US20150010212A1 - Method of determining the position of a vehicle in a traffic lane of a road and methods for detecting alignment and risk of collision between two vehicles - Google Patents

Method of determining the position of a vehicle in a traffic lane of a road and methods for detecting alignment and risk of collision between two vehicles Download PDF

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Publication number
US20150010212A1
US20150010212A1 US14/376,242 US201314376242A US2015010212A1 US 20150010212 A1 US20150010212 A1 US 20150010212A1 US 201314376242 A US201314376242 A US 201314376242A US 2015010212 A1 US2015010212 A1 US 2015010212A1
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Prior art keywords
motor vehicle
highway
subject
subject motor
traffic
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Abandoned
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US14/376,242
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English (en)
Inventor
Gerard Segarra
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Renault SAS
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Renault SAS
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    • G06K9/00798—
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking

Definitions

  • the present invention relates generally to motor vehicles (cars, motorbikes, trucks, coaches, etc.).
  • It relates more particularly to a method of determining the positioning of a motor vehicle in a traffic lane of a highway.
  • the invention is particularly advantageously applicable in the production of collision risk management systems, for which it is essential to reliably detect a current or potential alignment of two motor vehicles.
  • GNSS Global Navigation Satellite System
  • GLONASS Global Navigation Satellite System
  • European GALILEO European GALILEO system
  • the document US 20110106442 discloses a motor vehicle equipped with a collision avoidance system.
  • This avoidance system is designed to process information received from a GPS appliance, from a motion sensor and from a device situated on the roadside and transmitting topographical information in order to predict the future trajectory of said vehicle.
  • the system is thus configured to be able to provide warnings or undertake actions in order to avoid collision between said motor vehicle and other motor vehicles.
  • the present invention proposes a method for determining the positioning of a subject motor vehicle in a traffic lane of a highway, that can be implemented easily and inexpensively.
  • a method for determining the positioning of a subject motor vehicle in a traffic lane of a highway comprising steps of:
  • This information can then be used in different ways. It can notably make it possible to detect a longitudinal alignment of the subject motor vehicle with another motor vehicle, in order, for example, to avoid a collision with this other motor vehicle.
  • This positioning information of the motor vehicle in a traffic lane could also be used otherwise.
  • This information could also be used by an information system which broadcasts the phases of the traffic lights to the vehicles traveling in a given traffic lane. These phases may be different for the traffic lanes of one and the same highway or at intersections between highways. This can be exploited for different applications, such as, for example, the detection of a traffic light violation, the optimization of green light crossing speeds (“green wave”), or systems for automatically stopping and restarting the engine at traffic lights (systems called, for example, “stop and start”).
  • green wave green light crossing speeds
  • the method according to the invention does not necessarily use a geolocation system to determine the positioning of the subject motor vehicle on the highway.
  • V2V vehicle-to-vehicle communication
  • CAM for “cooperative awareness messages”
  • step d) there can be provided a step of receiving, by said subject motor vehicle, at least one message from at least one other motor vehicle, said message containing, on the one hand, a first information item relating to the positioning of said other motor vehicle in one of said traffic lanes of said highway, and, on the other hand, a second information item relating to the direction of travel of said other motor vehicle on said highway, and, in step d), the positioning of said subject motor vehicle in one of said traffic lanes of said highway is deduced as a function also of said first and second information items.
  • the invention also proposes a method of detecting longitudinal alignment between a first subject motor vehicle and a second subject motor vehicle, comprising:
  • the invention also proposes a method of detecting a risk of longitudinal collision between a first subject motor vehicle and a second subject motor vehicle, comprising:
  • the invention also describes a motor vehicle comprising:
  • FIG. 1 is a schematic view of three motor vehicles according to the invention, traveling in traffic lanes of a highway;
  • FIG. 2 is a schematic view of two motor vehicles according to the invention, traveling in opposite directions on two traffic lanes of one and the same highway;
  • FIG. 3 is a schematic view of four motor vehicles according to the invention, traveling on four traffic lanes of a highway identical to that of FIG. 1 ;
  • FIG. 4 is a schematic view of the electronic equipment with which the motor vehicles represented in FIGS. 1 to 3 are equipped.
  • FIG. 1 shows a highway 10 which comprises four traffic lanes 11 , 12 , 13 , 14 and which is delimited, on one side, by a first roadside 15 , and, on the other side, by a second roadside 16 .
