telephone network (3G, 4G, etc.). .
- the first terminal 120 may be a mobile terminal such as a mobile phone, for example of the "smartphone” type, a digital tablet, or a personal computer.
- the first terminal 120 is associated with the first element 110, the first element 110 typically being a vehicle or a living being able to circulate on the taxiway VC, or a fixed element positioned at the taxiway VC, such as a roadside radar, or a surveillance camera.
- the first terminal 120 can be positioned at the vehicle 110, typically inside the vehicle 110, or incorporated (or embedded) in the vehicle 110.
- the first terminal 120 may be carried by a living being, such as a human being or an animal, typically a dog.
- the second terminal 140 may also be a mobile terminal such as a mobile phone, for example of the "smartphone” type, a digital tablet, or a personal computer.
- the second terminal 140 is associated with an element 150 called "third element 150", this third element 150 being typically a movable element such as a vehicle or a living being able to circulate on the taxiway VC or another traffic way.
- the third element 150 is a fixed element positioned at the taxiway VC, such as a roadside control radar, or a surveillance camera.
- the second terminal 140 can thus be positioned at the vehicle 150, typically inside the vehicle 150, or incorporated in the vehicle 150.
- the second terminal 140 may be carried by a living being, such as a human being or an animal, typically a dog.
- the first element 110 and / or the third element 150 may be a self-driving vehicle, and may take the form of a motorized vehicle such as a motor car, a truck, a bus or a two-wheeled vehicle, a bicycle, a train, a tram or even a boat.
- a motorized vehicle such as a motor car, a truck, a bus or a two-wheeled vehicle, a bicycle, a train, a tram or even a boat.
- the system 200 may further comprise one or more other terminals, each terminal being associated with a mobile element such as a vehicle or a living being able to circulate on a traffic lane, or a fixed element, such as a road sign. display positioned at a traffic lane.
- a mobile element such as a vehicle or a living being able to circulate on a traffic lane
- a fixed element such as a road sign.
- system 200 may comprise one or more other remote servers, for example dedicated to long-term storage.
- FIG. 2 furthermore represents another element referred to as "second element 130", which may be a mobile element such as a vehicle or a living being able to circulate on a taxiway, or a fixed element, such as an obstacle positioned at level of a taxiway (typically a stone or fallen tree on a taxiway).
- second element 130 may be a mobile element such as a vehicle or a living being able to circulate on a taxiway, or a fixed element, such as an obstacle positioned at level of a taxiway (typically a stone or fallen tree on a taxiway).
- first element 110, the first terminal 120, the second element 130, the third element 150 and the second terminal 140 respectively correspond to the first vehicle 110, the first terminal 120, the second vehicle 130, the third vehicle 150 and the second terminal 140 of Figure 1A or Figure 1B.
- the first terminal 120 presents the conventional architecture of a computer.
- the first terminal 120 comprises in particular a processor 300, a read-only memory 302 (of the "ROM” type), a non-volatile rewritable memory 304 (of the "EEPROM” or “NAND flash” type for example), a volatile rewritable memory 306 (of type "RAM”), and a communication interface 308.
- the ROM 302 of the first terminal 120 constitutes a recording medium according to an exemplary embodiment of the invention, readable by the processor 300 and on which is recorded a PI computer program according to an exemplary mode of the invention. embodiment of the invention.
- the computer program PI is stored in the rewritable non-volatile memory 304.
- the computer program PI may allow the first terminal 120 to implement the monitoring method according to an exemplary embodiment of the invention, or at least part of this method.
- This PI computer program can thus define functional and software modules, configured to implement the steps of a monitoring method according to an exemplary embodiment of the invention, or at least part of these steps.
- These functional modules rely on or control the hardware elements 300, 302, 304, 306 and 308 of the first terminal 120 cited above. They can include here in particular a detection module, a search module, a recording module and / or a determination module.
- the first terminal 120 may comprise an on-board camera, a radar, a laser scanner and / or GPS or Galileo guidance means.
