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 PDFInfo
- 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
- Authority
- 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
Links
- 238000000034 method Methods 0.000 title abstract 3
- 238000010276 construction Methods 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
- 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
- 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 of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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
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 |
---|---|---|---|
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. |
FR2012108 | 2020-11-25 |
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)
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 |
-
2020
- 2020-11-25 FR FR2012108A patent/FR3116501B1/fr active Active
-
2021
- 2021-10-20 EP EP21810655.7A patent/EP4251485A1/fr active Pending
- 2021-10-20 WO PCT/FR2021/051825 patent/WO2022112672A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
FR3116501A1 (fr) | 2022-05-27 |
EP4251485A1 (fr) | 2023-10-04 |
WO2022112672A1 (fr) | 2022-06-02 |
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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: 20220527 |
|
PLFP | Fee payment |
Year of fee payment: 3 |
|
PLFP | Fee payment |
Year of fee payment: 4 |
|
CD | Change of name or company name |
Owner name: STELLANTIS AUTO SAS, FR Effective date: 20240423 |