EP3871009A1 - Method for determining a current value of an occupancy parameter relating to a portion of a space located in the vicinity of a motor-driven land vehicle - Google Patents
Method for determining a current value of an occupancy parameter relating to a portion of a space located in the vicinity of a motor-driven land vehicleInfo
- Publication number
- EP3871009A1 EP3871009A1 EP19823792.7A EP19823792A EP3871009A1 EP 3871009 A1 EP3871009 A1 EP 3871009A1 EP 19823792 A EP19823792 A EP 19823792A EP 3871009 A1 EP3871009 A1 EP 3871009A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- current value
- data
- estimated value
- raw data
- determining
- 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
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 45
- 230000005855 radiation Effects 0.000 claims description 5
- 230000006870 function Effects 0.000 description 8
- 230000001052 transient effect Effects 0.000 description 6
- 230000008447 perception Effects 0.000 description 3
- 238000013500 data storage Methods 0.000 description 2
- 238000002592 echocardiography Methods 0.000 description 2
- 239000011449 brick Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
Classifications
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- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
-
- 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
Definitions
- TITLE Method for determining a current value of an occupancy parameter relating to a portion of a space located near a land motor vehicle
- the present invention relates to the field of driving assistance systems for land motor vehicles.
- the invention relates in particular to a method for determining at least one current value of at least one occupancy parameter relating to a portion of a space located near a land motor vehicle.
- the invention applies in particular to motor vehicles.
- driving assistance systems in particular those intended for assistance for autonomous driving, generally base the driving assistance functionalities (eg emergency braking, lateral avoidance, lane departure, etc.) on a perception of the driving environment determined using the various types of detection devices which are today fitted in most vehicles (LIDAR, RADAR, camera, etc.). Also, in most cases, a perception of a driving environment is established on the basis of data generated by the detection devices.
- the major shortcoming of such systems is related to the fact that the data that is generated by detection devices can be of different types. Generally, detection devices generate two types of data, raw data and preprocessed data.
- LIDAR laser remote sensing device
- Another disadvantage of current driving assistance systems is related to the fact that these do not generally differentiate by the data according to whether they are generated by such or such detection device.
- certain criteria can significantly affect the accuracy of the data generated, which obviously has the consequence of drastically reducing their relevance with regard to functionalities of assistance with the conduct.
- a detection device located at a low height of the vehicle will necessarily be more precise towards the ground than at height.
- current driver assistance systems cannot maximize safety at best.
- the invention aims to provide a method for overcoming these drawbacks. More particularly, the object of the invention is to provide a method and a system which contribute to improving the accuracy of the perception of a driving environment with a view to providing better detection of obstacles and thus supporting the provision of assistance functionalities. safer driving.
- the subject of the invention is a method for determining at least one current value of at least one occupancy parameter relating to a portion of a space located near a land motor vehicle, the process comprising the steps of:
- the first processing may include a step of using a confidence index selected according to whether the detection device belongs to a particular detection set or according to the location of an impact at within a visibility cone.
- the first processing can include a step of using an increasing function to determine said first estimated value.
- the first treatment may include a step of determining a number of impact (s) detected within said portion.
- the detection device can be chosen from the group comprising laser remote sensing devices and radiation detecting devices.
- the current value can be determined by using a merging function which links the current value with the first and the second estimated values.
- the invention further relates to a computer system for determining at least one current value of at least one occupancy parameter relating to a portion of a space located near a land motor vehicle, the system comprising means implementing a method as defined above.
- the system can comprise at least one computer and storage means in which are stored at least one program for the execution of steps according to the determination method implemented by the system.
- the invention further relates to a land motor vehicle comprising a system as defined above.
- FIG. 1 is a block diagram of a determination system according to the invention.
- FIG. 2 is a flowchart illustrating certain steps of a determination method according to the invention.
- the system 100 for determining at least one current value of at least one occupancy parameter relating to a portion of a space located near a land motor vehicle includes an information processing unit 101, comprising one or more several processors, a data storage medium 102, input and output means 103 and, and an oracle 104.
- the oracle 104 comprises a module intended to use an increasing bijective function to determine a probability value in function of data received as input.
- Oracle 104 implements a Bayesian inference calculation method or any other equivalent method.