- the first element 110 may comprise an onboard camera, a radar and / or a GPS or Galileo guidance means to which the first terminal 120 can access.
- the onboard camera is then positioned on the windshield and / or the rear window of the vehicle.
- the main remote server 260, the second terminal 140 and / or each secondary remote server 270 may also present the conventional architecture of a computer, and may each then include in particular a processor, a ROM (ROM type), a non-volatile memory rewritable (type "EEPROM” or “Flash NAND” for example), a volatile memory rewritable (type "RAM”), and a communication interface.
- ROM read-only memory
- EEPROM non-volatile memory rewritable
- RAM volatile memory rewritable
- Each read-only memory may constitute a recording medium according to an exemplary embodiment of the invention, readable by the associated processor and on which is recorded a computer program according to an exemplary embodiment of the invention. .
- the computer program is stored in the associated non-volatile rewritable memory.
- the computer program may allow the implementation of at least a portion of the monitoring method according to an exemplary embodiment of the invention.
- the computer program can thus define functional and software modules, configured to implement at least part of the steps of a monitoring method according to an exemplary embodiment of the invention. These functional modules rely on or control the hardware elements mentioned above.
- FIG. 4 represents a method of monitoring an environment of a first element positioned at a traffic lane, according to an exemplary embodiment of the invention.
- the method is implemented by a system such as the system 200 of FIG.
- the first terminal 120 obtains a DID identification data or DC characterization of the first element 110.
- the identification data that can be obtained is typically the MSISDN number (acronym for "Mobile Station Integrated Digital Services Network" in English terminology) of the first terminal 120 associated with the first element 110.
- the identification data that can be obtained is a license plate number of the first element 110.
- the characterization data that can be obtained can indicate the general category to which the first element 110 belongs, that is to say whether the first element 110 is fixed or mobile, or more precisely if the first element 110 is a car, a truck, a bus, a two-wheeler, a bicycle, a train, a tram, a boat, a human being, an animal, or a billboard.
- the characterization data that can be obtained can indicate a subcategory of the general category to which the first element 110 belongs. For example, if the first element 110 is a vehicle, this data relates to the type of vehicle, the vehicle mark, the model of the vehicle, the color of the vehicle.
- the characterization data may indicate the analysis capacity of the first element 110, that is to say the capacity of the element to implement the steps E408, E410, E422, E426, E430, E440. E442, E443, E444, and / or E446 described hereinafter.
- the characterization data item that can be obtained indicates the weight of the first mobile element 110, the maximum speed of the first mobile element 110, or the priority of the first mobile element 110, typically in a country. and / or with respect to a given event.
- the "priority" indicates whether the movable element 110 has priority over the traffic lanes.
- the priority may depend on the country where the mobile element 110 is traveling.
- An example concerns priority vehicles of general interest, typically ambulances, which are priority in France during their interventions.
- the characterization data item that can be obtained indicates the position of geolocation of the first fixed element 110.
- the first terminal 120 sends the main remote server 260, via the telecommunications network 280, the identification data DID or DC characterization obtained in step E401.
- the first terminal 120 implements the step E402 during an enrollment of the first terminal 120 to an application implementing the method or during a registration of the first element 110.
- the first terminal 120 implements the step E402 during an assembly of the first terminal 120 to the first element 110, or during a start of travel on the taxiway VC.
- the first terminal 120 can then retain all or part of the data, and send them to the main remote server 260 after being authenticated with the main remote server 260, which preserves the anonymity of the data when the process is not put implemented.
- the first terminal 120 can send a link to a storage space of another remote server, typically after authentication of the first terminal 120 to the main remote server 260 and possibly to the other remote server.
- Step E401 and possibly step E402 may be repeated one or more times by the first terminal 120 in order to obtain and send one or more additional DID identification and / or DC characterization data of the first element 110 (FIG. several data can be sent at the same time to step E402).
- Steps E401 and E402 can also be repeated to update one or more data.
- the weight of a vehicle varies according to the loading of that vehicle.
- a vehicle may be a priority during an intervention and not a priority outside these interventions.
