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WO2015063422A3 - Dispositif de détection de la position latérale d'un piéton par rapport à la trajectoire du véhicule - Google Patents

Dispositif de détection de la position latérale d'un piéton par rapport à la trajectoire du véhicule Download PDF

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Publication number
WO2015063422A3
WO2015063422A3 PCT/FR2014/052760 FR2014052760W WO2015063422A3 WO 2015063422 A3 WO2015063422 A3 WO 2015063422A3 FR 2014052760 W FR2014052760 W FR 2014052760W WO 2015063422 A3 WO2015063422 A3 WO 2015063422A3
Authority
WO
WIPO (PCT)
Prior art keywords
trajectory
vehicle
camera
detecting
lateral position
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.)
Ceased
Application number
PCT/FR2014/052760
Other languages
English (en)
Other versions
WO2015063422A2 (fr
Inventor
Stéphanie AMBROISE
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
Original Assignee
Renault SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Renault SAS filed Critical Renault SAS
Priority to EP14825394.1A priority Critical patent/EP3065989A2/fr
Priority to CN201480068803.9A priority patent/CN105830131A/zh
Publication of WO2015063422A2 publication Critical patent/WO2015063422A2/fr
Publication of WO2015063422A3 publication Critical patent/WO2015063422A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/179—Distances to obstacles or vehicles
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention propose un système (1) d'aide à la conduite d'un véhicule (2) comprenant une caméra (10) et comprenant un dispositif de reconnaissance optique apte à reconnaître un obstacle (3), dans le champ de vision (4) de la caméra (10). Le dispositif (1) comprend une unité d'estimation de trajectoire (24) configurée pour définir une courbe limite droite (5) et une courbe limite gauche (6) de trajectoire superposable à l'image de la caméra (10), et comprend une unité de discrimination latérale (25) configurée pour délivrer au moins deux valeurs d'avertissement distinctes, la valeur de l'avertissement étant fonction de la position de l'image de l'obstacle (3) par rapport aux limites droite et gauche de trajectoire.
PCT/FR2014/052760 2013-11-04 2014-10-30 Dispositif de détection de la position latérale d'un piéton par rapport à la trajectoire du véhicule Ceased WO2015063422A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP14825394.1A EP3065989A2 (fr) 2013-11-04 2014-10-30 Dispositif de détection de la position latérale d'un piéton par rapport à la trajectoire du véhicule
CN201480068803.9A CN105830131A (zh) 2013-11-04 2014-10-30 用于检测行人相对于车辆轨迹的侧向位置的装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FRFR1360772 2013-11-04
FR1360772A FR3012784B1 (fr) 2013-11-04 2013-11-04 Dispositif de detection de la position laterale d'un pieton par rapport a la trajectoire du vehicule

Publications (2)

Publication Number Publication Date
WO2015063422A2 WO2015063422A2 (fr) 2015-05-07
WO2015063422A3 true WO2015063422A3 (fr) 2015-10-29

Family

ID=49817072

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2014/052760 Ceased WO2015063422A2 (fr) 2013-11-04 2014-10-30 Dispositif de détection de la position latérale d'un piéton par rapport à la trajectoire du véhicule

Country Status (4)

