FR3054684B1 - Systeme de pilotage d’un vehicule autonome - Google Patents

Systeme de pilotage d’un vehicule autonome Download PDF

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Publication number
FR3054684B1
FR3054684B1 FR1657337A FR1657337A FR3054684B1 FR 3054684 B1 FR3054684 B1 FR 3054684B1 FR 1657337 A FR1657337 A FR 1657337A FR 1657337 A FR1657337 A FR 1657337A FR 3054684 B1 FR3054684 B1 FR 3054684B1
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FR
France
Prior art keywords
controlling
autonomous vehicle
autonomous
vehicle
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
FR1657337A
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English (en)
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FR3054684A1 (fr
Inventor
Annie Bracquemond
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.)
Institut Vedecom
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Institut Vedecom
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 Institut Vedecom filed Critical Institut Vedecom
Priority to FR1657337A priority Critical patent/FR3054684B1/fr
Priority to JP2019504695A priority patent/JP2019528518A/ja
Priority to CN201780047018.9A priority patent/CN109690434A/zh
Priority to US16/320,780 priority patent/US20200331495A1/en
Priority to EP17758222.8A priority patent/EP3491475A1/fr
Priority to PCT/FR2017/052049 priority patent/WO2018020129A1/fr
Publication of FR3054684A1 publication Critical patent/FR3054684A1/fr
Application granted granted Critical
Publication of FR3054684B1 publication Critical patent/FR3054684B1/fr
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0015Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/10Path keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W60/00Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001Planning or execution of driving tasks
    • B60W60/0025Planning or execution of driving tasks specially adapted for specific operations
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3407Route searching; Route guidance specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3691Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0077Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2552/00Input parameters relating to infrastructure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2552/00Input parameters relating to infrastructure
    • B60W2552/10Number of lanes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2555/00Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20Ambient conditions, e.g. wind or rain
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2555/00Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60Traffic rules, e.g. speed limits or right of way
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2556/00Input parameters relating to data
    • B60W2556/10Historical data
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2556/00Input parameters relating to data
    • B60W2556/20Data confidence level

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Atmospheric Sciences (AREA)
  • Ecology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
FR1657337A 2016-07-29 2016-07-29 Systeme de pilotage d’un vehicule autonome Active FR3054684B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
FR1657337A FR3054684B1 (fr) 2016-07-29 2016-07-29 Systeme de pilotage d’un vehicule autonome
JP2019504695A JP2019528518A (ja) 2016-07-29 2017-07-25 自動運転車両の操縦システム
CN201780047018.9A CN109690434A (zh) 2016-07-29 2017-07-25 用于操控自主车辆的操控系统
US16/320,780 US20200331495A1 (en) 2016-07-29 2017-07-25 System for steering an autonomous vehicle
EP17758222.8A EP3491475A1 (fr) 2016-07-29 2017-07-25 Système de pilotage d'un véhicule autonome
PCT/FR2017/052049 WO2018020129A1 (fr) 2016-07-29 2017-07-25 Systeme de pilotage d'un vehicule autonome

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1657337A FR3054684B1 (fr) 2016-07-29 2016-07-29 Systeme de pilotage d’un vehicule autonome
FR1657337 2016-07-29

Publications (2)

Publication Number Publication Date
FR3054684A1 FR3054684A1 (fr) 2018-02-02
FR3054684B1 true FR3054684B1 (fr) 2018-08-24

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
FR1657337A Active FR3054684B1 (fr) 2016-07-29 2016-07-29 Systeme de pilotage d’un vehicule autonome

Country Status (6)

Country Link
US (1) US20200331495A1 (fr)
EP (1) EP3491475A1 (fr)
JP (1) JP2019528518A (fr)
CN (1) CN109690434A (fr)
FR (1) FR3054684B1 (fr)
WO (1) WO2018020129A1 (fr)

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FR3082634B1 (fr) 2018-06-18 2021-10-01 Delphi Tech Llc Dispositif optique pour vehicule comprenant un element de chauffage
FR3092303B1 (fr) * 2019-01-31 2022-07-22 Psa Automobiles Sa Procédé de gestion d’une fonctionnalité d’aide au maintien dans la voie fournie par un système d’aide à la conduite d’un véhicule terrestre à moteur
EP3760507A1 (fr) * 2019-07-04 2021-01-06 TTTech Auto AG Sélection de trajectoire sécurisée pour véhicules autonomes
CN110347166B (zh) * 2019-08-13 2022-07-26 浙江吉利汽车研究院有限公司 用于自动驾驶系统的传感器控制方法
CN112596509B (zh) * 2019-09-17 2024-10-18 广州汽车集团股份有限公司 车辆控制方法、装置、计算机设备及计算机可读存储介质
CN110673599A (zh) * 2019-09-29 2020-01-10 北京邮电大学 基于传感器网络的自动驾驶车辆环境感知系统
CN111025959B (zh) * 2019-11-20 2021-10-01 华为技术有限公司 一种数据管理的方法、装置、设备及智能汽车
JP7015821B2 (ja) * 2019-12-13 2022-02-03 本田技研工業株式会社 駐車支援システム
US20220067550A1 (en) * 2020-09-03 2022-03-03 Aptiv Technologies Limited Bayesian Network Analysis of Safety of Intended Functionality of System Designs
CN112406892B (zh) * 2020-11-03 2022-11-18 上海大学 一种智能网联汽车感知决策模块功能安全和网络安全内生保障方法
CN112572471B (zh) * 2020-12-08 2022-11-04 西人马帝言(北京)科技有限公司 自动驾驶方法、装置、电子设备及计算机存储介质
CN112711260B (zh) * 2020-12-29 2022-02-11 清华大学苏州汽车研究院(相城) 一种用于自动驾驶车辆误/漏识别的预期功能安全测试评价方法
FR3118618A1 (fr) * 2021-01-04 2022-07-08 Psa Automobiles Sa Procédé et dispositif de contrôle d’un véhicule
GB2602496A (en) * 2021-01-05 2022-07-06 Nissan Motor Mfg Uk Ltd Vehicle control system
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Also Published As

Publication number Publication date
JP2019528518A (ja) 2019-10-10
CN109690434A (zh) 2019-04-26
WO2018020129A1 (fr) 2018-02-01
FR3054684A1 (fr) 2018-02-02
US20200331495A1 (en) 2020-10-22
EP3491475A1 (fr) 2019-06-05

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