- the steps E401 and E402 can also be implemented one or more times by one or more terminals associated with elements other than the first element 110.
- the data obtained are then relative to the element associated with the terminal implementing these steps. .
- the steps E401 and E402 can thus be implemented one or more times by the second terminal 140 associated with the third element 150.
- the main remote server 260 After receiving a data item (step F402), the main remote server 260 stores the data in order to store it (step F406), typically in a secure manner, after having optionally certified it (step F404).
- the data received at this step F402 may be stable, that is, not vary in time.
- the duration of storage of the data can thus be important.
- the identification data DID or DC characterization for the same element are stored in association by the main remote server 260.
- each data sent to step E402 by the same terminal associated with an element is accompanied by a same identification data, the identification data enabling the main remote server 260 to link the data concerning the same element.
- the first terminal 120 obtains a contextual data item COD of the first element 110.
- the contextual data COD obtained may be a location position of the first element 110.
- the contextual data DCO may be the number of users of the first element 110.
- the contextual data DCO can be: A direction of circulation of the first element 110,
- a predicted path of the first element 110 comprising a succession of predicted trajectories
- the first terminal 120 can obtain the geolocation position, the trajectory, the path, the direction, the direction and / or the position of the element in the path by accessing the GPS or Galileo guidance means of the first terminal 120 or the first one. element 110.
- the first terminal 120 can obtain the speed and / or the evolution of the speed as a function of successive GPS coordinates first mobile element 110, obtained by accessing the GPS or Galileo guidance means of the first terminal 120 or the first mobile element 110.
- the first terminal 120 can also obtain the speed and / or the evolution of the speed by accessing the speed data of the speed counter of the first movable element 110.
- the first terminal 120 sends the main remote server 260, via the telecommunications network 280, the contextual data DCO, as well as an identification data DID of the first element 110.
- Sending can be done in real time, after obtaining the contextual data DCO performed in step E408.
- the main remote server 260 After receiving the DCO contextual data (step F410), the main remote server 260 stores the DCO contextual data in order to store it (step F414), typically in a secure manner, possibly after having certified it (step F412).
- the contextual data item DCO is stored in association with the identification data item (s) DID and / or characterization DC concerning the first item 110.
- the identification data DID of the first item 110 sent to the step E410 allows the main remote server 260 to make the link between the received DCO contextual data item and the DID identification and / or characterization data relating to the first item 110, previously recorded by the main remote server 260.
- the contextual data item DCO and the identification data item DID of the first item 110 are sent to the secondary remote server 270 corresponding to the first geographical area ZV1 in which the first item 110 is positioned.
- the secondary remote server 270 then stores the contextual data item DCO in association with the identification data item DID (step F414), typically in a secure manner, possibly after certifying the contextual data item DCO (step F412).
- the secondary remote server 270 can then consult the main remote server 260 by sending the identification data DID in order to retrieve and then store in association with the contextual data DCO, one or more identification data DID and / or characterization DC concerning the first element 110.
- the storage time of the data may be limited, typically a few minutes after the first element 110 has left the first geographical area ZV1.
- the secondary remote server 270 associated with the first geographical zone ZV1 in which the first element 110 is positioned can store at a given instant, the geolocation position of the first element 110 at the given instant, one or more geolocation positions of the first element 110 at one or more instants preceding the given instant, and predictive trajectories at one or more instants following the given instant.
- the data storage duration may be greater than a few minutes, so that the secondary remote server 270 can provide this data for legal purposes (in order, for example, to determine liability in the event of an accident), or so that the secondary remote server 270 can provide a path history, for example to the main remote server 260, so that the main remote server 260 can determine a behavior data item, or forecast traffic data.
- the contextual data DCO can also be sent to a remote server dedicated to long-term storage, so that this data can be used for the aforementioned purposes.
- the first terminal 120 can send the contextual data DCO to the two secondary remote servers 270 corresponding to the first two adjacent zones ZV1.
- Sharing the first ZV1 geographical areas between several secondary remote servers 270 makes it possible to reduce the data processing time at each server.
