METHOD FOR ASSESSING THE RISK OF COLLISION AT AN INTERSECTION

The invention relates to a method for assessing the risk of collision between a first vehicle approaching an intersection and at least one second vehicle driving through said intersection, said first vehicle being provided with a measurement means and a computing means. The method according to the invention is mainly characterised in that same includes the following steps: a step of determining the respective positions of said first vehicle and each second vehicle, a step of estimating the intentions of the driver of said first vehicle and of each second vehicle, a step of estimating the need for the first vehicle and for each second vehicle to stop in accordance with the results provided by the two preceding steps and the traffic rules applicable to said intersection, and a step of estimating the risk of collision between the first vehicle and each second vehicle. 1. A method for assessing the risk of collision between a first vehicle as it approaches an intersection and at least one second vehicle as it drives through said intersection , said first vehicle being provided with a measurement means and a computing means , said method comprising the steps of:determining the respective positions of said first vehicle and of said second vehicle,estimating the intentions of the driver of said first vehicle and of said second vehicle, with regard to stopping or not stopping on entering the intersection and with regard to maneuvering, in order to estimate the direction that each of said drivers intends to take on leaving said intersection,estimating the need for the first vehicle and for said second vehicle to stop in accordance with the results pro vided by the two preceding steps and the traffic rules that are applicable at said intersection,estimating the risk of collision between the first vehicle and said second vehicle, said estimation being based on a comparison between the intention of the vehicles to stop and the need for them to stop.2. The method as claimed in ...

CONTROL OF THE AUTONOMOUS MODE OF BIMODAL VEHICLES

A control of autonomous vehicles, and a method for controlling at least one autonomous ground vehicle configured to adopt two operating modes, including a manual mode in which the driving depends on driving instructions from the driver of the vehicle, and an autonomous mode, in which the driving depends on data received from sensors configured to provide information on surroundings of the vehicle, and on data received by a navigation system, the method including: authorizing the autonomous mode only when the vehicle is within an area determined by defined boundaries; receiving reservation data from a user interface; generating a set message to be transmitted to the vehicle in accordance with the received reservation data; and transmitting the set message to the vehicle such that the vehicle autonomously performs a movement corresponding to the transmitted set message. 115-. (canceled)16. A method of control of at least one autonomous terrestrial vehicle configured to adopt two modes of operation , the modes including:a manual mode, in which driving is dependent on vehicle driver commands,an autonomous mode, in which driving is dependent on data received from sensors configured to provide information about an environment of the vehicle and on data received from a navigation system,the method comprising:authorizing the autonomous mode only when the vehicle is situated in a site determined by defined boundaries;receiving booking data arising from a user interface;formulating a directive message to be transmitted to the vehicle as a function of the booking data received;transmitting the directive message to the vehicle so that the vehicle carries out in an autonomous manner a movement corresponding to the directive message transmitted.17. The method as claimed in claim 16 , in which information comprising a battery state of charge makes it possible to oblige the vehicle to go to a recharging facility.18. The method as claimed in claim 16 , in which the message ...

Driving assistance systems and method implemented in such a system

A driving assistance system includes at least one receiving module designed to receive perception data from a driving environment, a control module designed to control an on-board system, a conversion module designed to generate, on the basis of the perception data, a plurality of instances of classes of an ontology stored by the driving assistance system and defining relations between classes, and a reasoning tool designed to deduce, on the basis of the ontology, at least one property of an instance of the plurality. The control module is designed to control the on-board system on the basis of the deduced property.

METHOD FOR ESTIMATING THE POSITION OF A VEHICLE ON A MAP

A method for estimating a precise position of a vehicle on a map includes acquiring at least one geolocated position of the vehicle by way of a geolocation system, pre-positioning the vehicle on the map, and particle filtering in which possible positions of the vehicle, called particles are processed. The particle filtering includes distributing particles on the map, and then updating the particles on the map, calculating the likelihood of each particle, selecting a limited set of particles, and, if an indicator relating to the likelihood of the selected particles and to the number of selected particles drops below a threshold, resampling particles on the map.