  • This highway 10 is divided into two by a central reservation 17 , which separates two first traffic lanes 11 , 12 from two second traffic lanes 13 , 14 .
  • the first two traffic lanes 11 , 12 are called “west traffic lanes”, given the direction of travel of the motor vehicles which travel westward thereon.
  • the two second traffic lanes 13 , 14 are called “east traffic lanes” in light of the direction of travel of the motor vehicles which travel eastward thereon.
  • the two “west traffic lanes” 11 , 12 are separated by a marking on the ground 18 here consisting of a broken white strip.
  • the two “east traffic lanes” 13 , 14 are separated by a marking on the ground 19 here consisting of a broken white strip.
  • a roadside unit 40 is also provided here, situated outside of the highway 10 , in proximity to the first roadside 15 .
  • This roadside unit 40 is then designed to broadcast, continuously or at short and regular intervals, messages 41 intended for the motor vehicles traveling on the highway 10 . It is, moreover, designed in such a way that these messages can be received by any motor vehicle traveling in proximity to said roadside unit 40 , within a radius which is at least greater than the width of the highway 10 .
  • the radius within which the messages 41 are broadcast is at least 300 meters.
  • the messages 41 contain at least the number of traffic lanes of the highway 10 alongside which the roadside unit 40 is placed.
  • the motor vehicles 20 , 70 , 80 represented in FIG. 1 are, here, conventional motor vehicles in as much as they comprise four wheels, a chassis, a windshield provided with a rearview mirror, and an engine.
  • the architecture of the motor vehicle 20 will more particularly be described here. It will obviously be considered that the other vehicles represented in different figures have the same characteristics.
  • the acquisition means with which the subject motor vehicle 20 is equipped to enable it to acquire the number of traffic lanes of the highway 10 here comprises an onboard navigation system 23 .
  • This navigation system 23 comprises a global digital map 25 in which is stored topographic and road infrastructure information 25 A.
  • Such topographic and road infrastructure information 25 a here comprises an indicator of the type of highway (highway, road, etc.), an indicator concerning the possibility of overtaking, the positions of points of intersection with other highways, the number of traffic lanes and the direction of travel of each of the traffic lanes.
  • the navigation system 23 also comprises a satellite geolocation system 26 , here of GPS type, supplying the GPS position of the subject motor vehicle 20 .
  • This satellite geolocation system 26 is coupled to a GPS antenna 27 capable of picking up signals 27 A from the satellites of the GPS system, to enhance the reception of the satellite geolocation system 26 .
  • the navigation system 23 also comprises a processing unit 23 A capable of extracting, as a function of the GPS position of the subject motor vehicle 20 , the topographic and road infrastructure information 25 A contained in the global digital map 25 .
  • the acquisition means with which the subject motor vehicle 20 is equipped to enable it to acquire images of the highway 10 here comprises a camera 22 situated behind the windshield of the subject motor vehicle 20 , at the level of the rear-view mirror.
  • This camera 22 is designed, positioned, oriented and set in such a way as to be able to acquire images of at least a right lateral part of the highway 10 , in particular here a part 161 of the second roadside 16 situated to the right of the subject motor vehicle 20 , as is represented in FIG. 1 .
  • the camera 22 is arranged in such a way that its field of view 221 enables it to acquire an image of a part of the highway 10 situated in front of the subject motor vehicle 20 and on either side thereof.
  • the camera 22 is thus designed to acquire an image not only of a part 161 of the second roadside 16 , but also of a part of the ground marking 18 and of a part of the central reservation 17 .
  • the acquisition means with which the subject motor vehicle 20 is equipped to enable it to acquire a datum relating to the direction of travel of this vehicle here consists of an electronic compass 29 designed to indicate the heading of the subject motor vehicle 20 .
  • This electronic compass 29 is here represented as not being incorporated in the navigation system 23 . Provision could obviously be made for it to be included therein.
  • the subject motor vehicle 20 is, moreover, also equipped with a transceiver 28 capable of receiving messages 41 from the roadside unit 40 , of receiving messages 71 , 81 from other motor vehicles, and of sending messages 21 to other motor vehicles.
  • a transceiver 28 capable of receiving messages 41 from the roadside unit 40 , of receiving messages 71 , 81 from other motor vehicles, and of sending messages 21 to other motor vehicles.
  • This transceiver 28 is designed to send messages 21 likely to be picked up by only the motor vehicles 70 , located in proximity to the subject motor vehicle 20 , here with a range of at least 300 meters.
