FR3125495B1 - Dispositif et procédé de détection d’une sortie de voie d’un véhicule - Google Patents

Dispositif et procédé de détection d’une sortie de voie d’un véhicule Download PDF

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Publication number
FR3125495B1
FR3125495B1 FR2107818A FR2107818A FR3125495B1 FR 3125495 B1 FR3125495 B1 FR 3125495B1 FR 2107818 A FR2107818 A FR 2107818A FR 2107818 A FR2107818 A FR 2107818A FR 3125495 B1 FR3125495 B1 FR 3125495B1
Authority
FR
France
Prior art keywords
vehicle
lane
detecting
shape
lane departure
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
FR2107818A
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English (en)
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FR3125495A1 (fr
Inventor
Jérémy Leduc
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.)
Continental Automotive France SAS
Original Assignee
Continental Automotive France SAS
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 Continental Automotive France SAS filed Critical Continental Automotive France SAS
Priority to FR2107818A priority Critical patent/FR3125495B1/fr
Priority to PCT/EP2022/069859 priority patent/WO2023001703A1/fr
Priority to EP22738503.6A priority patent/EP4373723A1/fr
Priority to CN202280051313.2A priority patent/CN117836186A/zh
Publication of FR3125495A1 publication Critical patent/FR3125495A1/fr
Application granted granted Critical
Publication of FR3125495B1 publication Critical patent/FR3125495B1/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
    • 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
    • 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
    • B60W40/06—Road 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
    • 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
    • B60W40/10—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 vehicle motion
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk

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)

Abstract

Il est proposé un dispositif (1) de détection d’une sortie de voie d’un véhicule (V), configuré pour, lors de la circulation du véhicule sur une route comprenant au moins une voie de circulation : estimer, à partir de la forme et de la position d’au moins une bordure de route, la forme et la position de chaque bordure de la voie empruntée par le véhicule, estimer une trajectoire suivie par le véhicule,déterminer, en fonction de la forme et de la position des bordures de la voie de circulation, et de la trajectoire suivie par le véhicule, un intervalle de temps avant que le véhicule atteigne une des bordures de la voie de circulation, comparer l’intervalle de temps à un seuil déterminé et, si l’intervalle de temps est inférieur au seuil, déterminer que le véhicule est en train de sortir de sa voie. Figure de l’abrégé : Figure 1
FR2107818A 2021-07-20 2021-07-20 Dispositif et procédé de détection d’une sortie de voie d’un véhicule Active FR3125495B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR2107818A FR3125495B1 (fr) 2021-07-20 2021-07-20 Dispositif et procédé de détection d’une sortie de voie d’un véhicule
PCT/EP2022/069859 WO2023001703A1 (fr) 2021-07-20 2022-07-15 Dispositif et procédé de détection d'une sortie de voie d'un véhicule
EP22738503.6A EP4373723A1 (fr) 2021-07-20 2022-07-15 Dispositif et procédé de détection d'une sortie de voie d'un véhicule
CN202280051313.2A CN117836186A (zh) 2021-07-20 2022-07-15 用于检测车辆离开其车道的装置和方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2107818A FR3125495B1 (fr) 2021-07-20 2021-07-20 Dispositif et procédé de détection d’une sortie de voie d’un véhicule
FR2107818 2021-07-20

Publications (2)

Publication Number Publication Date
FR3125495A1 FR3125495A1 (fr) 2023-01-27
FR3125495B1 true FR3125495B1 (fr) 2024-03-08

Family

ID=78049341

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2107818A Active FR3125495B1 (fr) 2021-07-20 2021-07-20 Dispositif et procédé de détection d’une sortie de voie d’un véhicule

Country Status (4)

Country Link
EP (1) EP4373723A1 (fr)
CN (1) CN117836186A (fr)
FR (1) FR3125495B1 (fr)
WO (1) WO2023001703A1 (fr)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6882287B2 (en) 2001-07-31 2005-04-19 Donnelly Corporation Automotive lane change aid
DE102004048011A1 (de) * 2004-10-01 2006-04-06 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrerunterstützung
DE102006040334A1 (de) * 2006-08-29 2008-03-06 Robert Bosch Gmbh Verfahren für die Spurerfassung mit einem Fahrerassistenzsystem und Fahrerassistenzsystem
JP5389864B2 (ja) * 2011-06-17 2014-01-15 クラリオン株式会社 車線逸脱警報装置
DE102015001386A1 (de) * 2015-02-04 2016-08-04 Audi Ag Verfahren zur Ermittlung einer Querpositionsinformantion eines Kraftfahrzeugs auf einer Fahrbahn und Kraftfahrzeug
US10586455B2 (en) 2017-10-19 2020-03-10 Veoneer Us, Inc. Systems and methods for vehicle lane change detection
US11142196B2 (en) * 2019-02-03 2021-10-12 Denso International America, Inc. Lane detection method and system for a vehicle
US10929692B2 (en) * 2019-02-06 2021-02-23 Veoneer Us Inc. Lane level position determination
FR3098778B1 (fr) * 2019-07-16 2022-08-19 Renault Sas Procédé et dispositif embarqué d’aide à la conduite avec tracé de contour de voie dépassé
CN111469860B (zh) * 2020-06-28 2020-10-30 江铃汽车股份有限公司 一种车道偏离预警方法、装置、存储介质及行车记录仪

Also Published As

Publication number Publication date
EP4373723A1 (fr) 2024-05-29
CN117836186A (zh) 2024-04-05
WO2023001703A1 (fr) 2023-01-26
FR3125495A1 (fr) 2023-01-27

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