- Step E408 and possibly step E410 can be repeated one or more times by the first terminal 120 to obtain and send one or more additional DCO contextual data of the first element 110 (several DCO contextual data can be sent by same time at step E410).
- the steps E408 and E410 can also be implemented one or more times by one or more terminals associated with elements other than the first element 110. The data obtained are then relative to the element associated with the terminal implementing these steps. .
- the steps E408 and E410 can thus be implemented one or more times by the second terminal 140 associated with the third element 150.
- steps E408 and E410 can be performed when the forecast trajectory, the predicted path, the speed, and / or the speed change are modified.
- the repetition of steps E408 and E410 can be periodic.
- the reiteration period may be of the order of one second, which allows an almost real-time updating of the contextual data concerning the first element 110.
- the reiteration period may be higher so as not to saturate the telecommunication network 280, for example when the first element 110 follows a predictive path at a stable speed.
- the reiteration period can also be adapted according to the observed density of circulation, the speed of the first element 110, the trajectory of the first element 110.
- the first list of neighboring elements LEV may be empty, or include one or more neighboring elements.
- An element (called “fourth element EV4") is added to said first LEV list if a geolocation position of said fourth element EV4 (typically the geolocation position of the fourth element EV4 at the first instant) is located in a second predefined geographical zone ZV2 around the geolocation position of the first element 110 (to differentiate from the first geographical zones ZV1).
- the first LEV list is determined from one or more geolocation positions of elements received during implementations of the step F410.
- the first terminal 120 sends, in a substep E422 and via the telecommunications network 280, a request RQ to the remote main server 260, so that it determines if one or more stored location positions are located in the second predefined geographical zone ZV2 around the geolocation position of the first element 110.
- the request RQ may comprise a DID identification data element of the first element 110 and possibly the geolocation position of the first element 110.
- the geolocation position is found by the main remote server 260 from the DID identification data item. of the first element 110.
- the request RQ may further comprise a zone criterion making it possible to define the second geographic zone ZV2 around the geolocation position of the first element 110.
- the criterion is for example a radius or a perimeter of the zone.
- the main remote server 260 can then add to the first list LEV each fourth element EV4 corresponding to a location position located in the second geographic area ZV2 (in step F424).
- the first list LEV can then include each location of geolocation located in the second geographical area ZV2, each position being associated with the corresponding identification data.
- Each geolocation position located in the second geographical zone ZV2 can also be associated in the first LEV list with one or more corresponding characterization data.
- the main remote server 260 then sends, in a step F426 and via the telecommunications network 280, the first list LEV to the first terminal 120.
- step F426 is not implemented.
- the first terminal 120 may not send a request.
- the main remote server 260 can then send the first list LEV to the first terminal 120 periodically, or send the first list LEV when this first list is modified, that is to say when a fourth element EV4 is added or removed. of the first LEV list, or when a geolocation position is changed.
- the first terminal 110 when the first terminal 110 sends, at the step E410, the contextual data DCO to the secondary remote server 270 associated with the first zone ZV1 in which the first terminal 110 (hereinafter referred to as "the secondary remote server 170 concerned" is located ),
- the first terminal 110 can send, in the substep E422, the request RQ to the secondary server 270 concerned.
- Sub-steps F422, F424 and F426 are then implemented by the secondary server 270 concerned.
- the substeps F424 and F426 can also be implemented by the secondary server 270 concerned concerned in the absence of receiving a request RQ.
- a step E430 the detection module of the first terminal 120 detects the second element 130.
- This step E430 can be implemented before or after the step F420 for determining the first list LEV, or simultaneously.
- the second element 130 is positioned near the first element 110 during the implementation of this step E430.
- the expression "positioned in proximity” means that the distance between the second element 130 and the first element 110 enables the first terminal 120 to detect the second element 130. This distance may thus depend on the type of sensor used (camera, radar, scanner laser, etc.).
- the second element 130 is for example positioned on the same VC circulation path as the first element 110, typically in front of or behind the first element 110, and can travel in a direction and / or a direction different from the direction and / or the direction. of the first element 110.