  • the subject motor vehicle 20 is also equipped with vehicle parameter measurement means 29 A, making it possible in particular to measure the speed of the subject motor vehicle 20 , the position of the brake pedal, the position of the indicator actuation lever, and the angle of the steering wheel.
  • the subject motor vehicle 20 also comprises a driver unit 24 .
  • This driver unit 24 comprises a processor (CPU), a random-access memory (RAM), a read-only memory (ROM), analog-digital converters (A/D), and various input and output interfaces.
  • CPU central processing unit
  • RAM random-access memory
  • ROM read-only memory
  • A/D analog-digital converters
  • the driver unit 24 is suitable for receiving, from the navigation system 23 , the topographic and road infrastructure information 25 A. It is also suitable for receiving messages picked up by the transceiver 28 , a heading angle measured by the electronic compass 29 , and the vehicle parameters measured by the measurement means 29 A.
  • the driver unit 24 is, moreover, suitable for controlling an audible warning, as is described in more detail hereinafter in this explanation.
  • the driver unit can, for example, drive a human-machine interface (HMI), that can combine a number of warning sources, of audible, visual, or haptic type.
  • HMI human-machine interface
  • the driver unit 24 is suitable for determining the positioning of the subject motor vehicle 20 in one of the traffic lanes 11 , 12 , 13 , 14 of the highway 10 , by implementing steps:
  • steps a) to d) are implemented in a broader method, which comprises three successive operations and which makes it possible to detect, with a high degree of reliability, a risk of longitudinal collision with another motor vehicle.
  • the first operation consists, for the driver unit 24 , in determining the positioning of the subject motor vehicle 20 in one of the traffic lanes 11 , 12 , 13 , 14 of the highway 10 , by following the abovementioned steps a) to d).
  • step a the driver unit 24 acquires the number of traffic lanes on the highway 10 .
  • the driver unit 24 sends a request to the navigation system 23 of the subject motor vehicle 20 .
  • the processing unit 23 A of the navigation system 23 then reads the GPS position of the subject motor vehicle 20 supplied by the satellite geolocation system 26 , then extracts from the global digital map 25 the number of traffic lanes of the highway 10 , and all the topographic and road infrastructure information 25 A stored in the global digital map 25 .
  • the navigation system 23 can determine, on the global digital map 25 , which highway 10 closest to this position is the one on which it is probable that the subject motor vehicle 20 is traveling.
  • the navigation system then transmits all of this information to the driver unit 24 .
  • the driver unit 24 stores, in its random access memory, the fact that the highway 10 has four traffic lanes 11 , 12 , 13 , 14 separated two by two by the central reservation 17 .
  • the driver unit 24 implements a second step.
  • This second step is redundant with the first step, and it makes it possible to check the results of this first step.
  • the driver unit 24 processes the messages 41 received from the roadside unit 41 to extract therefrom the number of traffic lanes of the highway 10 .
  • the driver unit 24 then matches this datum with that determined on completion of the first step. If these data do not match, only the one obtained from the messages 41 is taken into account in the rest of the method.
  • the subject motor vehicle does not have any navigation system but is equipped only with a transceiver receiving messages from a roadside unit.
  • the second step described previously is implemented for the acquisition of the number of traffic lanes of the highway.
  • the third step (step b) consists in acquiring an image of at least a lateral part of the highway 10 .
  • the driver unit 24 sends a request to the camera 22 which then acquires an image of the highway 10 and transmits this image to the driver unit 24 .
  • the driver unit 24 then processes this image in order to determine the number of traffic lanes separating the subject motor vehicle 20 from the second roadside 16 (which can be seen in the right lateral part of the image of the highway 10 ).
  • the driver unit 24 of the subject motor vehicle 20 here determines that there is no traffic lane between the subject motor vehicle 20 and the second roadside 16 of the highway 10 .
  • the driver unit 24 determines that the subject motor vehicle 20 is on one of the outside traffic lanes 11 , 14 without being able to determine whether it is the west traffic lane 11 or the east traffic lane 14 .
  • the driver unit 24 acquires, in a fourth step (step c), a datum relating to the direction of travel of the subject motor vehicle 20 on the highway 10 .
  • the driver unit 24 sends a request to the electronic compass 29 which, in return, supplies it with a heading angle.
  • the electronic compass 29 supplies a heading angle of 270°.
  • step d the driver unit 24 deduces therefrom that the subject motor vehicle 20 is traveling toward the west and is therefore located on the west traffic lane 11 .
