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FR3130230B1 - Procédé d’aide au maintien d’un véhicule sur la route lors d’un rétrécissement ou d’un élargissement de voie - Google Patents

Procédé d’aide au maintien d’un véhicule sur la route lors d’un rétrécissement ou d’un élargissement de voie Download PDF

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Publication number
FR3130230B1
FR3130230B1 FR2113268A FR2113268A FR3130230B1 FR 3130230 B1 FR3130230 B1 FR 3130230B1 FR 2113268 A FR2113268 A FR 2113268A FR 2113268 A FR2113268 A FR 2113268A FR 3130230 B1 FR3130230 B1 FR 3130230B1
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France
Prior art keywords
lane
widening
helping
narrowing
vehicle
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Active
Application number
FR2113268A
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English (en)
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FR3130230A1 (fr
Inventor
Renaud Deborne
Raphael Quilliard
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.)
Renault SAS
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Renault SAS
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Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to FR2113268A priority Critical patent/FR3130230B1/fr
Priority to PCT/EP2022/083129 priority patent/WO2023104532A1/fr
Priority to EP22822059.6A priority patent/EP4445346A1/fr
Publication of FR3130230A1 publication Critical patent/FR3130230A1/fr
Application granted granted Critical
Publication of FR3130230B1 publication Critical patent/FR3130230B1/fr
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Anticipated expiration legal-status Critical

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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
    • 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
    • B60W30/12—Lane 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/044—Recurrent networks, e.g. Hopfield networks
    • G06N3/0442—Recurrent networks, e.g. Hopfield networks characterised by memory or gating, e.g. long short-term memory [LSTM] or gated recurrent units [GRU]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/048—Activation functions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/084—Backpropagation, e.g. using gradient descent
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Mathematical Physics (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Software Systems (AREA)
  • Data Mining & Analysis (AREA)
  • Molecular Biology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Computational Linguistics (AREA)
  • Biophysics (AREA)
  • Biomedical Technology (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Medical Informatics (AREA)
  • Databases & Information Systems (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)

Abstract

L’invention concerne un procédé de détection sur une route (10) empruntée par un véhicule automobile (100) d’une zone singulière (15) au sein de laquelle le nombre de voies de circulation (17, 18, 19) croit ou décroit, comportant des étapes de : - relèvement de données de position (pos_L, pos_R) caractérisant la position du véhicule automobile par rapport aux lignes de séparation de voies (11, 12, 13) marquées sur la route, et - calcul, par un réseau de neurones récurrent, d’au moins un paramètre de détection de zone singulière, les données de position relevées étant fournies en entrée dudit réseau de neurones récurrent. Figure pour l’abrégé : Fig.1
FR2113268A 2021-12-10 2021-12-10 Procédé d’aide au maintien d’un véhicule sur la route lors d’un rétrécissement ou d’un élargissement de voie Active FR3130230B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2113268A FR3130230B1 (fr) 2021-12-10 2021-12-10 Procédé d’aide au maintien d’un véhicule sur la route lors d’un rétrécissement ou d’un élargissement de voie
PCT/EP2022/083129 WO2023104532A1 (fr) 2021-12-10 2022-11-24 Procédé d'aide au maintien d'un véhicule sur la route lors d'un rétrécissement ou d'un élargissement de voie
EP22822059.6A EP4445346A1 (fr) 2021-12-10 2022-11-24 Procédé d'aide au maintien d'un véhicule sur la route lors d'un rétrécissement ou d'un élargissement de voie

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2113268 2021-12-10
FR2113268A FR3130230B1 (fr) 2021-12-10 2021-12-10 Procédé d’aide au maintien d’un véhicule sur la route lors d’un rétrécissement ou d’un élargissement de voie

Publications (2)

Publication Number Publication Date
FR3130230A1 FR3130230A1 (fr) 2023-06-16
FR3130230B1 true FR3130230B1 (fr) 2023-11-03

Family

ID=80225595

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2113268A Active FR3130230B1 (fr) 2021-12-10 2021-12-10 Procédé d’aide au maintien d’un véhicule sur la route lors d’un rétrécissement ou d’un élargissement de voie

Country Status (3)

Country Link
EP (1) EP4445346A1 (fr)
FR (1) FR3130230B1 (fr)
WO (1) WO2023104532A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109891194B (zh) * 2016-10-31 2024-01-26 御眼视觉技术有限公司 用于导航车道合并和车道分离的系统和方法
FR3069222B1 (fr) * 2017-07-18 2020-09-25 Renault Sas Procede de fonctionnement d'un systeme d'assistance a la conduite du type assistance au centrage d'un vehicule dans une voie de circulation
CN109858309B (zh) * 2017-11-30 2021-04-20 东软睿驰汽车技术（上海）有限公司 一种识别道路线的方法和装置
FR3109920B1 (fr) 2020-05-07 2022-06-03 Renault Sas Procédé de guidage d’un véhicule automobile

Also Published As

Publication number Publication date
EP4445346A1 (fr) 2024-10-16
WO2023104532A1 (fr) 2023-06-15
FR3130230A1 (fr) 2023-06-16

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