- the second element 130 may also be positioned on another traffic lane located near the taxiway VC of the first element 110, for example crossing the taxiway VC from the first element 110 to the level of an intersection.
- a geolocation position of the second element 130 and possibly an identification data item DID of the second element 130 can be obtained during the implementation of step E430.
- one or more characterization data DC (typically the general category, and a subcategory of the general category) and / or contextual (typically the direction of flow, the direction of circulation, the speed, the evolution of the speed, the number of users, etc.) of the second element 130 can be obtained during the implementation of step E430.
- characterization data DC typically the general category, and a subcategory of the general category
- contextual typically the direction of flow, the direction of circulation, the speed, the evolution of the speed, the number of users, etc.
- a position of the second member 130 with respect to another member (typically the first member 110) can be obtained.
- the second element 130 can be detected by analyzing an image obtained by the onboard camera of the first terminal 120 or the first element 110 (or several images). This image analysis can furthermore make it possible to identify the second element 130 and / or to determine the distance between the first element 110 and the second element 130. Thus, an identification data item and / or a geolocation position of the second item 130 element 130 can be obtained.
- the number of users of the second element 130 can also be determined by means of this image analysis.
- the second element 130 can be identified by comparing the image of the second element 130 transmitted by the camera with predetermined element image models in order to determine the type of element (brand, color, model, size etc.).
- the second element 130 may further be identified by extracting from the image obtained its registration number.
- the distance between the first element 110 and the second element 130 can be determined by comparing the image of the second element 130 with a reference image, this reference image typically representing an element of the same type as the second element 130.
- the proportions of the second element 130 on the image obtained can in particular be compared to the proportions of the element of the reference image, in order to determine the distance.
- the capture conditions of the transmitted image and the reference image can be considered.
- the first terminal 120 detects the second element 130 by analyzing an electromagnetic signal sent by means of the radar of the first terminal 120 or the first element 110, reflected by the second element 130, then received by the radar.
- the second element 130 can be identified by determining the signature echo of said second element 130 in the received signal.
- the distance between the first element 110 and the second element 130 can also be obtained, typically from the time elapsed between the sending of the signal and the reception of the reflected signal.
- the first terminal 120 detects the second element 130 by analyzing a laser signal sent by means of the laser scanner of the first terminal 120 or the first element 110, reflected by the second element 130, then received by the scanner.
- One or more characterization data of the second element 130 can be obtained by analyzing the received signal, typically using charts.
- the distance between the first element 110 and the second element 130 can also be obtained, typically from the time elapsed between the sending of the signal and the reception of the reflected signal.
- the search module of the first terminal 120 searches for the second element 130 detected in step E430 in the first list LEV determined in step F420.
- the geolocation position obtained in step E430 can be compared to one or more geolocation positions of the first LEV list obtained in step F420.
- the identification data obtained in step E430 can be compared to one or more identification data of the first LEV list.
- this first LEV list includes the second element 130 detected. It is then determined that the second element 130 is equipped with a terminal capable of implementing the steps E401, E402, E408 and E410, and that it is therefore able to communicate, at least with the main remote server 260 and / or the secondary remote server 270, and the position of this second element 130 can be known by consulting this server 260, 270.
- this first list LEV does not include the second element 130 detected. It is then determined that the second element 130 is not equipped with a terminal capable of implementing the steps E401, E402, E408 and E410, and it is certainly not able to communicate with the first terminal 120.
- the first terminal 120 can send the geolocation position obtained in step E430 with the identification data to the main remote server 260 or the secondary remote server 270, so that it can update the geolocation position of the second element 130.
- Steps E430 and E440 can be reiterated by the first terminal 120 to detect and then search for another second element positioned near the first element 110. All the second elements positioned near the first element 110 and can be detected can thus be searched in the first LEV list.
- an alert message can be sent to this element so that it sends its location position to the remote server 260 or the secondary remote server 270, for the purpose of updating this position.
