FR3132265B1 - Method and device for controlling a lateral guidance system of a vehicle - Google Patents

Method and device for controlling a lateral guidance system of a vehicle Download PDF

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Publication number
FR3132265B1
FR3132265B1 FR2200812A FR2200812A FR3132265B1 FR 3132265 B1 FR3132265 B1 FR 3132265B1 FR 2200812 A FR2200812 A FR 2200812A FR 2200812 A FR2200812 A FR 2200812A FR 3132265 B1 FR3132265 B1 FR 3132265B1
Authority
FR
France
Prior art keywords
indicator
guidance system
lateral guidance
boundaries
boundary
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
FR2200812A
Other languages
French (fr)
Other versions
FR3132265A1 (en
Inventor
Pascal Gouriet
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.)
Stellantis Auto Sas Fr
Original Assignee
PSA Automobiles SA
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 PSA Automobiles SA filed Critical PSA Automobiles SA
Priority to FR2200812A priority Critical patent/FR3132265B1/en
Priority to PCT/FR2022/052386 priority patent/WO2023144471A1/en
Publication of FR3132265A1 publication Critical patent/FR3132265A1/en
Application granted granted Critical
Publication of FR3132265B1 publication Critical patent/FR3132265B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • 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
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/20—Data confidence level

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un dispositif de contrôle d’un système de guidage latéral (19) d’un véhicule (10) circulant dans une zone de route. A cet effet, des données de ligne (18) représentant sous forme de polynômes des délimitations de la zone de route sont déterminées, ces données comprenant pour chaque délimitation : un indicateur de qualité (IC1) correspondant à la délimitation, un indicateur d’existence (IC2) indiquant une probabilité d’existence du polynôme de la délimitation, et un indicateur d’opérabilité (IC3) indiquant si une caméra est opérationnelle. Un modèle de lignes (MD1) représentant des lignes correspondant aux délimitations est généré et un indicateur de confiance (IC4) d’un niveau de confiance du modèle de lignes est généré en fonction des indicateurs (IC1, IC2, IC3) précités des délimitations. Le système de guidage latéral (19) est contrôlé en fonction de l’indicateur de confiance (IC4). Figure pour l’abrégé : Figure 2The present invention relates to a method and a device for controlling a lateral guidance system (19) of a vehicle (10) traveling in a road area. For this purpose, line data (18) representing in the form of polynomials boundaries of the road zone are determined, these data comprising for each boundary: a quality indicator (IC1) corresponding to the boundary, an existence indicator (IC2) indicating a probability of existence of the boundary polynomial, and an operability indicator (IC3) indicating whether a camera is operational. A line model (MD1) representing lines corresponding to the boundaries is generated and a confidence indicator (IC4) of a confidence level of the line model is generated based on the aforementioned indicators (IC1, IC2, IC3) of the boundaries. The lateral guidance system (19) is controlled based on the confidence indicator (IC4). Figure for abstract: Figure 2

FR2200812A 2022-01-31 2022-01-31 Method and device for controlling a lateral guidance system of a vehicle Active FR3132265B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2200812A FR3132265B1 (en) 2022-01-31 2022-01-31 Method and device for controlling a lateral guidance system of a vehicle
PCT/FR2022/052386 WO2023144471A1 (en) 2022-01-31 2022-12-15 Method and device for controlling a lateral guidance system of a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2200812A FR3132265B1 (en) 2022-01-31 2022-01-31 Method and device for controlling a lateral guidance system of a vehicle
FR2200812 2022-01-31

Publications (2)

Publication Number Publication Date
FR3132265A1 FR3132265A1 (en) 2023-08-04
FR3132265B1 true FR3132265B1 (en) 2023-12-15

Family

ID=81850864

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2200812A Active FR3132265B1 (en) 2022-01-31 2022-01-31 Method and device for controlling a lateral guidance system of a vehicle

Country Status (2)

Country Link
FR (1) FR3132265B1 (en)
WO (1) WO2023144471A1 (en)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5144520Y2 (en) 1972-09-26 1976-10-28
US9851212B2 (en) * 2016-05-06 2017-12-26 Ford Global Technologies, Llc Route generation using road lane line quality
FR3051275A1 (en) 2016-05-13 2017-11-17 Inst Vedecom IMAGE PROCESSING METHOD FOR RECOGNIZING GROUND MARKING AND SYSTEM FOR DETECTING GROUND MARKING
US10997431B2 (en) * 2018-06-05 2021-05-04 GM Global Technology Operations LLC Controlling a vehicle using an alternate anchor line
DE102018212555A1 (en) * 2018-07-27 2020-01-30 Bayerische Motoren Werke Aktiengesellschaft Method and system for lane detection
US20200377087A1 (en) * 2019-05-28 2020-12-03 Sf Motors, Inc. Lane keep control of autonomous vehicle

Also Published As

Publication number Publication date
WO2023144471A1 (en) 2023-08-03
FR3132265A1 (en) 2023-08-04

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PLSC Publication of the preliminary search report

Effective date: 20230804

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Owner name: STELLANTIS AUTO SAS, FR

Effective date: 20240423