FR3097338B1 - Système et procédé de prédiction de la trajectoire d’un véhicule égo en fonction de l’environnement dudit véhicule égo - Google Patents
Système et procédé de prédiction de la trajectoire d’un véhicule égo en fonction de l’environnement dudit véhicule égo Download PDFInfo
- Publication number
- FR3097338B1 FR3097338B1 FR1906412A FR1906412A FR3097338B1 FR 3097338 B1 FR3097338 B1 FR 3097338B1 FR 1906412 A FR1906412 A FR 1906412A FR 1906412 A FR1906412 A FR 1906412A FR 3097338 B1 FR3097338 B1 FR 3097338B1
- Authority
- FR
- France
- Prior art keywords
- ego vehicle
- trajectory
- environment
- vehicle
- ego
- 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
- 230000000272 proprioceptive effect Effects 0.000 abstract 1
Classifications
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
Abstract
Procédé (40) de prédiction de la trajectoire d’un véhicule égo dans lequel : - on récupère des données provenant de capteurs extéroceptifs et proprioceptifs ; - on modélise un environnement du véhicule égo en fonction d’un ensemble desdites données récupérées ; - on prédit la trajectoire du véhicule égo et au moins une trajectoire d’objet mobile situé dans l’environnement modélisé du véhicule égo en générant une trajectoire prédite du véhicule égo pendant une durée déterminée en prenant en compte l’environnement modélisé du véhicule ; - on sélectionne un objet cible ; et - on transmet la valeur de prédiction de trajectoire à l’unité de contrôle du véhicule automobile égo. Figure pour l’abrégé : Fig 3
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1906412A FR3097338B1 (fr) | 2019-06-14 | 2019-06-14 | Système et procédé de prédiction de la trajectoire d’un véhicule égo en fonction de l’environnement dudit véhicule égo |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1906412 | 2019-06-14 | ||
FR1906412A FR3097338B1 (fr) | 2019-06-14 | 2019-06-14 | Système et procédé de prédiction de la trajectoire d’un véhicule égo en fonction de l’environnement dudit véhicule égo |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3097338A1 FR3097338A1 (fr) | 2020-12-18 |
FR3097338B1 true FR3097338B1 (fr) | 2023-11-24 |
Family
ID=68806849
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1906412A Active FR3097338B1 (fr) | 2019-06-14 | 2019-06-14 | Système et procédé de prédiction de la trajectoire d’un véhicule égo en fonction de l’environnement dudit véhicule égo |
Country Status (1)
Country | Link |
---|---|
FR (1) | FR3097338B1 (fr) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080065328A1 (en) * | 2006-09-08 | 2008-03-13 | Andreas Eidehall | Method and system for collision avoidance |
EP2782084B1 (fr) * | 2011-11-14 | 2017-06-14 | Toyota Jidosha Kabushiki Kaisha | Dispositif de support de conduite |
EP3018026B1 (fr) | 2014-11-06 | 2019-05-15 | Veoneer Sweden AB | Procédé de prédiction de trajet d'un véhicule |
-
2019
- 2019-06-14 FR FR1906412A patent/FR3097338B1/fr active Active
Also Published As
Publication number | Publication date |
---|---|
FR3097338A1 (fr) | 2020-12-18 |
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Year of fee payment: 2 |
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Effective date: 20201218 |
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CA | Change of address |
Effective date: 20221005 |
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Year of fee payment: 5 |