- the system 100 is embedded in a land motor vehicle, for example a motor vehicle, and is distributed among one or more computers.
- the system 100 comprises one or more computers, one or more servers, one or more supercomputers and / or any combination comprising one of these computer systems. It is also possible to envisage certain embodiments in which certain elements of the system 100 are partly hosted on board a land motor vehicle, on one or more computers, while other elements are distributed on one or more remote servers.
- the system 100 forms an integral part of a computer of a driving assistance system (not shown) of the vehicle which relies on a plurality of detection devices (not shown) arranged in the vehicle.
- the driving assistance system comprises at least one laser remote sensing device, a radiosensing device, each comprising a processing module capable of generating raw data and preprocessed data.
- the driving assistance system also includes one or more computers which, according to established roles and according to the data generated by the detection devices, control the operation of certain components of the vehicle to provide various functionalities. driving assistance (eg emergency braking assistance, obstacle avoidance, lane departure).
- the driving assistance system also includes additional elements adapted and configured to interact within an intelligent transport system.
- each detection device therefore generates raw data and preprocessed data.
- the laser remote sensing device generates raw data which identifies one (or more) impact (s) detected in the portion of space.
- the laser remote sensing device for example using a processing module, also generates preprocessed data. These characterize, for example, a single and unique impact within the portion of space considered, this unique impact being determined by deduction on the basis of the raw data relating to the portion of space considered.
- data Raw data are generated by scanning the space near the vehicle and preprocessed data, determined using a processing module specific to the X-ray detection device, is generated based on the raw data. These relate, for example, to the location of an impact within the visibility cone, ie of the detection field, of the radiation detection device.
- the system 100 is hosted by an independent computer and interacts with a computer of the vehicle driving assistance system to obtain the raw data and the pretreated data generated by the detection devices.
- the raw data and the preprocessed data are generated by the driving assistance system and stored by the latter in the storage medium 102 of the system 100.
- the system 100 differentiates, from data generated by the same detection device, raw data from preprocessed data. Indeed, as already mentioned above above, raw data and preprocessed data are generated by each detection device of the vehicle driving assistance system. During a preliminary step, in accordance with the embodiments described above, the system 100 therefore obtained raw data and preprocessed data generated by detection apparatuses. Also, the first step 201 implemented by the system 100 consists, for each set of raw and pretreated data jointly generated by even a detection device of the driving assistance system, in differentiating these data according to their type, ie to distinguish raw data from preprocessed data.
- the raw and preprocessed data are identified as such by the detection devices which generate them, for example by means of distinctive identifiers.
- the system 100 is able to determine by itself a type of data, so that it is able to determine which raw data and which preprocessed data are generated by the same detection device.
- the system 100 performs a first processing using only the raw data in order to determine a first estimated value of the occupancy parameter.
- the first processing comprises a step of using a confidence index previously defined and recorded in the data storage medium 102, taking for example a particular numerical value.
- the system 100 selects the confidence index as a function of a membership relationship between the detection device which generated the data and a set of special detection. For example, the confidence index is chosen by determining a detection layer to which the detection device belongs.
- the system 100 interrogates the oracle 104 to determine a transient value of the occupation parameter of the portion of space.
- the oracle 104 preferably determines the number of impacts detected at within the portion of space and applies an increasing bijective function which returns a value proportional to this number. In other words, the transient value returned by the oracle 104 is high when the number of impacts detected in the portion of space is high.
- the confidence index is preferably selected as a function of the location of an impact within a visibility cone relative to the detection device. For example, it is considered that an echo located in an area of the visibility cone located close to the emission source is more reliable than an echo further away.
- the system 100 interrogates the oracle 104 to determine a transient value of the occupation parameter of the portion of space.
- the oracle 104 receives the raw data generated by the radiation detection device by scanning the space located near the vehicle, ie radar echoes, and deduces the transient value thereof, by example, depending on the amplitude of the echoes received.
- the system 100 performs a step of weighting the transient value returned by the oracle 104 by the confidence index previously selected in order to determine a first estimated value of the occupation parameter of the portion of space.
- this weighting step amounts to multiplying the transient value returned by the oracle 104 by the confidence index, ie the numerical value of the index.