- the geolocation position of the second detected element 130 is recorded by a recording module of the first terminal 120, the main remote server 260 or the remote server secondary 270 concerned.
- the first terminal 120 can determine at least one HT path hypothesis of the second element 130, possibly associated with a predetermined duration (step E442).
- the first terminal 120 typically determines this HT trajectory hypothesis from a taxiway map and from contextual data of the second element 130, obtained during the implementation of the step E430.
- a probability can be associated with each hypothesis of trajectory HT determined, this probability depending for example on the position of the second element 130 on the map, the speed of the second element 130 and possibly the license plate number of the second element 130.
- the probability may depend on one or more elements around the second element 130, typically a moving element circulating in the vicinity of the second element 130. For example, if a vehicle is traveling in front of the second element 130, in the same direction of circulation that the second element 130 but at a lower speed, the probability associated with a change of trajectory is high.
- the probability associated with the HT trajectory hypothesis can further increase by the detection by the first terminal 120 of a signal transmitted by the second element 130, such as a flashing light signal.
- the first terminal 120 can determine at least one hypothesis of speed HV (or evolution of the speed) of the second element 130, possibly associated with a predetermined duration and a trajectory hypothesis corresponding to this duration (step E443) .
- two hypotheses of HV speed can be determined for the same duration. For example, it can be determined that the second element 130 could overtake another element on its taxiway (and therefore the second element 130 should accelerate) or that the second element 130 could remain behind this other element (and therefore the second element 130 should remain at the same speed).
- a probability can be associated with each determined HV speed assumption. This probability depends, for example, on the position of the second element 130 on the map, the speed of the second element 130, the presence of other elements, and so on. Thus, in the previous example, the probability that the second element 130 accelerates is greater when no vehicle arrives opposite the second element 130 and / or no vehicle arrives behind.
- the second element 130 is a vehicle traveling on the taxiway VC of the first element 110, and the map indicates that this taxiway VC intersects another lane, less important than the taxiway VC.
- a first trajectory hypothesis then determined may correspond to the circulation of the vehicle 130 on the taxiway VC to an intersection, for a first period determined according to the speed of the vehicle 130.
- a second trajectory hypothesis, associated with a second duration following the first determined duration may correspond to the circulation of the vehicle 130 on the taxiway VC after the intersection.
- a third trajectory hypothesis, associated with the second duration may correspond to the circulation of the vehicle 130 on the other traffic lane after the intersection.
- the probabilities associated with the second and third hypotheses are complementary. The closer the intersection is and the speed of the vehicle 130, the higher the probability associated with the second hypothesis and the probability associated with the third hypothesis will be low. In addition, the probability associated with the third assumption may be increased if the license plate number of the vehicle 130 indicates that the vehicle 130 is registered in the intersection area, or if the intersection is within a zone. touristic. In addition, in the same example, one or more speed assumptions can be determined. For example, a first hypothesis of speed, associated with the second duration and the second hypothesis of trajectory, is that the second element 130 accelerates, while a second hypothesis of speed, associated with the same second duration and the same second trajectory hypothesis, is that the second element 130 slows down.
- the probabilities associated with the first and second speed hypotheses are complementary.
- the first terminal 110 may determine one or more geolocation position hypotheses HP of the second element 130 at one or more predetermined times.
- Each predetermined instant typically corresponds to the end of a predetermined duration and the geolocation position hypothesis (s) HP is then determined from each HT trajectory hypothesis associated with this predetermined duration and / or each HV speed hypothesis associated with this predetermined duration.
- the probabilities associated with each hypothesis HT, HV can also be taken into account for the determination of the geolocation position hypothesis HP.
- the first terminal 120 can send, in a step E446, the geolocation POS position of the second element 130 to the main remote server 260, typically with the identification data DID of the second element 130 determined in step E430 and possibly at least one DC characterization data and / or contextual data COD of the second element 130, determined in step E430.
- each geolocation location assumption HP determined in step E444, as well as the possible associated probability can be sent by the first terminal 120 to the main remote server 260 in this step E446.
