FR3078399B1 - Procede de selection d’un ensemble restreint ou vide d’hypotheses de positions possibles d’un vehicule - Google Patents

Procede de selection d’un ensemble restreint ou vide d’hypotheses de positions possibles d’un vehicule Download PDF

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Publication number
FR3078399B1
FR3078399B1 FR1851706A FR1851706A FR3078399B1 FR 3078399 B1 FR3078399 B1 FR 3078399B1 FR 1851706 A FR1851706 A FR 1851706A FR 1851706 A FR1851706 A FR 1851706A FR 3078399 B1 FR3078399 B1 FR 3078399B1
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FR
France
Prior art keywords
vehicle
possible positions
selecting
hypotheses
assumptions
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.)
Active
Application number
FR1851706A
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English (en)
Other versions
FR3078399A1 (fr
Inventor
Javier Ibanez-Guzman
Franck Li
Philippe Bonnifait
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
Priority to FR1851706A priority Critical patent/FR3078399B1/fr
Application filed by Renault SAS filed Critical Renault SAS
Priority to EP19703741.9A priority patent/EP3759434A1/fr
Priority to KR1020207027517A priority patent/KR20200124268A/ko
Priority to US16/975,942 priority patent/US20210293976A1/en
Priority to JP2020537466A priority patent/JP2021515183A/ja
Priority to CN201980014815.6A priority patent/CN111801549A/zh
Priority to PCT/EP2019/053453 priority patent/WO2019166220A1/fr
Publication of FR3078399A1 publication Critical patent/FR3078399A1/fr
Application granted granted Critical
Publication of FR3078399B1 publication Critical patent/FR3078399B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Databases & Information Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Automatic Assembly (AREA)
  • Instructional Devices (AREA)

Abstract

L'invention concerne un procédé de sélection d'un ensemble restreint ou vide d'hypothèses (Z1 - Z8) de positions possibles d'un véhicule parmi une pluralité d'hypothèses. Selon l'invention, il est prévu : - une étape d'acquisition d'au moins une position géolocalisée (Po) du véhicule au moyen d'un système de géolocalisation, - une étape d'acquisition d'une pluralité d'hypothèses de positions possibles du véhicule, - une étape de détermination de la covariance de la position géolocalisée du véhicule et de la covariance de chaque hypothèse acquise, - une étape de calcul, pour chaque hypothèse acquise, d'une distance de Mahalanobis, et - une étape de sélection d'un ensemble restreint ou vide d'hypothèses parmi les hypothèses acquises.
FR1851706A 2018-02-27 2018-02-27 Procede de selection d’un ensemble restreint ou vide d’hypotheses de positions possibles d’un vehicule Active FR3078399B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1851706A FR3078399B1 (fr) 2018-02-27 2018-02-27 Procede de selection d’un ensemble restreint ou vide d’hypotheses de positions possibles d’un vehicule
KR1020207027517A KR20200124268A (ko) 2018-02-27 2019-02-12 차량의 예상 위치들이 한정되거나 비어 있는 가설 세트를 선택하는 방법
US16/975,942 US20210293976A1 (en) 2018-02-27 2019-02-12 Method for selecting a restricted or empty set of hypotheses of possible positions of a vehicle
JP2020537466A JP2021515183A (ja) 2018-02-27 2019-02-12 車両の取り得る位置の仮説の限定されたまたは空の集合を選択する方法
EP19703741.9A EP3759434A1 (fr) 2018-02-27 2019-02-12 Procédé de sélection d'un ensemble restreint ou vide d'hypothèses de positions possibles d'un véhicule
CN201980014815.6A CN111801549A (zh) 2018-02-27 2019-02-12 用于选择出车辆的可能位置的有限或空假设集合的方法
PCT/EP2019/053453 WO2019166220A1 (fr) 2018-02-27 2019-02-12 Procédé de sélection d'un ensemble restreint ou vide d'hypothèses de positions possibles d'un véhicule

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1851706A FR3078399B1 (fr) 2018-02-27 2018-02-27 Procede de selection d’un ensemble restreint ou vide d’hypotheses de positions possibles d’un vehicule
FR1851706 2018-02-27

Publications (2)

Publication Number Publication Date
FR3078399A1 FR3078399A1 (fr) 2019-08-30
FR3078399B1 true FR3078399B1 (fr) 2020-09-18

Family

ID=62017537

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1851706A Active FR3078399B1 (fr) 2018-02-27 2018-02-27 Procede de selection d’un ensemble restreint ou vide d’hypotheses de positions possibles d’un vehicule

Country Status (7)

Country Link
US (1) US20210293976A1 (fr)
EP (1) EP3759434A1 (fr)
JP (1) JP2021515183A (fr)
KR (1) KR20200124268A (fr)
CN (1) CN111801549A (fr)
FR (1) FR3078399B1 (fr)
WO (1) WO2019166220A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114910081B (zh) * 2022-05-26 2023-03-10 阿波罗智联(北京)科技有限公司 车辆定位方法、装置及电子设备

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2427975T3 (es) 2005-06-02 2013-11-05 Gmv Aerospace And Defence S.A. Método y sistema para proporcionar una solución de posición de navegación de GNSS con una integridad garantizada en entornos no controlados
JP4934167B2 (ja) * 2009-06-18 2012-05-16 クラリオン株式会社 位置検出装置および位置検出プログラム
EP2562681B1 (fr) * 2011-08-25 2014-08-13 Delphi Technologies, Inc. Procédé de suivi d'objet pour un système d'assistance du conducteur à caméra
US9429437B2 (en) * 2012-06-08 2016-08-30 Apple Inc. Determining location and direction of travel using map vector constraints
DE102013208521B4 (de) * 2013-05-08 2022-10-13 Bayerische Motoren Werke Aktiengesellschaft Kollektives Erlernen eines hochgenauen Straßenmodells
JP2019082328A (ja) * 2016-02-16 2019-05-30 株式会社日立製作所 位置推定装置
JPWO2017150162A1 (ja) * 2016-03-01 2018-12-20 株式会社リコー 位置推定装置、位置推定方法、及びプログラム
JP6696253B2 (ja) * 2016-03-24 2020-05-20 カシオ計算機株式会社 経路推定装置、経路推定方法及びプログラム
CN106772516B (zh) * 2016-12-01 2019-02-05 湖南大学 一种基于模糊理论的复合定位新方法

Also Published As

Publication number Publication date
KR20200124268A (ko) 2020-11-02
CN111801549A (zh) 2020-10-20
FR3078399A1 (fr) 2019-08-30
US20210293976A1 (en) 2021-09-23
WO2019166220A1 (fr) 2019-09-06
JP2021515183A (ja) 2021-06-17
EP3759434A1 (fr) 2021-01-06

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