Country Link
EP (1) EP3065989A2 (fr)
CN (1) CN105830131A (fr)
FR (1) FR3012784B1 (fr)
WO (1) WO2015063422A2 (fr)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE539098C2 (en) * 2015-08-20 2017-04-11 Scania Cv Ab Method, control unit and system for path prediction
SE539097C2 (en) 2015-08-20 2017-04-11 Scania Cv Ab Method, control unit and system for avoiding collision with vulnerable road users
RU2708534C2 (ru) * 2015-08-27 2019-12-09 ФОРД ГЛОУБАЛ ТЕКНОЛОДЖИЗ, ЭлЭлСи Улучшенное предотвращение столкновений
FR3055870B1 (fr) * 2016-09-15 2019-09-27 Renault S.A.S. Methode d'aide a la conduite, procede d'implementation d'une telle methode et dispositif d'aide a la conduite
GB201712004D0 (en) * 2017-07-26 2017-09-06 Jaguar Land Rover Ltd Proximity sensing systems and their control
CN109727188A (zh) * 2017-10-31 2019-05-07 比亚迪股份有限公司 图像处理方法及其装置、安全驾驶方法及其装置
CN110843910A (zh) * 2018-08-21 2020-02-28 上海博泰悦臻网络技术服务有限公司 车辆拐弯控制装置及方法
CN111127582B (zh) * 2018-10-31 2023-06-23 驭势（上海）汽车科技有限公司 一种轨迹重合段识别方法、装置、系统及存储介质
CN110113580B (zh) * 2019-06-06 2024-04-09 天津艾思科尔科技有限公司 一种站台越界检测系统
US11292458B2 (en) * 2019-07-31 2022-04-05 Toyota Research Institute, Inc. Autonomous vehicle user interface with predicted trajectories
CN114078326B (zh) * 2020-08-19 2023-04-07 北京万集科技股份有限公司 碰撞检测方法、装置、视觉传感器和存储介质
CN114485511A (zh) * 2020-10-27 2022-05-13 湖南中车智行科技有限公司 一种车辆限界宽度的测量方法及装置
CN114446092B (zh) * 2022-01-19 2022-12-27 无锡学院 一种基于三维相机组网的s型公路模拟障碍物预警方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070139176A1 (en) * 2003-12-01 2007-06-21 Volvo Technology Corporation Method and system for supporting path control
US20090184845A1 (en) * 2008-01-22 2009-07-23 Toru Saito Vehicle Detecting System
FR2979299A1 (fr) * 2011-08-31 2013-03-01 Peugeot Citroen Automobiles Sa Dispositif de traitement pour estimer une trajectoire future d'un vehicule, associee a une couleur fonction d'un niveau de risque de collision estime, pour un systeme d'aide a la conduite
EP2618108A1 (fr) * 2012-01-19 2013-07-24 Volvo Car Corporation Système de conduite assistée

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JP5130638B2 (ja) * 2006-03-22 2013-01-30 日産自動車株式会社 回避操作算出装置、回避制御装置、各装置を備える車両、回避操作算出方法および回避制御方法
DE102007061723A1 (de) * 2007-12-20 2009-06-25 Robert Bosch Gmbh Verfahren zum Anzeigen von Warnhinweisen in einem Kraftfahrzeug und korrespondierende Anzeigeanordnung
JP2009217682A (ja) 2008-03-12 2009-09-24 Yazaki Corp 車両用表示装置
JP4675395B2 (ja) * 2008-05-19 2011-04-20 三菱電機株式会社 車両用警報装置
US8344894B2 (en) 2009-04-02 2013-01-01 GM Global Technology Operations LLC Driver drowsy alert on full-windshield head-up display
JP5197679B2 (ja) * 2010-06-09 2013-05-15 株式会社豊田中央研究所 対象物検出装置及びプログラム
JP2012040950A (ja) * 2010-08-19 2012-03-01 Koito Mfg Co Ltd 車両用照明システム
JP5821179B2 (ja) * 2010-12-08 2015-11-24 トヨタ自動車株式会社 車両用情報伝達装置
JP2012212351A (ja) * 2011-03-31 2012-11-01 Mazda Motor Corp 車両用情報提供装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070139176A1 (en) * 2003-12-01 2007-06-21 Volvo Technology Corporation Method and system for supporting path control
US20090184845A1 (en) * 2008-01-22 2009-07-23 Toru Saito Vehicle Detecting System
FR2979299A1 (fr) * 2011-08-31 2013-03-01 Peugeot Citroen Automobiles Sa Dispositif de traitement pour estimer une trajectoire future d'un vehicule, associee a une couleur fonction d'un niveau de risque de collision estime, pour un systeme d'aide a la conduite
EP2618108A1 (fr) * 2012-01-19 2013-07-24 Volvo Car Corporation Système de conduite assistée

Also Published As

Publication number Publication date
CN105830131A (zh) 2016-08-03
FR3012784A1 (fr) 2015-05-08
EP3065989A2 (fr) 2016-09-14
FR3012784B1 (fr) 2016-12-30
WO2015063422A2 (fr) 2015-05-07

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