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 PDFInfo
- 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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- lane
- widening
- helping
- narrowing
- vehicle
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- 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.)
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- 238000000034 method Methods 0.000 title abstract 2
- 230000000306 recurrent effect Effects 0.000 abstract 2
- 238000013528 artificial neural network Methods 0.000 abstract 1
- 238000004364 calculation method Methods 0.000 abstract 1
- 230000007423 decrease Effects 0.000 abstract 1
- 238000001514 detection method Methods 0.000 abstract 1
- 210000002569 neuron Anatomy 0.000 abstract 1
- 238000000926 separation method Methods 0.000 abstract 1
Classifications
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- 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
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- 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)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Evolutionary Computation (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Mathematical Physics (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Software Systems (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Computational Linguistics (AREA)
- Molecular Biology (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Databases & Information Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Medical Informatics (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
Priority Applications (2)
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 |
Applications Claiming Priority (2)
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 |
FR2113268 | 2021-12-10 |
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 (2)
Country | Link |
---|---|
FR (1) | FR3130230B1 (fr) |
WO (1) | WO2023104532A1 (fr) |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10739782B2 (en) * | 2016-10-31 | 2020-08-11 | Mobileye Vision Technologies Ltd. | Systems and methods for navigating lane merges and lane splits |
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 |
-
2021
- 2021-12-10 FR FR2113268A patent/FR3130230B1/fr active Active
-
2022
- 2022-11-24 WO PCT/EP2022/083129 patent/WO2023104532A1/fr active Application Filing
Also Published As
Publication number | Publication date |
---|---|
FR3130230A1 (fr) | 2023-06-16 |
WO2023104532A1 (fr) | 2023-06-15 |
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