- the main remote server 260 then records, in a step F448, the received data or data, in order to store them, typically in a secure manner, after possibly certifying them.
- the data is then accessible to each terminal consulting the main remote server 260.
- step E446 the first terminal 120 sends the data or data to the secondary server 270 concerned.
- the secondary remote server 270 concerned then implements step F448.
- each trajectory hypothesis determined in step E442, as well as the possible associated probability, and / or each speed assumption determined in step E443, as well as the possible associated probability may to be sent by the first terminal 120 in place of the geolocation position hypothesis HP.
- the main remote server 260 or the secondary remote server 270 concerned then implements the step E444.
- the step E440 is implemented by the main remote server 260 or the secondary remote server 270 concerned.
- the server 260 or 270 may then not implement the substep F426.
- the first terminal 120 then sends the geolocation position and possibly the identification data obtained in step E430 to the remote main server 260 or remote secondary 270.
- Step E446 is then not implemented.
- the main remote server 260 can determine one or more EL3 element which, at a predetermined time (or for a predetermined duration, starting point said predetermined time), is positioned near the second element 130 (by example the third element 150 of Figure 2).
- Each element EL3 determined during the implementation of this step F450 is determined as a function of at least one contextual data COD of said element EL3 recorded in step F414, and at least one datum relating to the second element 130, recorded at step F448.
- each element EL3 determined in this step is determined according to:
- the main remote server 260 may determine a second list of elements EL3 positioned around the second element 130, typically at a second time, typically corresponding to the implementation of the step F450.
- the second list may be empty, or include one or more elements EL3.
- the main remote server 260 uses the geolocation position of the second element 130, obtained in step E430, in order to define a third geographical zone around this geolocation position.
- the third geographic zone is defined around each HP position hypothesis determined in step E444 for the second instant.
- the third geographic zone is defined around the HP position hypothesis determined for the second instant and being associated with the greatest probability.
- an EL3 element is added to said second list if the geolocation position of said EL3 element at said second instant is located in the third geographical area.
- the main remote server 260 can indeed calculate, from the stored DCO contextual data, a predicted geolocation position of an element EL3 at second moment, then can add the element EL3 to the second list if it determines that this position is located in the third geographical area.
- the position, the predicted trajectory and / or the speed of each element EL3, as well as the position hypothesis (s) of the second element 130 can be taken into account by the main remote server 260.
- One or more other second lists may be determined, each list corresponding to a second different time. Several successive instants, typically separated by a few tens of seconds, can be considered.
- the duration between two successive instants may depend on a speed differential between said EL3 element and a second element 130.
- the speed differential the longer the duration can be.
- the duration is typically less than or equal to one minute, and may be equal to 10 seconds, 20 seconds, 50 seconds, etc.
- said element EL3 can then be added to a second list corresponding to a second instant and not be added to another second list, corresponding to another second instant following said second instant.
- the element EL3 can be added to the two second lists (for example when the second element 130 moves in front of or behind said element EL3, in the same direction and in the same direction of circulation).
- step F450 makes it possible to determine one or more elements EL3 for which the presence of the second element 130 can have an impact.
- the impact can typically be a collision between the element EL3 and the second element 130, or the modification of a driving parameter of the element EL3 (such as the trajectory or the speed).
- the impact may further be the need to send a message to another element.
- an EL3 element whose trajectory is likely to meet or cross the trajectory of the second element 130 during the predefined duration can be determined in step F450.
- the main remote server 260 can send the geolocation position of the second element 130 to each terminal associated with an element EL3 determined during an implementation of the step F450, via the telecommunications network 280.
- each hypothesis of trajectory HT of the second element 130 determined during an implementation of the step E442 each hypothesis of speed HV of the second element 130 determined during an implementation of the step E443, and / or each HP position hypothesis of the second element 130 determined during an implementation of the step E444 can be sent.
- the data or example is sent using the MSISDN number of each destination terminal, this number having been registered in step F406.
