Device for signalling objects to a navigation module of a vehicle equipped with this device

• US 10,035,508 B2
• Filed: 04/09/2015
• Issued: 07/31/2018
• Est. Priority Date: 04/30/2014
• Status: Active Grant

• Current Assignee: Renault Sas (Renault)
• Original Assignee: Renault Sas (Renault)
• Inventors: Ibanez-Guzman, Javier, Fremont, Vincent, Bonnet, Stephane, De Miranda Neto, Arthur
• Primary Examiner(s): Chen, Shelley
• Application Number:
  US15/307,273
• Publication Number:
  US 20170043771A1
• Time in Patent Office: 1,209 Days
• Field of Search: None
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G06F 18/253 of extracted features
• CPC Class Codes: G06V 10/806 of extracted features
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A device performs real-time signaling of at least one object to a navigation module of a vehicle. The device includes a first sensor to produce first-sensor data including a first captured position and a first captured speed of the object relative to the vehicle, at least one second sensor to produce second-sensor data including a second captured position and a second captured speed of the object relative to the vehicle, a synchronization module to produce synchronized data including a first synchronized position from the first captured position and the first captured speed and at least one second synchronization position from the second captured position and the second captured speed, and a merging module to produce merged data including a merged position from the first synchronized position and the second synchronized position to signal the object to the navigation module by communicating all or part of the merged data thereto.

Claims

1. A device for real-time signaling of at least one object to a navigation device of a vehicle, the device comprising:

a first sensor arranged to produce first-sensor data comprising a first captured position and a first captured speed of the object relative to the vehicle;

at least one second sensor to produce second-sensor data comprising a second captured position and a second captured speed of the object relative to the vehicle;

a synchronization module implemented by circuitry and configured to produce synchronized data comprising a first synchronized position from the first captured position and the first captured speed and at least one second synchronization position from the second captured position and the second captured speed; and

a merging module implemented by the circuitry and configured to

produce merged data comprising a merged position from the first synchronized position and the second synchronized position in such a way as to signal said object to the navigation device by communicating all or part of the merged data thereto, and

determine a risk indicator associated with the object, the risk indicator being based on a distance score of a distance that separates the vehicle and the object, an angle score of an angle that separates the vehicle and the object, a speed score of a speed at which the object is moving relative to the vehicle, and an object score that is dependent on a type of the object, different types of objects having different score dependencies.

2. The device as claimed in claim 1, wherein the merging module is configured to complete said merged data with the risk indicator, which is associated with each object signaled and generated from said merged data.

3. The device as claimed in claim 2, wherein the merging module is configured to use a set of blocks for computing a score from merged data and a block for combining scores computed by some or all of the set of score computation blocks so as to generate the risk indicator of each object by combining scores.

4. The device as claimed in claim 3, wherein said set of blocks comprises at least one of a distance score computation block that computes the distance score, an angle score computation block that computes the angle score, a speed score computation block that computes the speed score, and an object type score computation block that computes the object score.

5. The device as claimed in claim 3, wherein said set of blocks comprises at least one block for additionally computing a score from cartographic data.

6. The device as claimed in claim 3, wherein said combination block is configured to combine the scores by weighted summation of some or all of the computed scores.

7. The device as claimed in claim 3, wherein said merging module is configured to merge at least one supplementary position synchronized to said merged position from the first synchronized position and the second synchronized position.

8. The device as claimed in claim 3, wherein the synchronized data accessed by said merging module further includes a position variance associated with each synchronized position so as to effect a summation of the synchronized positions weighted by the associated variances to merge the synchronized positions.

9. The device as claimed in claim 3, wherein:

the synchronized data produced by the synchronization module further includes a position variance associated with each synchronized position; and

the merging module is configured to produce merged data including a merged position from the first synchronized position and the second synchronized position so as to signal a same object to the navigation device by communicating to the same object said merged data when a Mahalanobis distance between said synchronized positions is below a predetermined threshold and not to produce merged data including a merged position from the first synchronized position and the second synchronized position so as to signal two different objects to the navigation device when said Mahalanobis distance is above the predetermined threshold.

10. A motor vehicle, comprising:

a device including circuitry configured to

produce first-sensor data comprising a first captured position and a first captured speed of an object relative to the motor vehicle,

produce second-sensor data comprising a second captured position and a second captured speed of the object relative to the motor vehicle,

produce synchronized data comprising a first synchronized position from the first captured position and the first captured speed and at least one second synchronization position from the second captured position and the second captured speed,

produce merged data comprising a merged position from the first synchronized position and the second synchronized position in such a way as to signal the object to a navigation device of the motor vehicle by communicating all or part of the merged data thereto, and

determine a risk indicator associated with the object, the risk indicator being based on a distance score of a distance that separates the vehicle and the object, an angle score of an angle that separates the vehicle and the object, a speed score of a speed at which the object is moving relative to the vehicle, and an object score that is dependent on a type of the object, different types of objects having different score dependencies.

11. A method, comprising:

producing, using a first sensor, first-sensor data comprising a first captured position and a first captured speed of an object relative to a vehicle;

producing, using a second sensor, second-sensor data comprising a second captured position and a second captured speed of the object relative to the vehicle;

producing, using circuitry synchronized data comprising a first synchronized position from the first captured position and the first captured speed and at least one second synchronization position from the second captured position and the second captured speed;

producing, using the circuitry, merged data comprising a merged position from the first synchronized position and the second synchronized position in such a way as to signal the object to a navigation device of the vehicle by communicating all or part of the merged data thereto, and

determining a risk indicator associated with the object, the risk indicator being based on a distance score of a distance that separates the vehicle and the object, an angle score of an angle that separates the vehicle and the object, a speed score of a speed at which the object is moving relative to the vehicle, and an object score that is dependent on a type of the object, different types of objects having different score dependencies.