Method for assessing the risk of collision at an intersection

The invention relates to a method for assessing the risk of collision between a first vehicle approaching an intersection and at least one second vehicle driving through said intersection, said first vehicle being provided with a measurement means and a computing means. The method according to the invention is mainly characterized in that same includes the following steps: a step of determining the respective positions of said first vehicle and each second vehicle, a step of estimating the intentions of the driver of said first vehicle and of each second vehicle, a step of estimating the need for the first vehicle and for each second vehicle to stop in accordance with the results provided by the two preceding steps and the traffic rules applicable to said intersection, and a step of estimating the risk of collision between the first vehicle and each second vehicle.

Control of autonomous mode of bimodal vehicles

The invention relates to the control of autonomous vehicles, and to a method for controlling at least one autonomous ground vehicle capable of adopting two operating modes, said modes including a manual mode in which the driving depends on driving instructions from the driver of the vehicle, and an autonomous mode, in which the driving depends on data received from sensors suitable for providing information on the surroundings of the vehicle, and on data received by a navigation system, wherein the method includes: authorizing the autonomous mode only when the vehicle is within an area determined by defined boundaries; receiving reservation data from a user interface; generating a set message to be transmitted to the vehicle in accordance with the received reservation data; and transmitting the set message to the vehicle such that said vehicle autonomously performs a movement corresponding to the transmitted set message.

Device for signalling objects to a navigation module of a vehicle equipped with this device

A device performs real-time signaling of at least one object to a navigation module of a vehicle. The device includes a first sensor to produce first-sensor data including a first captured position and a first captured speed of the object relative to the vehicle, at least one second sensor to produce second-sensor data including a second captured position and a second captured speed of the object relative to the vehicle, a synchronization module to produce synchronized data including a first synchronized position from the first captured position and the first captured speed and at least one second synchronization position from the second captured position and the second captured speed, and a merging module to produce merged data including a merged position from the first synchronized position and the second synchronized position to signal the object to the navigation module by communicating all or part of the merged data thereto.

Control of the autonomous mode of bimodal vehicles

A control of autonomous vehicles, and a method for controlling at least one autonomous ground vehicle configured to adopt two operating modes, including a manual mode in which the driving depends on driving instructions from the driver of the vehicle, and an autonomous mode, in which the driving depends on data received from sensors configured to provide information on surroundings of the vehicle, and on data received by a navigation system, the method including: authorizing the autonomous mode only when the vehicle is within an area determined by defined boundaries; receiving reservation data from a user interface; generating a set message to be transmitted to the vehicle in accordance with the received reservation data; and transmitting the set message to the vehicle such that the vehicle autonomously performs a movement corresponding to the transmitted set message.

DEVICE FOR SIGNALLING OBJECTS TO A NAVIGATION MODULE OF A VEHICLE EQUIPPED WITH THIS DEVICE

A device performs real-time signaling of at least one object to a navigation module of a vehicle. The device includes a first sensor to produce first-sensor data including a first captured position and a first captured speed of the object relative to the vehicle, at least one second sensor to produce second-sensor data including a second captured position and a second captured speed of the object relative to the vehicle, a synchronization module to produce synchronized data including a first synchronized position from the first captured position and the first captured speed and at least one second synchronization position from the second captured position and the second captured speed, and a merging module to produce merged data including a merged position from the first synchronized position and the second synchronized position to signal the object to the navigation module by communicating all or part of the merged data thereto. 110-. (canceled)11. A device for real-time signaling of at least one object to a navigation module of a vehicle , comprisinga first sensor arranged to produce first-sensor data comprising a first captured position and a first captured speed of the object relative to the vehicle;at least one second sensor adapted to produce second-sensor data comprising a second captured position and a second captured speed of the object relative to the vehicle;a synchronization module adapted to produce synchronized data comprising a first synchronized position from the first captured position and the first captured speed and at least one second synchronization position from the second captured position and the second captured speed; anda merging module adapted to produce merged data comprising a merged position from the first synchronized position and the second synchronized position in such a way as to signal said at least one object to the navigation module by communicating all or part of the merged data thereto.12. The device as claimed in claim 11 , ...

