FR3084150B1 - Procede de localisation d'un vehicule - Google Patents

Procede de localisation d'un vehicule Download PDF

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Publication number
FR3084150B1
FR3084150B1 FR1856614A FR1856614A FR3084150B1 FR 3084150 B1 FR3084150 B1 FR 3084150B1 FR 1856614 A FR1856614 A FR 1856614A FR 1856614 A FR1856614 A FR 1856614A FR 3084150 B1 FR3084150 B1 FR 3084150B1
Authority
FR
France
Prior art keywords
vehicle
locating
estimate
source
information
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
FR1856614A
Other languages
English (en)
Other versions
FR3084150A1 (fr
Inventor
Johann Mousain
Marie-Anne Mittet
Mariama Sarr
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 FR1856614A priority Critical patent/FR3084150B1/fr
Application filed by Renault SAS filed Critical Renault SAS
Priority to PCT/EP2019/068952 priority patent/WO2020016150A1/fr
Priority to CN201980047013.5A priority patent/CN112585425A/zh
Priority to US17/260,117 priority patent/US20210270614A1/en
Priority to JP2021501009A priority patent/JP7150969B2/ja
Priority to EP19737767.4A priority patent/EP3824248A1/fr
Priority to KR1020217004593A priority patent/KR20210029267A/ko
Publication of FR3084150A1 publication Critical patent/FR3084150A1/fr
Application granted granted Critical
Publication of FR3084150B1 publication Critical patent/FR3084150B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • 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
    • G01C21/32—Structuring or formatting of map data
    • 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
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Procédé de localisation d'un véhicule, caractérisé en ce qu'il comprend une étape de détermination d'une première estimation de la position du véhicule à partir de la détermination (E40) de la position relative du véhicule par rapport à une unité de bord de route utilisée comme première source d'informations, ladite première estimation de la position du véhicule étant utilisée pour valider au moins une deuxième estimation de la position du véhicule fournie par au moins une deuxième source d'informations.
FR1856614A 2018-07-17 2018-07-17 Procede de localisation d'un vehicule Active FR3084150B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1856614A FR3084150B1 (fr) 2018-07-17 2018-07-17 Procede de localisation d'un vehicule
CN201980047013.5A CN112585425A (zh) 2018-07-17 2019-07-15 用于定位车辆的方法
US17/260,117 US20210270614A1 (en) 2018-07-17 2019-07-15 Method of locating a vehicle
JP2021501009A JP7150969B2 (ja) 2018-07-17 2019-07-15 車両の位置を特定する方法
PCT/EP2019/068952 WO2020016150A1 (fr) 2018-07-17 2019-07-15 Procédé de localisation d'un véhicule
EP19737767.4A EP3824248A1 (fr) 2018-07-17 2019-07-15 Procédé de localisation d'un véhicule
KR1020217004593A KR20210029267A (ko) 2018-07-17 2019-07-15 차량의 위치를 파악하는 방법

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1856614 2018-07-17
FR1856614A FR3084150B1 (fr) 2018-07-17 2018-07-17 Procede de localisation d'un vehicule

Publications (2)

Publication Number Publication Date
FR3084150A1 FR3084150A1 (fr) 2020-01-24
FR3084150B1 true FR3084150B1 (fr) 2021-02-26

Family

ID=63209596

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1856614A Active FR3084150B1 (fr) 2018-07-17 2018-07-17 Procede de localisation d'un vehicule

Country Status (7)

Country Link
US (1) US20210270614A1 (fr)
EP (1) EP3824248A1 (fr)
JP (1) JP7150969B2 (fr)
KR (1) KR20210029267A (fr)
CN (1) CN112585425A (fr)
FR (1) FR3084150B1 (fr)
WO (1) WO2020016150A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112050819A (zh) * 2020-09-02 2020-12-08 北京百度网讯科技有限公司 车路协同定位方法、装置、电子设备及自动驾驶车辆
US11536850B2 (en) * 2021-04-05 2022-12-27 Qualcomm Incorporated GNSS spoofing detection and recovery
CN112995899B (zh) * 2021-05-08 2021-08-10 北京大唐高鸿数据网络技术有限公司 车路协同定位方法、装置、车载定位***及路侧设备

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3780895B2 (ja) * 2001-10-09 2006-05-31 株式会社デンソー ナビゲーション装置、プログラム及び記録媒体
CA2612921C (fr) * 2005-07-26 2016-08-30 Timothy D. Barfoot Systeme de gestion de la circulation destine a un environnement de circulation
CN101221696B (zh) * 2007-12-29 2010-12-15 青岛海信网络科技股份有限公司 一种公交车辆定位方法
JP2011259028A (ja) 2010-06-04 2011-12-22 Hitachi Information & Communication Engineering Ltd 無線通信端末、送信制御方法、およびプログラム
US9096228B2 (en) * 2010-06-23 2015-08-04 Continental Teves Ag & Co. Ohg Method and system for accelerated object recognition and/or accelerated object attribute recognition and use of said method
JP5871536B2 (ja) 2011-09-27 2016-03-01 三菱重工業株式会社 位置特定装置、位置特定方法、及びプログラム
JP2013246038A (ja) 2012-05-25 2013-12-09 Denso Corp 車両用現在位置決定装置
US10375517B2 (en) * 2013-03-08 2019-08-06 Microsoft Technology Licensing, Llc Crowd sourced pathway maps
EP2806285B1 (fr) * 2013-05-24 2018-12-19 Nxp B.V. Système de positionnement de véhicule
CN104064031B (zh) * 2014-07-02 2016-08-17 丁宏飞 一种应用电子车牌的车辆违章监控和追踪定位***
CN107077780A (zh) * 2014-10-30 2017-08-18 三菱电机株式会社 车载设备、自动驾驶车辆、自动驾驶辅助***、自动驾驶监视装置、道路管理装置及自动驾驶信息收集装置
EP3109589B1 (fr) * 2015-06-23 2019-01-30 Volvo Car Corporation Unite et procede pour ameliorer la precision de positionnement
CN105788331B (zh) * 2016-05-12 2018-03-20 武汉理工大学 交通路口控制相位时间协同方法
CN106772238B (zh) * 2016-12-06 2020-07-17 东软集团股份有限公司 车辆定位方法及装置
JP6971806B2 (ja) * 2016-12-27 2021-11-24 フォルシアクラリオン・エレクトロニクス株式会社 車載通信装置、及び、通信方法
US11032789B2 (en) * 2017-08-03 2021-06-08 Lg Electronics Inc. Method and apparatus for calculating ranging information by terminal in wireless communication system supporting device to device communication
US10725144B2 (en) * 2017-09-22 2020-07-28 Continental Automotive Systems, Inc. Transmitters-based localization on freeway

Also Published As

Publication number Publication date
US20210270614A1 (en) 2021-09-02
JP7150969B2 (ja) 2022-10-11
WO2020016150A1 (fr) 2020-01-23
CN112585425A (zh) 2021-03-30
EP3824248A1 (fr) 2021-05-26
KR20210029267A (ko) 2021-03-15
FR3084150A1 (fr) 2020-01-24
JP2021529969A (ja) 2021-11-04

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