FR3079066B1 - Procédé et système de commande d’un véhicule dans une infrastructure - Google Patents
Procédé et système de commande d’un véhicule dans une infrastructure Download PDFInfo
- Publication number
- FR3079066B1 FR3079066B1 FR1902434A FR1902434A FR3079066B1 FR 3079066 B1 FR3079066 B1 FR 3079066B1 FR 1902434 A FR1902434 A FR 1902434A FR 1902434 A FR1902434 A FR 1902434A FR 3079066 B1 FR3079066 B1 FR 3079066B1
- Authority
- FR
- France
- Prior art keywords
- vehicle
- infrastructure
- traffic
- controlling
- release
- 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
Links
- 238000000034 method Methods 0.000 title abstract 3
- 238000005259 measurement Methods 0.000 abstract 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
TITRE : Procédé et système de commande d’un véhicule dans une infrastructure Procédé de guidage d’un véhicule (4) dans une infrastructure (1) selon lequel on établit une carte d’occupation en se fondant sur les données de mesure d’un système de capteur (14) de l’infrastructure, en fonction de la carte d’occupation établie, une unité de commande (16) détermine une zone de circulation sans collision pour au moins un véhicule (4). Partant de la position déterminée par le système de capteurs (14) et de la plage de circulation, ainsi déterminée, on calcule la libération de circulation par l’unité de commande (16) et on la transmet au véhicule (4). On vérifie les écarts entre le véhicule (4) et la libération de circulation par une commande interne au véhicule (20), et en cas d’écart constaté par la commande (20), on met le véhicule (4) dans un état sécurisé. Figure 3
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018204006.0A DE102018204006A1 (de) | 2018-03-15 | 2018-03-15 | Verfahren und System zur sicheren Kollisionsvermeidung von infrastrukturseitig überwachten Fahrzeugen |
DE102018204006.0 | 2018-03-15 |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3079066A1 FR3079066A1 (fr) | 2019-09-20 |
FR3079066B1 true FR3079066B1 (fr) | 2021-05-07 |
Family
ID=67774457
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1902434A Active FR3079066B1 (fr) | 2018-03-15 | 2019-03-11 | Procédé et système de commande d’un véhicule dans une infrastructure |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP2019194844A (fr) |
CN (1) | CN110271540A (fr) |
DE (1) | DE102018204006A1 (fr) |
FR (1) | FR3079066B1 (fr) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112824836A (zh) * | 2019-11-21 | 2021-05-21 | 北京图森智途科技有限公司 | 移动工具碰撞检测方法及相关设备 |
JP7401291B2 (ja) | 2019-12-20 | 2023-12-19 | アマノ株式会社 | 駐車場管制システム、駐車場管制方法、及びプログラム |
JP7401293B2 (ja) | 2019-12-20 | 2023-12-19 | アマノ株式会社 | 駐車場管制システム、駐車場管制方法、及びプログラム |
CN111497827B (zh) * | 2020-02-17 | 2021-07-27 | 湖北亿咖通科技有限公司 | 一种自动泊车方法、装置、介质及设备 |
JP7412234B2 (ja) * | 2020-03-13 | 2024-01-12 | フォルシアクラリオン・エレクトロニクス株式会社 | 駐車情報管理サーバ、駐車支援装置及び駐車支援システム |
DE102020107108A1 (de) * | 2020-03-16 | 2021-09-16 | Kopernikus Automotive GmbH | Verfahren und System zum autonomen Fahren eines Fahrzeugs |
DE102020205549A1 (de) | 2020-04-30 | 2021-11-04 | Volkswagen Aktiengesellschaft | Verfahren zum Betrieb eines Transportmittel-Assistenz- oder Steuerungssystems |
CN112193242B (zh) * | 2020-10-10 | 2022-01-07 | 上海欧菲智能车联科技有限公司 | 泊车控制方法、系统、设备以及存储介质 |
DE102021200372A1 (de) | 2021-01-15 | 2022-07-21 | Volkswagen Aktiengesellschaft | Verfahren zum Betreiben eines Kraftfahrzeugs sowie Kraftfahrzeug |
DE102021202949A1 (de) | 2021-03-25 | 2022-09-29 | Robert Bosch Gesellschaft mit beschränkter Haftung | System zum infrastrukturgestützten Assistieren eines Kraftfahrzeugs |
CN114394098B (zh) * | 2021-04-16 | 2023-06-23 | 阿波罗智联(北京)科技有限公司 | 车辆停靠的方法、装置、电子设备和可读存储介质 |
CN116811914A (zh) * | 2023-06-29 | 2023-09-29 | 重庆亿连信息科技有限公司 | 一种无人驾驶车载障碍感应系统和方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004295360A (ja) * | 2003-03-26 | 2004-10-21 | Denso Corp | 車両遠隔運転装置および車両遠隔運転方法 |
DE102008028222A1 (de) * | 2008-06-13 | 2009-12-17 | Volkswagen Ag | Verfahren und Vorrichtung zur Abstands- und Höhenbestimmung eines Fahrzeughindernisses und zur automatischen Verhinderung einer Beschädigung eines Fahrzeugs |
JP2014196040A (ja) * | 2013-03-29 | 2014-10-16 | 株式会社エクォス・リサーチ | 駐車アシスト装置 |
DE102014224075A1 (de) * | 2014-11-26 | 2016-06-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum assistierten Führen eines Fahrzeugs |
DE102014224077A1 (de) * | 2014-11-26 | 2016-06-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum assistierten Führen eines Fahrzeugs |
DE102015201204A1 (de) * | 2015-01-26 | 2016-07-28 | Robert Bosch Gmbh | Valet-Parking System |
DE102015002405A1 (de) * | 2015-02-24 | 2016-08-25 | Audi Ag | Verfahren zur Verkehrskoordinierung von Kraftfahrzeugen in einer Parkumgebung |
JP6715075B2 (ja) * | 2016-05-09 | 2020-07-01 | 株式会社 ミックウェア | 駐車情報処理装置、駐車システム、駐車情報処理方法、およびプログラム |
CN106846870A (zh) * | 2017-02-23 | 2017-06-13 | 重庆邮电大学 | 基于集中式视觉的停车场‑车辆协同的智能停车系统及方法 |
CN107585222B (zh) * | 2017-10-18 | 2023-07-18 | 长沙冰眼电子科技有限公司 | 无人侦察车 |
-
2018
- 2018-03-15 DE DE102018204006.0A patent/DE102018204006A1/de active Pending
-
2019
- 2019-03-11 FR FR1902434A patent/FR3079066B1/fr active Active
- 2019-03-14 JP JP2019046751A patent/JP2019194844A/ja active Pending
- 2019-03-15 CN CN201910196039.8A patent/CN110271540A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
FR3079066A1 (fr) | 2019-09-20 |
JP2019194844A (ja) | 2019-11-07 |
CN110271540A (zh) | 2019-09-24 |
DE102018204006A1 (de) | 2019-09-19 |
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