  • the second operation implemented by the driver unit 24 of the subject motor vehicle 20 consists in processing the signals sent by the motor vehicles 70 , 80 located in proximity in order to determine whether the subject motor vehicle 20 is longitudinally aligned with another vehicle.
  • the driver unit of each of the first and second motor vehicles 70 , 80 determines, by the method previously described, the traffic lane 11 , 12 , 13 , 14 on which this motor vehicle 70 , 80 is located.
  • the driver unit of each of the first and second motor vehicles 70 , 80 determines that the corresponding motor vehicle is located on the east traffic lane 14 .
  • the driver units of these vehicles can send messages 71 , 81 containing at least the speed of these vehicles, the traffic lane on which these vehicles are located, and the directions of travel of these vehicles.
  • These messages 71 , 81 are sent at regular intervals, for example every 100 milliseconds.
  • the driver unit 24 After having received these messages 71 , 81 , the driver unit 24 processes the information that they contain so as to check whether the motor vehicles 70 , 80 are located on the west traffic lane 11 .
  • the driver unit 24 detects that no motor vehicle situated in proximity to the subject motor vehicle 20 is traveling on the west traffic lane 11 . It then deduces therefrom that no risk of collision can be predicted.
  • This considered motor vehicle 80 is traveling on the same east traffic lane 14 as the target motor vehicle 70 .
  • its driver unit implements a third operation to assess the risk of longitudinal collision between the two motor vehicles 70 , 80 , given the respective positionings and speeds of these motor vehicles 70 , 80 .
  • the driver unit of the motor vehicle considered 80 determines, by virtue in particular of the information 71 transmitted by the target motor vehicle 70 :
  • the driver unit of the motor vehicle considered 80 then computes a time before collision between the two vehicles on the assumption that the two vehicles maintain their speeds and remain on the same east traffic lane 14 .
  • the driver unit does not send any warning.
  • TAC time before collision
  • the driver unit of the motor vehicle considered 80 implements a fourth operation.
  • This fourth operation consists either in generating a passive warning signal to alert the driver of the motor vehicle considered 80 , or in generating an active control signal for a member of the motor vehicle considered 80 to avoid the collision.
  • the driver unit could act otherwise. It could for example accompany the audible warnings with visual or haptic warnings.
  • driver unit it would also be possible to provide for the driver unit to act on the steering system of the motor vehicle considered 80 in such a way that the latter changes traffic lane to be positioned in the east traffic lane 13 of the highway 10 .
  • FIG. 2 shows the subject motor vehicle 20 traveling on a highway 10 comprising only two traffic lanes 11 and 13 .
  • the two traffic lanes 11 and 13 are separated by a ground marking 18 consisting of a discontinuous line allowing overtaking.
  • another motor vehicle that will be called target motor vehicle 30 .
  • the two subject and target motor vehicles 20 , 30 are traveling in opposite directions on the highway 10 : the subject motor vehicle 20 is traveling in the west traffic lane 11 (arrow to the left) and the target motor vehicle 30 is traveling in the east traffic lane 13 (arrow to the right).
  • the driver units of the two subject and target motor vehicles 20 , 30 determine the traffic lanes 11 , 13 on which these vehicles are located.
  • the driver unit of the subject motor vehicle 20 receives and processes the messages 31 sent by the driver unit of the target motor vehicle 30 .
  • the driver unit of the subject motor vehicle 20 can, prior to the second operation, check that the information that it has determined during the first operation is correct.
  • the subject motor vehicle 20 Having in effect acquired, by virtue of the global digital map 25 , the fact that the subject motor vehicle 20 is located on a two-way highway 10 , it can detect, by virtue of the successive GPS positions of the two vehicles, that the target motor vehicle 30 approaches the subject motor vehicle 20 in the opposite direction then moves away. It can then deduce therefrom, with certainty, that the subject motor vehicle 20 has just passed the target motor vehicle 30 . Now, according to the information 31 received, the target motor vehicle is located on the east traffic lane 13 . It can therefore deduce therefrom that the subject motor vehicle 20 is positioned in the west traffic lane 11 .
  • FIG. 3 represents a highway 10 identical to that represented in FIG. 1 .
  • the subject motor vehicle 20 and the target motor vehicle 30 travel this time in the same direction, respectively on the east traffic lane 14 and on the east traffic lane 13 .
  • the driver units of the two subject and target motor vehicles 20 , 30 determine the traffic lanes 11 , 13 on which these vehicles are located.
