FR3098480B1 - Procédé de prise de décision pour un véhicule, en fonction de son environnement - Google Patents

Procédé de prise de décision pour un véhicule, en fonction de son environnement Download PDF

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Publication number
FR3098480B1
FR3098480B1 FR1907807A FR1907807A FR3098480B1 FR 3098480 B1 FR3098480 B1 FR 3098480B1 FR 1907807 A FR1907807 A FR 1907807A FR 1907807 A FR1907807 A FR 1907807A FR 3098480 B1 FR3098480 B1 FR 3098480B1
Authority
FR
France
Prior art keywords
vehicle
determined
mobility
decision
making process
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.)
Expired - Fee Related
Application number
FR1907807A
Other languages
English (en)
Other versions
FR3098480A1 (fr
Inventor
Hamdani Ahmid El
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PSA Automobiles SA
Original Assignee
PSA Automobiles SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by PSA Automobiles SA filed Critical PSA Automobiles SA
Priority to FR1907807A priority Critical patent/FR3098480B1/fr
Priority to EP20750314.5A priority patent/EP3996965A1/fr
Priority to PCT/FR2020/051193 priority patent/WO2021005296A1/fr
Publication of FR3098480A1 publication Critical patent/FR3098480A1/fr
Application granted granted Critical
Publication of FR3098480B1 publication Critical patent/FR3098480B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians
    • 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
    • B60W2554/80—Spatial relation or speed relative to 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

Un procédé de prise de décision est mis en œuvre dans un véhicule et comprend : - une première étape (10-20) où l’on détermine un contexte de circulation du véhicule, - une deuxième étape (30-40) où l’on analyse des données d’environnement pour détecter des objets, puis l’on détermine pour chaque objet un type de mobilité parmi des premier et second types correspondant à une absence de capacité de mobilité et une capacité de mobilité, - une troisième étape (50) où l’on détermine pour chaque objet des position et vecteur vitesse en fonction des données d’environnement, et - une quatrième étape (60) où l’on prend des décisions parmi ne rien faire, informer, agir sur la dynamique du véhicule, et mettre en sécurité un passager, en fonction des contexte de circulation, type de mobilité, position et vecteur vitesse déterminés pour chaque objet détecté. Figure à publier avec l’abrégé : Fig. 2
FR1907807A 2019-07-11 2019-07-11 Procédé de prise de décision pour un véhicule, en fonction de son environnement Expired - Fee Related FR3098480B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1907807A FR3098480B1 (fr) 2019-07-11 2019-07-11 Procédé de prise de décision pour un véhicule, en fonction de son environnement
EP20750314.5A EP3996965A1 (fr) 2019-07-11 2020-07-06 Procédé de prise de décision pour un véhicule, en fonction de son environnement
PCT/FR2020/051193 WO2021005296A1 (fr) 2019-07-11 2020-07-06 Procédé de prise de décision pour un véhicule, en fonction de son environnement

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1907807A FR3098480B1 (fr) 2019-07-11 2019-07-11 Procédé de prise de décision pour un véhicule, en fonction de son environnement
FR1907807 2019-07-11

Publications (2)

Publication Number Publication Date
FR3098480A1 FR3098480A1 (fr) 2021-01-15
FR3098480B1 true FR3098480B1 (fr) 2021-06-11

Family

ID=68501750

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1907807A Expired - Fee Related FR3098480B1 (fr) 2019-07-11 2019-07-11 Procédé de prise de décision pour un véhicule, en fonction de son environnement

Country Status (3)

Country Link
EP (1) EP3996965A1 (fr)
FR (1) FR3098480B1 (fr)
WO (1) WO2021005296A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115923847B (zh) * 2023-03-15 2023-06-02 安徽蔚来智驾科技有限公司 自动驾驶车辆的感知信息的预处理方法、装置及车辆

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9315192B1 (en) * 2013-09-30 2016-04-19 Google Inc. Methods and systems for pedestrian avoidance using LIDAR
ITBA20150017A1 (it) * 2015-03-05 2016-09-05 Virgilio Savino Sistema intelligente di sicurezza e soccorso per veicoli in genere

Also Published As

Publication number Publication date
EP3996965A1 (fr) 2022-05-18
FR3098480A1 (fr) 2021-01-15
WO2021005296A1 (fr) 2021-01-14

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