Driving assistance systems and method implemented in such a system

A driving assistance system includes at least one receiving module designed to receive perception data from a driving environment, a control module designed to control an on-board system, a conversion module designed to generate, on the basis of the perception data, a plurality of instances of classes of an ontology stored by the driving assistance system and defining relations between classes, and a reasoning tool designed to deduce, on the basis of the ontology, at least one property of an instance of the plurality. The control module is designed to control the on-board system on the basis of the deduced property.

CONTROL OF AUTONOMOUS VEHICLES

Un procédé de contrôle d'au moins un véhicule terrestre autonome apte à adopter deux modes de fonctionnement, lesdits modes comprenant - un mode manuel, dans lequel la conduite est fonction de commandes conducteur du véhicule, - un mode autonome, dans lequel la conduite est fonction de données reçues de capteurs aptes à fournir des informations sur l'environnement du véhicule et de données reçues d'un système de navigation, le procédé comprenant autoriser le mode autonome seulement lorsque le véhicule se trouve dans un site déterminé.

ROUND-POINT DETECTING METHOD FOR VEHICLE APPLICATION

PROCESS FOR SELECTING A RESTRICTED ASSEMBLY OR WITHOUT ASSUMPTIONS OF POSSIBLE POSITIONS OF A VEHICLE

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. The invention relates to a method for selecting a restricted or empty set of hypotheses (Z1 - Z8) of possible positions of a vehicle from among a plurality of hypotheses. According to the invention, there are provided: - a step of acquiring at least one geolocated position (Po) of the vehicle by means of a geolocation system, - a step of acquiring a plurality of hypotheses of possible positions of the vehicle, - a step of determining the covariance of the geolocated position of the vehicle and the covariance of each hypothesis acquired, - a step of calculating, for each hypothesis acquired, a Mahalanobis distance, and - a step selection of a restricted or empty set of hypotheses among the acquired hypotheses.

DEVICE FOR SIGNALING OBJECTS TO A NAVIGATION MODULE OF A VEHICLE EQUIPPED WITH SAID DEVICE

Le dispositif de signalisation en temps réel d'au moins un objet à un module (60) de navigation de véhicule comprend un premier capteur (1) agencé pour produire des données de premier capteur comportant une première position et une première vitesse capturées d'objet par rapport au véhicule. De plus, le dispositif comprend : - au moins un deuxième capteur (2, 3, 4) agencé pour produire des données de deuxième capteur comportant une deuxième position et une deuxième vitesse capturées d'objet par rapport au véhicule ; - un module (20) de synchronisation agencé pour produire des données synchronisées comportant une première position synchronisée à partir de la première position et de la première vitesse capturées et au moins une deuxième position synchronisée à partir de la deuxième position et de la deuxième vitesse capturées ; - un module (30) de fusion agencé pour produire des données fusionnées comportant une position fusionnée à partir de la première position synchronisée et de la deuxième position synchronisée de façon à signaler ledit au moins un objet au module (60) de navigation en lui communiquant tout ou partie des données fusionnées.

DEVICE FOR SIGNALING OBJECTS TO A NAVIGATION MODULE OF A VEHICLE EQUIPPED WITH SAID DEVICE

METHOD FOR DETERMINING A SPEED PROFILE OF A MOTOR VEHICLE

Procédé de détermination (100) d'un profil de vitesses parmi plusieurs profils prédéterminés d'un véhicule automobile, comportant une étape de détection (110) d'au moins une prochaine intersection, ledit procédé étant caractérisé en ce qu'il comporte : - une étape de détermination (120) du type de route sur lequel circule le véhicule, - une étape de caractérisation (130) du type de ladite prochaine intersection, et - une étape de détermination (140) d'au moins un profil de vitesses en fonction du type de route et du type d'intersection. Method for determining (100) a speed profile from among several predetermined profiles of a motor vehicle, comprising a step of detecting (110) at least one next intersection, said method being characterized in that it comprises: - a step of determining (120) the type of road on which the vehicle is traveling, - a step of characterizing (130) the type of said next intersection, and - a step of determining (140) at least one speed profile in depending on the type of road and the type of intersection.

