FR3112746B1 - procédé de détermination d’une trajectoire d’un véhicule automobile - Google Patents
procédé de détermination d’une trajectoire d’un véhicule automobile Download PDFInfo
- Publication number
- FR3112746B1 FR3112746B1 FR2007743A FR2007743A FR3112746B1 FR 3112746 B1 FR3112746 B1 FR 3112746B1 FR 2007743 A FR2007743 A FR 2007743A FR 2007743 A FR2007743 A FR 2007743A FR 3112746 B1 FR3112746 B1 FR 3112746B1
- Authority
- FR
- France
- Prior art keywords
- motor vehicle
- determining
- trajectory
- collision
- injury
- 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
- 208000027418 Wounds and injury Diseases 0.000 abstract 4
- 230000006378 damage Effects 0.000 abstract 3
- 208000014674 injury Diseases 0.000 abstract 3
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
- 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
- B60W30/08—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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
-
- 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
- B60W30/08—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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- 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
- B60W50/0097—Predicting future conditions
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0013—Optimal controllers
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display 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
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Abstract
L’invention concerne un procédé de détermination d’une trajectoire d’un véhicule automobile (100) caractérisé en ce qu’il comprend des étapes de : - identification d’une pluralité d’objets (101, 102, 200, 201, 300) présents dans l’environnement du véhicule automobile (100), - pour chaque objet : a) détermination d’une vitesse d’impact entre l’objet concerné et le véhicule automobile, b) détermination d’un risque de blessure en cas de collision avec ledit véhicule automobile à la vitesse d’impact déterminée, c) détermination d’une probabilité de collision engendrant une blessure entre l’objet concerné et le véhicule automobile, en fonction du risque de blessure déterminé, puis - détermination d’une pluralité de trajectoires possibles pour le véhicule automobile, et - détermination de la trajectoire à emprunter par le véhicule automobile par optimisation d’une fonction de coût qui dépend des probabilités de collision déterminées et qui permet de minimiser le risque de collision engendrant une blessure entre chaque objet et le véhicule automobile. Figure pour l’abrégé : Fig. 3
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2007743A FR3112746B1 (fr) | 2020-07-23 | 2020-07-23 | procédé de détermination d’une trajectoire d’un véhicule automobile |
PCT/EP2021/070320 WO2022018110A1 (fr) | 2020-07-23 | 2021-07-21 | Procédé de détermination d'une trajectoire d'un véhicule automobile |
US18/006,481 US20230365131A1 (en) | 2020-07-23 | 2021-07-21 | Method for determining a trajectory of a motor vehicle |
EP21742847.3A EP4185504A1 (fr) | 2020-07-23 | 2021-07-21 | Procédé de détermination d'une trajectoire d'un véhicule automobile |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2007743 | 2020-07-23 | ||
FR2007743A FR3112746B1 (fr) | 2020-07-23 | 2020-07-23 | procédé de détermination d’une trajectoire d’un véhicule automobile |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3112746A1 FR3112746A1 (fr) | 2022-01-28 |
FR3112746B1 true FR3112746B1 (fr) | 2022-11-11 |
Family
ID=73698957
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR2007743A Active FR3112746B1 (fr) | 2020-07-23 | 2020-07-23 | procédé de détermination d’une trajectoire d’un véhicule automobile |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230365131A1 (fr) |
EP (1) | EP4185504A1 (fr) |
FR (1) | FR3112746B1 (fr) |
WO (1) | WO2022018110A1 (fr) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008005310A1 (de) * | 2008-01-21 | 2009-07-23 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Beeinflussung der Bewegung eines Fahrzeugs bei vorzeitigem Erkennen einer unvermeidbaren Kollision mit einem Hindernis |
DE102013217430A1 (de) * | 2012-09-04 | 2014-03-06 | Magna Electronics, Inc. | Fahrerassistenzsystem für ein Kraftfahrzeug |
DE102013211622A1 (de) * | 2013-06-20 | 2014-12-24 | Robert Bosch Gmbh | Kollisionsvermeidung für ein Kraftfahrzeug |
US11138884B2 (en) * | 2016-02-15 | 2021-10-05 | Allstate Insurance Company | Accident prediction and consequence mitigation calculus |
KR101996420B1 (ko) | 2016-12-30 | 2019-10-01 | 현대자동차주식회사 | 보행자 충돌 시 충격 완화 장치 및 방법 |
-
2020
- 2020-07-23 FR FR2007743A patent/FR3112746B1/fr active Active
-
2021
- 2021-07-21 US US18/006,481 patent/US20230365131A1/en active Pending
- 2021-07-21 WO PCT/EP2021/070320 patent/WO2022018110A1/fr active Application Filing
- 2021-07-21 EP EP21742847.3A patent/EP4185504A1/fr active Pending
Also Published As
Publication number | Publication date |
---|---|
US20230365131A1 (en) | 2023-11-16 |
EP4185504A1 (fr) | 2023-05-31 |
FR3112746A1 (fr) | 2022-01-28 |
WO2022018110A1 (fr) | 2022-01-27 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PLFP | Fee payment |
Year of fee payment: 2 |
|
PLSC | Publication of the preliminary search report |
Effective date: 20220128 |
|
PLFP | Fee payment |
Year of fee payment: 3 |
|
CA | Change of address |
Effective date: 20221014 |
|
PLFP | Fee payment |
Year of fee payment: 4 |