  • the driver unit of the subject motor vehicle 20 receives and processes the messages 31 sent by the driver unit of the target motor vehicle 30 .
  • the driver unit of the subject motor vehicle 20 can, prior to the second operation, check that the information it has determined during the first operation is correct.
  • the driver unit of the subject motor vehicle 20 detects that the target motor vehicle 30 approaches in the same direction of travel then moves away, it can in effect deduce therefrom, with certainty, that the subject motor vehicle 20 has just been overtaken by the target motor vehicle 30 .
  • This information is then used to confirm that the subject motor vehicle 20 is traveling in the traffic lane closest to the first roadside 15 , in the east direction.
  • FIG. 3 also shows a second target motor vehicle 50 and a second subject motor vehicle 60 traveling on the highway 10 , in the same direction, in the west direction.
  • the driver units of the two second subject and target motor vehicles 50 , 60 determine the traffic lanes 11 , 12 on which these vehicles are located.
  • the driver unit of the second subject motor vehicle 60 receives and processes the messages 51 sent by the driver unit of the second target motor vehicle 50 .
  • the driver of the second target motor vehicle 50 decides to change traffic lane and move back into the west traffic lane 11 closest to the second roadside 16 . For this, it actuates its right indicators 52 , 53 and, shortly after, modifies the angle of the steering wheel in order to modify its trajectory and go back into the west traffic lane 11 .
  • the driver unit of the second subject motor vehicle 60 Since the driver unit of the second subject motor vehicle 60 has access to the vehicle parameters of the second target motor vehicle 50 (actuation of the indicators, steering wheel angle, etc.) by virtue of the information 51 sent by the latter, it can deduce therefrom a change of traffic lane of the second target motor vehicle 50 to the right. Since the highway 10 comprises only two west traffic lanes 11 , 12 , then the driver unit of the second subject motor vehicle 60 can deduce therefrom that the second target motor vehicle 50 has just positioned itself in the west traffic lane 11 closest to the second roadside 16 . It can also thus check that the second subject motor vehicle 60 is indeed in the west traffic lane 11 , as it had detected in the first operation.
  • the second subject motor vehicle 60 and the second target motor vehicle 50 are positioned in the same traffic lane 11 of the highway 10 .
  • Their driver units which detect the longitudinal alignment of these two vehicles, then implement the third operation of detection of a risk of collision between the two vehicles, in the same way as that described above.
  • the core of the invention which consists in detecting the traffic lane on which the motor vehicle is located, could also find other applications different from that explained previously.
  • the invention could for example be used to display, on the screen of the navigation system, a faithful representation of the environment of the vehicle, with an image of the highway showing the real number of traffic lanes, and an image of the vehicle accurately positioned on the traffic lane corresponding to its real position.
  • the invention could also be incorporated in an accidental line crossing warning system (better known by the acronym LKA, which stands for “Lane Keeping Aid”), making it possible to keep the motor vehicle in its traffic lane.
  • LKA accidental line crossing warning system
  • the method for detecting the longitudinal alignment of the subject motor vehicle with another motor vehicle could also be used for other applications.
  • the invention is not limited to the integration of the data supplied by the GPS but by other systems of satellite geolocation type, called “GNSS” (Global Navigation Satellite System) systems, for example the Russian GLONASS system or the European GALILEO system.
  • GNSS Global Navigation Satellite System

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
US14/376,242 2012-02-03 2013-02-01 Method of determining the position of a vehicle in a traffic lane of a road and methods for detecting alignment and risk of collision between two vehicles Abandoned US20150010212A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FRFR1200327 2012-02-03
FR1200327A FR2986646B1 (fr) 2012-02-03 2012-02-03 Procede de determination du positionnement d'un vehicule dans un couloir de circulation d'une voie, et methodes de detection d'alignement et de risque de collision entre deux vehicules
PCT/EP2013/052090 WO2013113904A1 (fr) 2012-02-03 2013-02-01 Procede de determination du positionnement d'un vehicule dans un couloir de circulation d'une voie, et methodes de detection d'alignement et de risque de collision entre deux vehicules

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US20180208197A1 (en) * 2015-07-22 2018-07-26 Deutsches Zentrum für Luft- und Raumfahrt e.V. Lane keeping assistance system
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CN116847401A (zh) * 2023-08-30 2023-10-03 深圳市智慧城市科技发展集团有限公司 车联网测试方法、设备和可读存储介质

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