SYSTEM OF DETERMINING INFORMATION ABOUT A PATH OR A ROAD VEHICLE

• US 20130253815A1
• Filed: 03/21/2013
• Published: 09/26/2013
• Est. Priority Date: 03/23/2012
• Status: Abandoned Application

• Current Assignee: Institut francais des sciences et technologies des transports, de l'amenagement et des reseaux (IFSTTAR)
• Original Assignee: Institut francais des sciences et technologies des transports, de l'amenagement et des reseaux (IFSTTAR)
• Inventors: ORFILA, Olivier, GRUYER, Dominique, GLASER, Sebastien
• Application Number:
  US13/848,428
• Publication Number:
  US 20130253815A1
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/12 Lateral speed
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A method of determining information relating to a path of a road vehicle, the method comprising a step a):

• • a) determining at least two possible paths for the vehicle, referred to as “reference” paths;
  • wherein the method further comprises a step e):
  • e) determining information relating to an intermediate path lying between the reference paths and as a function of the reference paths.

Claims

1. A method of determining information relating to a path of a road vehicle (A), the method comprising the following steps a) et e):

a) determining at least two possible paths for the vehicle, referred to as “

reference”

paths; and

e) determining information relating to an intermediate path lying between the reference paths and as a function of the reference paths.

2. A method according to claim 1, wherein, in step e), said information is determined as a function of the position of at least one point of the intermediate path relative to the reference paths.

3. A method according to claim 1, further comprising the steps b) and c) of:

b) determining a reference dynamic profile for the course of each of the reference paths; and

c) determining a vehicle time slice (CA) corresponding to an instant (t0+k Δ

t) by interpolating points reached at that instant on said reference paths as traveled in accordance with their respective reference dynamic profiles, a vehicle time slice being all of the points that might be reached by the vehicle at an instant (t0+k Δ

t) under consideration;

and in step e), said information is determined by means of said time slice.

4. A method according to claim 3, further comprising a step d):

d) determining a probability of the vehicle passing via a point of the vehicle time slice as a function of the position of said point on the vehicle time slice.

5. A method according to claim 4, further comprising the following steps:

a2) for an body moving relative to the vehicle, determining at least two body reference paths;

b2) for the course of each of the object reference paths, determining a reference dynamic profile;

c2) determining an body time slice corresponding to said instant (t0+k Δ

t) by interpolating points reached at that instant on said body reference paths as traveled in accordance with their respective dynamic profiles; and

d2) determining a probability for the body passing via a point of the body time slice as a function of the position of said point on the body time slice; and

also

in step e), said information is a probability of collision between the vehicle and the body at a point of intersection between the time slices of the vehicle and of the body, if such a point exists; and

said probability of collision is equal to the product of the probabilities for the vehicle and for the object to pass at said collision point at said instant.

6. A method according to claim 5, wherein steps a) to d) and a2) to d2) are performed for a sequence of instants later than the instant under consideration, the method further comprising the following steps:

f) for a path and a dynamic profile envisaged for the vehicle, or from among all of the collisions envisaged for the vehicle, determining a probable collision point for which the probability of collision is a maximum;

g) determining the so-called “

avoidance”

path and the associated avoidance dynamic profile, for said mobile body, that enable the moving body to avoid the collision while reaching a predetermined so-called “

pre-accident”

limit value; and

h) performing a comparison to determine whether the avoidance path and dynamic profile satisfy or not a predetermined acceptability criterion for the moving body.

7. A computer program including instructions for executing steps of the method according to claim 1 when said program is executed by a computer.

8. A computer readable recording medium having recorded thereon a computer program including instructions for executing steps of the method according to claim 1.

9. An assistance system for a road vehicle, the system comprising:

a device for identifying and locating moving bodies and suitable for identifying an body moving relative to the vehicle and for estimating at least one position thereof relative to the vehicle,

wherein the system further comprises a calculation unit suitable for implementing the method according to claim 1.

10. An assistance system according to claim 9, wherein, in order to determine the reference paths and/or the reference dynamic profiles, the calculation unit is suitable for taking account of a time-varying tangential and/or angular acceleration of the moving body and/or of the vehicle.

11. An assistance system according to claim 9, wherein the calculation unit is suitable for determining reference trajectories for the vehicle and for the body by taking account of a geometrical model of the roadway on which the vehicle is located.

12. An assistance system according to claim 11, wherein the calculation unit is suitable for establishing the geometrical model of the intersection from at least one path of a vehicle that has already passed through said intersection.

13. An assistance system according to claim 11, wherein the calculation unit is suitable for establishing a geometrical model of the intersection from a standard intersection model recorded in a memory of the unit.

14. An assistance system according to claim 9, wherein the probabilities of the reference paths and/or of the reference dynamic profiles are a function of at least one predetermined value stored in a memory of the calculation unit, and said recorded value is a tangential and/or transverse acceleration value, and/or a value of yaw rate variation, in particular a value representative of usual or preferable behaviors of the vehicle or of moving bodies.

15. A road vehicle including an assistance system according to claim 9.