Toyota Motor Europe

Inria Institut National De Recherche En Informatique Et En Automatique

University of California

Centre National De La Recherche Scientifique

Commissariat a L'energie Atomique Et Aux Energies Alternatives

Commissariat À L'énergie Atomique Et Aux Énergies Alternatives

Institut National De Recherche En Informatique Et En Automatique (inria)

Institut National Des Sciences Applquees De Lyon

Inria Institut National De Recherche En Informatio

Toyota Motor Europe Nv/sa

Christian Laugier

Gabriel Othmezouri

Nicolas Vignard

David Sierra Gonzalez

Lukas Rummelhard

Amaury Negre

Jilles Steeve Dibangoye

Ruzena Bajcsy

Christopher Tay Meng Keat

Kamel Mekhnacha

Victor Romero-Cano

Mathias Perrollaz

Igor Evguenyevitch Paromtchik

Stephanie Lefevre

Alejandro Dizan Vasquez Govea

Christian Wof

Ozgur Erkent

Victor Romero Cano

Emmanuel Mazer

Stéphanie Lefèvre

Hiromichi Yanagihara

An electronic device for a vehicle for augmenting image data of a passive optical sensor. The electronic device is configured to: receive first image data of a passive optical sensor, the first image data comprising a plurality of pixels in an image plane, receive second data of an active sensor, the passive optical sensor and the active sensor sensing the same scene outside the vehicle, the active sensor including a plurality of scan areas distributed over the scene, the second data including measurement values at returned scan areas, identify at least one cluster based on the distribution of returned scan areas, project the cluster onto the image plane, identify pixels which match with the projected cluster in the image plane, and associate the identified pixels with second data of the matching cluster. Further relates to a system and a method.

Electronic device, system and method for augmenting image data of a passive optical sensor

An electronic device for determining a semantic grid of an environment of a vehicle is provided. The electronic device is configured to: receive first image data of an optical sensor, the first image data comprising a 2D image of the environment, perform a semantic segmentation of the 2D image and project the resulting semantic image into at least one predetermined semantic plane, receive an occupancy grid representing an allocentric bird eye's view of the environment. The control device further includes a neural network configured to determine a semantic grid by fusing the occupancy grid with the at least one predetermined semantic plane.

Electronic device, system and method for determining a semantic grid of an environment of a vehicle

A driving assistance system includes a sensor set, a data storage device and an output device. The sensor set detects a set of road users and, for each road user, a current state including a current speed and a current position. The data storage device includes a finite plurality of behavioral models. The data processor assigns a behavioral model to each road user, probabilistically estimates, for each road user, a belief state comprising a set of alternative subsequent states and corresponding probabilities, each alternative subsequent state including a speed and a position, according to the behavioral model assigned to each road user, and determines a risk of collision of the road vehicle with a road user, based on the probabilistically estimated future state of each road user. The output device outputs a driver warning signal or executes an avoidance action if the risk of collision exceeds a predetermined threshold.

Driving assistance method and system

A computerized device for driving assistance comprises a memory () designed to receive data point cloud data () in which a point cloud associates, for a given instant, points each having coordinates in a plane associated with the point cloud and a value denoting a height. The device furthermore comprises a calculator () designed to access the memory () and, for a given point cloud, to calculate data on the probability of belonging to a reference surface, associated with each point of the data point cloud, on the one hand, and node data associating a value denoting a height (hi) and two values indicating a slope in a plane associated with the plane of the given point cloud, on the other hand, by determining a Gaussian random conditional field by way of the data point cloud data () corresponding to the given point cloud, which Gaussian random conditional field is represented by a mesh of nodes in said associated plane, which nodes are defined by the node data, and to return the data on the probability of belonging to a reference surface and/or at least some of the node data and values denoting a height.

Computerized device for driving assistance

A driving assistance system includes a sensor set, a data storage device and an output device. The sensor set observes apparent states of each road user of the plurality of road users at successive time steps, the data processor assigns a behavioral model stored in the data storage device, the data processor calculating a new maneuver distribution that is a probability distribution over a finite plurality of alternative maneuvers and a new state distribution that is a probability distribution of possible states for each alternative maneuver of the finite plurality of alternative maneuvers. The data processor determines a risk of collision of the road vehicle with another road user, based on the new maneuver and state distributions of the target road user, and outputs one or more of a driver warning signal and executes an avoidance action if the risk of collision exceeds a predetermined threshold.

A method for analyzing a dynamic scene partitioned into cells which involves determining a probability of occupancy of a cell and a probability or probabilities of movement of the cell by solving the equation P(OV|ZC)=&#x3a3;A0P(CA00VVZ)/&#x3a3;A00VVP(CA00VVZ) comprising the determination of the speeds and positions of dummy particles in the grid depending on those determined at the (k&#x2212;1)iteration and the probability P(V|V&#x2212;1); the determination of the particles located in each cell depending on the determined positions, and the solving of the equation, for a cell, is split into the solving of a static part corresponding to P(0=empty, V=0|ZC) and P(0=occupied, V=0|ZC) and the solving of a dynamic part corresponding to P(0=occ, V=v,|ZC), i=32 1 to n, in which nis the number of particles determined in cell C for the kiteration.

Dynamic scene analysis method, and associated analysis module and computer programme

The invention concerns a method for assessment of abnormal driving behavior to improve driving safety of a vehicle travelling on a road, using position information and motion information about said vehicle and/or at least one neighboring vehicle travelling in the proximity of said vehicle on said road. The method comprises a step of obtaining and memorizing () a plurality of position information items and motion information items, each information item corresponding to a measuring time instant of an observation time interval and a step of obtaining () at least one estimate of the reference value for said vehicle and/or its at least one neighboring vehicles travelling on said road during the observation time interval. Next, the sets of deviation values are computed (), each deviation value being computed using a memorized information item corresponding to a measuring time instant and the at least one estimate of the reference value and the quantities of deviation are obtained from the corresponding sets of deviation values. If a quantity of deviation among said quantities of deviation is greater than a predetermined threshold for the corresponding driving behavior, the method implements () a measure for safety improvement.

Method and system to assess abnormal driving behaviour of vehicles travelling on road

The invention concerns a method of driving assistance for assisting a human driver in safely driving a vehicle called host vehicle, implemented by a processor on board of said host vehicle. The host vehicle comprises means for obtaining first information relative to the host vehicle and means for obtaining second information relative to at least one other vehicle in a neighborhood of the host vehicle, said first and second information being obtained at regular time instants, comprising triggering an intervention of a collision avoidance system. The method comprises a step () of intervention decision adapted to decide whether to trigger the intervention of the collision avoidance system at a current time instant (T) or to postpone said intervention decision at a later time instant (T) depending upon additional first and second information to be acquired between the current time instant (T) and the later time instant (T), said additional first and second information having an associated probability. The invention also concerns an associated system of driving assistance.

Method and system of driving assistance for collision avoidance

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Montbonnot Saint Martin, France

Christian Laugier