FR3054684B1 - Systeme de pilotage d’un vehicule autonome - Google Patents
Systeme de pilotage d’un vehicule autonome Download PDFInfo
- 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
- Authority
- 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
Links
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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
-
- 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
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining 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
- G01S19/42—Determining position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0077—Control 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
-
- 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
-
- 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
- B60W2552/10—Number of lanes
-
- 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
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- 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
- B60W2556/10—Historical data
-
- 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
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)
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
ID=57348850
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) |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11210744B2 (en) * | 2017-08-16 | 2021-12-28 | Mobileye Vision Technologies Ltd. | Navigation based on liability constraints |
US11262756B2 (en) * | 2018-01-15 | 2022-03-01 | Uatc, Llc | Discrete decision architecture for motion planning system of an autonomous vehicle |
DE102018206712B4 (de) * | 2018-05-02 | 2022-02-03 | Audi Ag | Betriebsverfahren für eine autonom betreibbare Vorrichtung und autonom betreibbare Vorrichtung |
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 |
GB2602498B (en) * | 2021-01-05 | 2023-09-13 | Nissan Motor Mfg Uk Limited | Vehicle control system |
CN113044063B (zh) * | 2021-03-31 | 2022-09-06 | 重庆长安汽车股份有限公司 | 用于高级自动驾驶的功能冗余控制系统 |
FR3126386B1 (fr) * | 2021-08-25 | 2023-09-29 | Renault Sas | Procédé de modélisation d’un environnement de navigation d’un véhicule automobile. |
DE102021122950A1 (de) * | 2021-09-06 | 2023-03-09 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben eines Assistenzsystems eines zumindest teilweise automatisch betriebenen Kraftfahrzeugs sowie Assistenzsystem |
WO2023059221A1 (fr) * | 2021-10-04 | 2023-04-13 | Общество с ограниченной ответственностью "ЭвоКарго" | Procédé de commande des caractéristiques de déplacement d'un moyen de transport |
CN114312828B (zh) * | 2021-11-30 | 2024-07-05 | 深圳元戎启行科技有限公司 | 风险管理方法、风险管理平台以及计算机可读存储介质 |
CN115311838B (zh) * | 2022-07-22 | 2023-09-26 | 重庆大学 | 一种隧道入口区域车辆协同一致性评价方法 |
US11814086B1 (en) * | 2022-10-20 | 2023-11-14 | Rivian Ip Holdings, Llc | Middleware software layer for vehicle autonomy subsystems |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10133945A1 (de) * | 2001-07-17 | 2003-02-06 | Bosch Gmbh Robert | Verfahren und Vorrichtung zum Austausch und zur Verarbeitung von Daten |
EP1873493B1 (fr) * | 2006-06-29 | 2010-09-08 | Navigon AG | Procédé destiné à la détermination automatique par ordinateur d'une route adaptée aux véhicules |
US8605947B2 (en) * | 2008-04-24 | 2013-12-10 | GM Global Technology Operations LLC | Method for detecting a clear path of travel for a vehicle enhanced by object detection |
JP5557015B2 (ja) * | 2010-06-23 | 2014-07-23 | アイシン・エィ・ダブリュ株式会社 | 軌跡情報生成装置、方法およびプログラム |
DE102010061829A1 (de) * | 2010-11-24 | 2012-05-24 | Continental Teves Ag & Co. Ohg | Verfahren und Abstandskontrolleinrichtung zur Vermeidung von Kollisionen eines Kraftfahrzeugs in einer Fahrsituation mit geringem Seitenabstand |
DE102012217002A1 (de) * | 2012-09-21 | 2014-03-27 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs in einem automatisierten Fahrbetrieb |
DE102012021282A1 (de) * | 2012-10-29 | 2014-04-30 | Audi Ag | Verfahren zur Koordination des Betriebs von vollautomatisiert fahrenden Kraftfahrzeugen |
WO2014139821A1 (fr) * | 2013-03-15 | 2014-09-18 | Volkswagen Aktiengesellschaft | Application de planification d'itinéraire pour conduite automatique |
US8930060B1 (en) * | 2013-07-15 | 2015-01-06 | Ford Global Technologies | Post-impact path assist for vehicles |
US9434389B2 (en) * | 2013-11-18 | 2016-09-06 | Mitsubishi Electric Research Laboratories, Inc. | Actions prediction for hypothetical driving conditions |
EP2865575B1 (fr) * | 2013-10-22 | 2022-08-24 | Honda Research Institute Europe GmbH | Estimation de confiance pour systèmes d'assistance de conducteur prédictifs sur la base de règles de plausibilité |
US9365213B2 (en) * | 2014-04-30 | 2016-06-14 | Here Global B.V. | Mode transition for an autonomous vehicle |
CN105206108B (zh) * | 2015-08-06 | 2017-06-13 | 同济大学 | 一种基于电子地图的车辆碰撞预警方法 |
-
2016
- 2016-07-29 FR FR1657337A patent/FR3054684B1/fr active Active
-
2017
- 2017-07-25 JP JP2019504695A patent/JP2019528518A/ja active Pending
- 2017-07-25 CN CN201780047018.9A patent/CN109690434A/zh active Pending
- 2017-07-25 US US16/320,780 patent/US20200331495A1/en not_active Abandoned
- 2017-07-25 EP EP17758222.8A patent/EP3491475A1/fr not_active Withdrawn
- 2017-07-25 WO PCT/FR2017/052049 patent/WO2018020129A1/fr unknown
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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