FR3146523B1 - Procédé d’estimation de la vitesse d’un véhicule - Google Patents

Procédé d’estimation de la vitesse d’un véhicule Download PDF

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Publication number
FR3146523B1
FR3146523B1 FR2302145A FR2302145A FR3146523B1 FR 3146523 B1 FR3146523 B1 FR 3146523B1 FR 2302145 A FR2302145 A FR 2302145A FR 2302145 A FR2302145 A FR 2302145A FR 3146523 B1 FR3146523 B1 FR 3146523B1
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FR
France
Prior art keywords
point
vehicle
points
speed
lidar sensor
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
FR2302145A
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English (en)
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FR3146523A1 (fr
Inventor
Ludovic Hussonnois
Niklas Pettersson
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.)
Aumovio Autonomous Mobility Germany GmbH
Original Assignee
Continental Autonomous Mobility Germany GmbH
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 Continental Autonomous Mobility Germany GmbH filed Critical Continental Autonomous Mobility Germany GmbH
Priority to FR2302145A priority Critical patent/FR3146523B1/fr
Priority to US18/444,984 priority patent/US20240302529A1/en
Priority to CN202410266229.3A priority patent/CN118625339A/zh
Publication of FR3146523A1 publication Critical patent/FR3146523A1/fr
Application granted granted Critical
Publication of FR3146523B1 publication Critical patent/FR3146523B1/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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Il est décrit un procédé d’estimation de la vitesse d’un véhicule, comprenant l’acquisition, par un capteur lidar à balayage, d’un nuage de points où chaque point est associé à une position initiale en trois dimensions, un horodatage et une orientation en azimut et en élévation de la ligne de visée du capteur lidar, et un traitement du nuage de points par le calculateur, comprenant : La détection d’au moins un objet (O1, O2), l’objet étant représenté par un sous-ensemble de points du nuage de points,La détermination d’une position corrigée d’une pluralité de points de l’objet correspondant à une même valeur d’azimut ou d’élévation de la ligne de visée du capteur lidar, pour que les positions corrigées de la pluralité de points soient alignées selon une direction de référence, et La détermination d’une vitesse relative entre l’égo-véhicule et l’objet, à partir d’une différence entre une position corrigée et une position initiale d’au moins un point de l’objet, et de l’horodatage associé audit point. Figure de l’abrégé : Figure 4
FR2302145A 2023-03-08 2023-03-08 Procédé d’estimation de la vitesse d’un véhicule Active FR3146523B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2302145A FR3146523B1 (fr) 2023-03-08 2023-03-08 Procédé d’estimation de la vitesse d’un véhicule
US18/444,984 US20240302529A1 (en) 2023-03-08 2024-02-19 Method for estimating the speed of a vehicle
CN202410266229.3A CN118625339A (zh) 2023-03-08 2024-03-08 用于估计车辆速度的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2302145A FR3146523B1 (fr) 2023-03-08 2023-03-08 Procédé d’estimation de la vitesse d’un véhicule
FR2302145 2023-03-08

Publications (2)

Publication Number Publication Date
FR3146523A1 FR3146523A1 (fr) 2024-09-13
FR3146523B1 true FR3146523B1 (fr) 2025-02-28

Family

ID=86851613

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2302145A Active FR3146523B1 (fr) 2023-03-08 2023-03-08 Procédé d’estimation de la vitesse d’un véhicule

Country Status (3)

Country Link
US (1) US20240302529A1 (fr)
CN (1) CN118625339A (fr)
FR (1) FR3146523B1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12240445B1 (en) 2022-06-22 2025-03-04 Zoox, Inc. Object tracking based on temporal data attribute inferences
US12287405B1 (en) * 2022-06-22 2025-04-29 Zoox, Inc. Inferring object attributes from distortions in temporal data
US12436284B1 (en) 2022-06-22 2025-10-07 Zoox, Inc. Inferring object attributes from track associations
US12333823B1 (en) 2022-06-22 2025-06-17 Zoox, Inc. Machine-learned model training for inferring object attributes from distortions in temporal data

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10551485B1 (en) * 2018-08-06 2020-02-04 Luminar Technologies, Inc. Fitting points to a surface
US12140671B2 (en) * 2020-10-07 2024-11-12 Luminar Technologies, Inc. Velocity determination with a scanned lidar system

Also Published As

Publication number Publication date
US20240302529A1 (en) 2024-09-12
CN118625339A (zh) 2024-09-10
FR3146523A1 (fr) 2024-09-13

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