MOTORIZED WHEELCHAIR WITH VOICE CONTROL DEVICE SUPERVISED BY A SECURITY DEVICE, AND METHOD FOR CONTROLLING AND SECURING THE MOVEMENT OF SUCH A CHAIR

Method for modeling a navigation environment of a motor vehicle.

Procédé de modélisation d’un environnement d’un véhicule automobile. Procédé de modélisation d’un environnement d’un véhicule équipé de moyens de perception de l'environnement, et d'un module de décision, comprenant : une étape de définition d'un modèle environnemental global du véhicule, construit à partir de données fournies par les moyens de perception de l'environnement,une étape de réception, de la part du module de décision, d’une requête d’informations relatives à une décision à prendre pour le contrôle du véhicule,une étape de détermination d'une sélection d'informations à renseigner pour prendre ladite décision,une étape de renseignement des informations de ladite sélection à partir du modèle environnemental global,une étape de détermination d'un indice d'intégrité associé à chacune des informations de ladite sélection,une étape de fourniture audit module de décision d’un modèle environnemental sélectif contenant les informations de ladite sélection et les indices d'intégrité correspondants. Figure pour l’abrégé : 3 Process for modeling an environment of a motor vehicle. Method for modeling an environment of a vehicle equipped with means of perception of the environment, and of a decision module, comprising: a step of defining a global environmental model of the vehicle, constructed from data supplied by the means of perception of the environment, a step of receiving, from the decision module, a request for relative information to a decision to be made for the control of the vehicle,a step of determining a selection of information to be entered in order to make said decision,a step of entering the information of said selection from the global environmental model,a step of determining an integrity index associated with each of the information items of said selection,a step of supplying said decision module with a selective environmental model containing the information items of said selection and the corresponding ...

METHOD FOR SELECTING A RESTRICTED OR EMPTY ASSEMBLY OF POSSIBLE POSITIVE POSITIONS OF A VEHICLE

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. The invention relates to a method of selecting a restricted or empty set of hypotheses (Z1 - Z8) of possible positions of a vehicle among a plurality of hypotheses. According to the invention, provision is made for: a step of acquiring at least one geolocated position (Po) of the vehicle by means of a geolocation system; a step of acquiring a plurality of hypotheses of possible positions of the vehicle, - a step of determining the covariance of the geolocated position of the vehicle and the covariance of each hypothesis acquired, - a calculation step, for each hypothesis acquired, of a Mahalanobis distance, and - a step selection of a restricted or empty set of hypotheses from the hypotheses acquired.

CONTROL OF AUTONOMOUS VEHICLES

Method for estimating the position of a vehicle on a map

The invention relates to a method for estimating a precise position of a vehicle on a map, including: - a step of acquiring at least one geolocated position (Po) of the vehicle by way of a geolocation system, - a step of pre-positioning the vehicle on the map, and - a particle filtering step during which possible positions of the vehicle, called particles (Pi), are processed. According to the invention, the particle filtering step comprises: - a preliminary step of distributing particles on the map, and then a step of updating the particles on the map, - a step of calculating the likelihood of each particle, - a step of selecting a limited set of particles, and - if an indicator relating to the likelihood of the selected particles and to the number of selected particles drops below a threshold, a step of re-sampling particles on the map.

METHOD FOR ESTIMATING THE POSITION OF A VEHICLE ON A MAP

L'invention concerne un procédé d'estimation d'une position précise d'un véhicule sur une carte, comportant : - une étape d'acquisition d'au moins une position géolocalisée (Po) du véhicule au moyen d'un système de géolocalisation, - une étape de pré-positionnement du véhicule sur la carte, et - une étape de filtrage particulaire au cours de laquelle des positions possibles du véhicule, appelées particules (Pi), sont traitées. Selon l'invention, l'étape de filtrage particulaire comprend : - une étape préalable de répartition de particules sur la carte, puis une étape de mise à jour des particules sur la carte, - une étape de calcul de la vraisemblance de chaque particule, - une étape de sélection d'un ensemble restreint de particules, et - si un indicateur relatif à la vraisemblance des particules sélectionnées et au nombre de particules sélectionnées passe en dessous d'un seuil, une étape de ré-échantillonnage de particules sur la carte. The invention relates to a method for estimating a precise position of a vehicle on a map, comprising: a step of acquiring at least one geolocated position (Po) of the vehicle by means of a geolocation system , - a step of pre-positioning the vehicle on the map, and - a particle filtering step during which possible positions of the vehicle, called particles (Pi), are processed. According to the invention, the particle filtering step comprises: - a preliminary step of distributing particles on the map, then a step of updating the particles on the map, - a step of calculating the likelihood of each particle, - a step of selecting a restricted set of particles, and - if an indicator relating to the likelihood of the particles selected and to the number of particles selected goes below a threshold, a step of resampling the particles on the map .