- the main remote server 260 sends, to each EL3 element of each second list, the geolocation position or the HP position hypothesis of the second element 130, corresponding to the moment associated with the list comprising said element EL3.
- each terminal can also receive a DID identification data of the second element 130 (typically license plate number), one or more characterization data DC (typically the general category, subcategory of the general category) and or one or more contextual data (typically the direction of flow, the direction of movement, the speed, the evolution of the speed, the number of users) of the second element 130.
- a DID identification data of the second element 130 typically license plate number
- one or more characterization data DC typically the general category, subcategory of the general category
- one or more contextual data typically the direction of flow, the direction of movement, the speed, the evolution of the speed, the number of users
- the data or data are for example sent in a SIP-options message, according to a protocol RCS.
- This or these data are received by a terminal associated with an EL3 element selected in a step G460.
- a determined element at this step F450 is the third element 150.
- the geolocation position of the second element 130, and possibly at least one other data obtained in step F460, are then sent to the second terminal 140.
- an element such as the third element 150 is notified of the presence of the second element 130 at a given position and can adapt its behavior accordingly, even if the second element 130 can not be seen by the driver of the third element 150 or be detected since this third element 150.
- the steps F450 and / or F460 are implemented by the first terminal 110 or the secondary remote server 270 concerned.
- steps E422, E426, E430, E440, E442, E443, E444 and / or E446 can be reiterated by another terminal than the first terminal 120.
- This reiteration by another terminal makes it possible in particular to confirm the HT trajectory assumptions. and HV speed of the second element 130 and update the geolocation position of the second element 130.
- the first element 110 may be excluded from the elements informed in step F460 of the presence of the second element 130, the first terminal 120 having already detected this second element 130.
- the main remote server 260 or secondary 270 concerned may further send a third list of previously detected elements when of an implementation of the step E430 and not found in a first LEV list during the implementation of the step E440, the third list of previously detected elements typically comprising the data obtained during the implementation of step E430 and the assumptions determined during the implementation of steps E442, E443 and / or E444. Sending this third list facilitates and / or confirm the identification of the detected element during the reiteration of step E430.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR1763183A FR3076045A1 (fr) | 2017-12-22 | 2017-12-22 | Procede de surveillance d'un environnement d'un premier element positionne au niveau d'une voie de circulation, et systeme associe |
PCT/FR2018/053142 WO2019122573A1 (fr) | 2017-12-22 | 2018-12-06 | Procédé de surveillance d'un environnement d'un premier élément positionné au niveau d'une voie de circulation, et système associé |
Publications (1)
Publication Number | Publication Date |
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EP3729404A1 true EP3729404A1 (fr) | 2020-10-28 |
Family
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EP18833267.0A Pending EP3729404A1 (fr) | 2017-12-22 | 2018-12-06 | Procédé de surveillance d'un environnement d'un premier élément positionné au niveau d'une voie de circulation, et système associé |
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US (1) | US11410555B2 (fr) |
EP (1) | EP3729404A1 (fr) |
FR (1) | FR3076045A1 (fr) |
WO (1) | WO2019122573A1 (fr) |
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FR3103437A1 (fr) * | 2019-11-21 | 2021-05-28 | Psa Automobiles Sa | Procédé et dispositif de détermination de consigne pour véhicule |
FR3106108A1 (fr) * | 2020-01-14 | 2021-07-16 | Psa Automobiles Sa | Procédé et dispositif de détermination de trajectoire d’une route |
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2017
- 2017-12-22 FR FR1763183A patent/FR3076045A1/fr not_active Withdrawn
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2018
- 2018-12-06 EP EP18833267.0A patent/EP3729404A1/fr active Pending
- 2018-12-06 WO PCT/FR2018/053142 patent/WO2019122573A1/fr unknown
- 2018-12-06 US US16/956,175 patent/US11410555B2/en active Active
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US20200334986A1 (en) | 2020-10-22 |
US11410555B2 (en) | 2022-08-09 |
FR3076045A1 (fr) | 2019-06-28 |
WO2019122573A1 (fr) | 2019-06-27 |
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