FR3109213B1 - Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving - Google Patents
Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving Download PDFInfo
- Publication number
- FR3109213B1 FR3109213B1 FR2003715A FR2003715A FR3109213B1 FR 3109213 B1 FR3109213 B1 FR 3109213B1 FR 2003715 A FR2003715 A FR 2003715A FR 2003715 A FR2003715 A FR 2003715A FR 3109213 B1 FR3109213 B1 FR 3109213B1
- Authority
- FR
- France
- Prior art keywords
- relative pose
- future relative
- correcting
- motor vehicle
- controlling
- 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 2
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Feedback Control In General (AREA)
Abstract
Dispositif et procédé de correction de la future pose relative d’un véhicule automobile, comprenant pour chaque cycle de calcul, une étape (104) de calcul du futur biais relatif en fonction de la future pose relative et de ladite future pose relative brute ; et une étape de correction, pour le cycle de calcul suivant. Figure de l’abrégé : Figure 5Device and method for correcting the future relative pose of a motor vehicle, comprising for each calculation cycle, a step (104) of calculating the future relative bias as a function of the future relative pose and of said raw future relative pose; and a correction step, for the next calculation cycle. Abstract Figure: Figure 5
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2003715A FR3109213B1 (en) | 2020-04-14 | 2020-04-14 | Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2003715 | 2020-04-14 | ||
FR2003715A FR3109213B1 (en) | 2020-04-14 | 2020-04-14 | Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3109213A1 FR3109213A1 (en) | 2021-10-15 |
FR3109213B1 true FR3109213B1 (en) | 2022-03-11 |
Family
ID=71662045
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR2003715A Active FR3109213B1 (en) | 2020-04-14 | 2020-04-14 | Method for correcting the future relative pose for controlling the motor vehicle in autonomous driving |
Country Status (1)
Country | Link |
---|---|
FR (1) | FR3109213B1 (en) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7689321B2 (en) * | 2004-02-13 | 2010-03-30 | Evolution Robotics, Inc. | Robust sensor fusion for mapping and localization in a simultaneous localization and mapping (SLAM) system |
US11137255B2 (en) | 2015-08-03 | 2021-10-05 | Tomtom Global Content B.V. | Methods and systems for generating and using localization reference data |
KR20180106417A (en) * | 2017-03-20 | 2018-10-01 | 현대자동차주식회사 | System and Method for recognizing location of vehicle |
-
2020
- 2020-04-14 FR FR2003715A patent/FR3109213B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
FR3109213A1 (en) | 2021-10-15 |
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Legal Events
Date | Code | Title | Description |
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PLFP | Fee payment |
Year of fee payment: 2 |
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PLSC | Publication of the preliminary search report |
Effective date: 20211015 |
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PLFP | Fee payment |
Year of fee payment: 3 |
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CA | Change of address |
Effective date: 20221014 |
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PLFP | Fee payment |
Year of fee payment: 4 |
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PLFP | Fee payment |
Year of fee payment: 5 |