Method for detecting roundabout for advanced driving assistance system in vehicle, involves identifying and locating roundabout, and recording parameters characterizing roundabout in digital navigation map

The method involves identifying a roundabout (20), and locating the identified roundabout (30). Parameters characterizing the roundabout are recorded (40) in a digital navigation map, where the roundabout is identified by estimating the trajectory of a vehicle over a predetermined distance traversed by the vehicle. The trajectory is estimated from different successive states of the vehicle, where each state is estimated using data selected from yaw speed, speed, difference in speed of the rear wheels of the vehicle, and a gearbox ratio.

Motorised wheel chair with patient voice operated control system

L'invention concerne un fauteuil roulant motorisé du type comprenant des moyens d'entraînement et des moyens de direction (9). Selon l'invention, le fauteuil un dispositif de commande vocale (1) supervisé par un dispositif de sécurité (2), ledit dispositif de commande vocale (1) comprenant des moyens de transformation d'instructions vocales émises par un utilisateur en consignes (12) pour lesdits moyens d'entraînement et de direction, ledit dispositif de sécurité (2) comprenant des moyens de contrôle et de modification desdites consignes (12), en fonction d'informations (13) reçues d'au moins un capteur placé sur ledit fauteuil roulant.

Method for selecting a restricted or empty set of hypotheses of possible positions of a vehicle

The invention concerns a method for selecting a restricted or empty set of hypotheses (Z1 - Z8) of possible positions of a vehicle from a plurality of hypotheses. The invention involves: - a step of acquiring at least one geolocated position (P 0 ) of the vehicle by means of a geolocation system, - a step of acquiring a plurality of hypotheses of possible positions of the vehicle, - a step of determining the covariance of the geolocated position of the vehicle and the covariance of each acquired hypothesis, - a step of calculating, for each acquired hypothesis, a Mahalanobis distance, and - a step of selecting a restricted or empty set of hypotheses from the acquired hypotheses.

Procédé de modélisation d’un environnement de navigation d’un véhicule automobile.

Procédé de modélisation d’un environnement d’un véhicule automobile. Procédé de modélisation d’un environnement d’un véhicule équipé de moyens de perception de l'environnement, et d'un module de décision, comprenant : une étape de définition d'un modèle environnemental global du véhicule, construit à partir de données fournies par les moyens de perception de l'environnement,une étape de réception, de la part du module de décision, d’une requête d’informations relatives à une décision à prendre pour le contrôle du véhicule,une étape de détermination d'une sélection d'informations à renseigner pour prendre ladite décision,une étape de renseignement des informations de ladite sélection à partir du modèle environnemental global,une étape de détermination d'un indice d'intégrité associé à chacune des informations de ladite sélection,une étape de fourniture audit module de décision d’un modèle environnemental sélectif contenant les informations de ladite sélection et les indices d'intégrité correspondants. Figure pour l’abrégé : 3

Procédé de modélisation d'un environnement de navigation d'un véhicule automobile

Procédé de modélisation d'un environnement de navigation d'un véhicule (100) équipé de moyens de perception de l'environnement (1), d'un module de décision (2) et d'un moyen de contrôle autonome du véhicule (20), caractérisé en ce qu'il comprend les étapes suivantes : - une étape (E1) de définition d'un modèle environnemental global (M_ENV_G) du véhicule comme étant un ensemble d'informations structuré construit à partir de données fournies par les moyens de perception de l'environnement (1), - une étape (E2) de réception, de la part du module de décision (2), d'une requête (RDP) d'informations relatives à une décision à prendre (DP) pour le contrôle du véhicule par le moyen de contrôle autonome (20),