FR3116501B1 - Procédé et dispositif de détermination d’une ligne virtuelle de délimitation entre deux voies de circulation. - Google Patents

Procédé et dispositif de détermination d’une ligne virtuelle de délimitation entre deux voies de circulation. Download PDF

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Publication number
FR3116501B1
FR3116501B1 FR2012108A FR2012108A FR3116501B1 FR 3116501 B1 FR3116501 B1 FR 3116501B1 FR 2012108 A FR2012108 A FR 2012108A FR 2012108 A FR2012108 A FR 2012108A FR 3116501 B1 FR3116501 B1 FR 3116501B1
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FR
France
Prior art keywords
lane
ego
determining
boundary line
virtual boundary
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
Application number
FR2012108A
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English (en)
Other versions
FR3116501A1 (fr
Inventor
Badreddine Aboulissane
Ismail Abouessire
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 FR2012108A priority Critical patent/FR3116501B1/fr
Priority to EP21810655.7A priority patent/EP4251485A1/fr
Priority to PCT/FR2021/051825 priority patent/WO2022112672A1/fr
Publication of FR3116501A1 publication Critical patent/FR3116501A1/fr
Application granted granted Critical
Publication of FR3116501B1 publication Critical patent/FR3116501B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown 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
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • 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
    • B60W2556/20—Data confidence level
    • 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
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems

Abstract

L’invention concerne un procédé et un dispositif de détermination d’une ligne virtuelle de délimitation entre une voie de circulation, dite égo-voie, et une voie de circulation adjacente à l’égo-voie, dite voie adjacente, pour réguler une position d’un véhicule autonome circulant sur l’égo-voie, ledit procédé comportant les étapes de : Réception (201) d’informations d’au moins un premier objet détecté circulant sur l’égo-voie ; Réception (202) d’informations d’au moins un deuxième objet détecté circulant sur la voie adjacente ; Pour chacun des deux objets, si la probabilité d’existence est supérieure à un seuil d’existence prédéterminé et si au moins un nombre prédéterminé de points de géolocalisation est réceptionné, (203, 204), alors Construction (205, 206) d’une ligne pour chaque objet à partir des points de géolocalisation ; Détermination (207) de la ligne virtuelle. Figure pour l’abrégé : Figure 2
FR2012108A 2020-11-25 2020-11-25 Procédé et dispositif de détermination d’une ligne virtuelle de délimitation entre deux voies de circulation. Active FR3116501B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2012108A FR3116501B1 (fr) 2020-11-25 2020-11-25 Procédé et dispositif de détermination d’une ligne virtuelle de délimitation entre deux voies de circulation.
EP21810655.7A EP4251485A1 (fr) 2020-11-25 2021-10-20 Procédé et dispositif de détermination d'une ligne virtuelle de délimitation entre deux voies de circulation
PCT/FR2021/051825 WO2022112672A1 (fr) 2020-11-25 2021-10-20 Procédé et dispositif de détermination d'une ligne virtuelle de délimitation entre deux voies de circulation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2012108 2020-11-25
FR2012108A FR3116501B1 (fr) 2020-11-25 2020-11-25 Procédé et dispositif de détermination d’une ligne virtuelle de délimitation entre deux voies de circulation.

Publications (2)

Publication Number Publication Date
FR3116501A1 FR3116501A1 (fr) 2022-05-27
FR3116501B1 true FR3116501B1 (fr) 2022-10-07

Family

ID=75746703

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2012108A Active FR3116501B1 (fr) 2020-11-25 2020-11-25 Procédé et dispositif de détermination d’une ligne virtuelle de délimitation entre deux voies de circulation.

Country Status (3)

Country Link
EP (1) EP4251485A1 (fr)
FR (1) FR3116501B1 (fr)
WO (1) WO2022112672A1 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3668127A (en) 1968-07-01 1972-06-06 Ricoh Kk Liquid developer for electrophotography
KR101714185B1 (ko) * 2015-08-05 2017-03-22 엘지전자 주식회사 차량 운전 보조장치 및 이를 포함하는 차량
DE102016118497A1 (de) * 2016-09-29 2018-03-29 Valeo Schalter Und Sensoren Gmbh Ermittlung einer virtuellen Fahrspur für eine von einem Kraftfahrzeug befahrene Straße
FR3088280A1 (fr) * 2018-11-08 2020-05-15 Psa Automobiles Sa Construction par segmentation de voies virtuelles sur une chaussee
FR3089925B1 (fr) * 2018-12-13 2020-11-20 Psa Automobiles Sa Conduite autonome sécurisée dans le cas d’une détection d’un objet cible

Also Published As

Publication number Publication date
EP4251485A1 (fr) 2023-10-04
WO2022112672A1 (fr) 2022-06-02
FR3116501A1 (fr) 2022-05-27

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