- this second processing includes a step which consists in determining whether the preprocessed data characterize the presence of an object within the portion of space.
- the system 100 determines a second estimated value of the occupancy parameter, for example by recovering a preset preset value and stored in the storage medium 102.
- the second estimated value is binary, 0 when no impact / echo is detected in the space portion and 1 when this is not the case.
- the system 100 determines the current value using the first estimated value and the second estimated value.
- the system 100 applies a preset fusion function, which can for example include the implementation of a scalar product or of a multiplication.
- the system 100 determines the current value of the occupancy parameter by using a specific weighting factor which is applied to the first and / or the second estimated value.
- the system 100 determines the current value of the occupancy parameter using the raw data and the preprocessed data.
- the raw data is taken into account according to a degree of confidence which can vary and be configurable as needed, thus providing means for determining more precise the current value of the occupancy parameter of the space portion.
- the functional bricks are provided to allow a driving assistance system to better detect the obstacles and thus to provide assistance assistance functionalities. driving more reliable and safer.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1871297A FR3087733B1 (en) | 2018-10-25 | 2018-10-25 | PROCESS FOR DETERMINING A CURRENT VALUE OF AN OCCUPANCY PARAMETER RELATING TO A PORTION OF A SPACE LOCATED CLOSE TO A LAND MOTOR VEHICLE |
PCT/FR2019/052389 WO2020084218A1 (en) | 2018-10-25 | 2019-10-09 | Method for determining a current value of an occupancy parameter relating to a portion of a space located in the vicinity of a motor-driven land vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3871009A1 true EP3871009A1 (en) | 2021-09-01 |
Family
ID=66041555
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19823792.7A Pending EP3871009A1 (en) | 2018-10-25 | 2019-10-09 | Method for determining a current value of an occupancy parameter relating to a portion of a space located in the vicinity of a motor-driven land vehicle |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3871009A1 (en) |
CN (1) | CN112912767B (en) |
FR (1) | FR3087733B1 (en) |
WO (1) | WO2020084218A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112632750B (en) * | 2020-12-01 | 2023-09-26 | 北方信息控制研究院集团有限公司 | Simulation modeling method and system for mutual coupling of different elements of virtual battlefield environment |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5063851B2 (en) * | 2000-08-16 | 2012-10-31 | ヴァレオ・レイダー・システムズ・インコーポレーテッド | Proximity object detection system |
WO2008063367A2 (en) * | 2006-10-31 | 2008-05-29 | Valeo Raytheon Systems, Inc. | System and method for generating an alert signal in a detection system |
US9983300B2 (en) * | 2014-10-17 | 2018-05-29 | Qualcomm Incorporated | Systems, methods, and apparatus for living object protection in wireless power transfer applications |
FR3039815B1 (en) * | 2015-08-03 | 2017-07-21 | Peugeot Citroen Automobiles Sa | METHOD FOR OPERATING AN AUTOMATED SYSTEM FOR ASSISTING THE DRIVING OF A MOTOR VEHICLE |
FR3061885B1 (en) * | 2017-01-18 | 2019-05-31 | Valeo Schalter Und Sensoren Gmbh | METHOD FOR DETERMINING A CHARACTERISTIC OF AN ENVIRONMENT OF A VEHICLE BY DATA FUSION |
FR3062836B1 (en) * | 2017-02-10 | 2019-04-26 | Valeo Schalter Und Sensoren Gmbh | METHOD AND SYSTEM FOR DETERMINING A TRUST INDEX ASSOCIATED WITH AN OBJECT OF AN ENVIRONMENT OF A VEHICLE |
-
2018
- 2018-10-25 FR FR1871297A patent/FR3087733B1/en active Active
-
2019
- 2019-10-09 EP EP19823792.7A patent/EP3871009A1/en active Pending
- 2019-10-09 WO PCT/FR2019/052389 patent/WO2020084218A1/en unknown
- 2019-10-09 CN CN201980070098.9A patent/CN112912767B/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN112912767A (en) | 2021-06-04 |
FR3087733B1 (en) | 2020-12-11 |
FR3087733A1 (en) | 2020-05-01 |
WO2020084218A1 (en) | 2020-04-30 |
CN112912767B (en) | 2024-05-17 |
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Owner name: STELLANTIS AUTO SAS |