Vehicle Driving Aid and Method and Improved Related Device
First Claim
1. Method for aiding the driving of a vehicle comprising at least one sensor able to deliver an output signal indicative of the presence of at least one object in a detection zone, said method comprising the steps of:
- defining a grid corresponding to discretization into cells of a space of kinematic parameters of said object relative to said vehicle;
and, at each sampling time k;
determining an observation zk from said output signal of the sensor;
and, for each cell x of the grid;
determining, from said observation zk, the value of a sensor probability p(zk|EkxX) modeling the behavior of said sensor;
calculating an estimated value of occupancy at time k, based on the probability P(EkxX|z0;
k=z0 . . . zk) that the cell x is in state Ekx at time k, given the observation zk;
said estimated value of occupancy at time k depending on said sensor probability p(zk|EkxX) and on a predicted occupancy value P(EkxX|z0;
k−
1=zk−
1) at time k;
determining said predicted occupancy value P (EkxX|z0;
k−
1=z0 . . . zk−
1) at time k, based on the probability that considered cell x is in state Ekx at time k, by taking into account the observations from an initial time 0 to time k−
1;
said predicted occupancy value at time k being determined by approaching a relation of this type;
in which intervene the estimated probability of occupancy at time k−
1 for each of cells X′
of the grid, considering that the probability of transition from any cell to the considered cell is not null for only a cell said antecedent to said considered cell;
evaluating, for each cell of the grid, a collision hazard probability from said estimated value of occupancy at time k;
outputting a control signal to an actuator based on the collision hazard probabilities of the cells of the grid in order to avoid said detected object.
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Accused Products
Abstract
A vehicle driving aid method includes and defining an occupation grid corresponding to discretization into N cells of a field of kinematic parameters of a detected object; acquiring at each time k an observation zk produced by a sensor and determining a sensor probability modeling the behavior thereof; calculating for each cell X, a predicted occupation probability providing the probability that the cell X is, at time k, in occupied state having knowledge of a density of estimated of occupation of the grid a the preceding time; calculating for each cell X, an estimated probability of occupation providing the sensor probability and predicted occupation probability; the latter at time k determined by supposing that a single cell of the grid constitutes, at time k−1, the antecedent of the cell X concerned; evaluating, for each cell X, a collision probability, based on the estimated probability at time k and emitting a signal to avoid the object.
12 Citations
16 Claims
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1. Method for aiding the driving of a vehicle comprising at least one sensor able to deliver an output signal indicative of the presence of at least one object in a detection zone, said method comprising the steps of:
-
defining a grid corresponding to discretization into cells of a space of kinematic parameters of said object relative to said vehicle; and, at each sampling time k; determining an observation zk from said output signal of the sensor; and, for each cell x of the grid; determining, from said observation zk, the value of a sensor probability p(zk|EkxX) modeling the behavior of said sensor; calculating an estimated value of occupancy at time k, based on the probability P(EkxX|z0;
k=z0 . . . zk) that the cell x is in state Ekx at time k, given the observation zk;
said estimated value of occupancy at time k depending on said sensor probability p(zk|EkxX) and on a predicted occupancy value P(EkxX|z0;
k−
1=zk−
1) at time k;determining said predicted occupancy value P (EkxX|z0;
k−
1=z0 . . . zk−
1) at time k, based on the probability that considered cell x is in state Ekx at time k, by taking into account the observations from an initial time 0 to time k−
1;
said predicted occupancy value at time k being determined by approaching a relation of this type;in which intervene the estimated probability of occupancy at time k−
1 for each of cells X′
of the grid, considering that the probability of transition from any cell to the considered cell is not null for only a cell said antecedent to said considered cell;evaluating, for each cell of the grid, a collision hazard probability from said estimated value of occupancy at time k; outputting a control signal to an actuator based on the collision hazard probabilities of the cells of the grid in order to avoid said detected object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification