Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Renault S.a.s.

Sylvain Leirens

Vincent Heiries

Alex Pereira Da Silva

Sylvain Bacquet

Suzanne Lesecq

Serge Loudot

Michel Mensler

Sylvie Genies

Diego Puschini Pascual

Angel Zhivkov Kirchev

Xavier Maynard

Mélanie Alias

Michael Palmieri

Marco Ranieri

François Tavernier

A method is provided for collaboratively detecting tangible bodies in an environment employing a plurality of distance sensors with which respective carriers are equipped, including: for each sensor, acquiring a series of measurements of distance of a closest tangible body along a line of sight; applying an inverse model of the sensor on a local occupancy grid; and constructing a consolidated local occupancy grid via Bayesian fusion of the occupancy probabilities thus determined; and, computing occupancy probabilities of the cells of a global occupancy grid via Bayesian fusion of the occupancy probabilities of corresponding cells of at least certain of said consolidated local occupancy grids. A system for implementing such a method is also provided.

Method and system for collaboratively detecting tangible bodies in an environment

The present description concerns a method of controlling a converter including two H bridges () coupled by a transformer (), wherein: two switching sequences between states are respectively applied to the two bridges; one of the states of a first one of the sequences corresponds to a given direction of application of a voltage to the transformer by the bridge having the first one of the sequences applied thereto; the first one of the sequences varies during a same halfwave of an AC voltage (V) across one of the bridges (), so that: during at least a first period, switchings into and out of said one of the states occur in a same state of a second one of the sequences; and during at least a second period, switchings into and out of said one of the states occur in different states of the second one of the sequences.

Switched-mode converter control

A method for detecting an obstacle includes the steps of: calculating, for each point of a space around a telemeter, a plurality of corresponding intermediate probabilities of presence, each intermediate probability of presence being associated with a respective orientation of the telemeter among a plurality of predetermined orientations around a current orientation of the telemeter, each orientation being certain; for each point of space, calculating a probability of the presence of an obstacle from each corresponding intermediate probability of presence and from an uncertainty model on the orientation of the telemeter; and generating an alert if the probability of the presence of an obstacle in a predetermined zone with respect to the telemeter is greater than or equal to a predetermined alert threshold.

Method for detecting an obstacle, detection device, detection system and associated vehicle

A method for determining information regarding the displacement of an object from measurements provided by an accelerometer associated with the object. The method comprises the steps of detecting acceleration peaks in the measurements, of calculating one or more characteristics of the acceleration peaks detected, and of determining a mode of travel of the object from the characteristics of the acceleration peaks. The measurements undergo non-uniform resampling upon the detection of local extrema.

Method for detecting acceleration peaks with non-uniform sampling

A method for initializing a sensor array comprises executing a statistical test on a set consisting of first measurements measured by the sensors of the array, the statistical test being able to detect in the first measurements at least one aberrant measurement caused by a presence of an object, called a disruptor, this disruptor modifying the measured physical quantity nonuniformly, wherein if the execution of the statistical test detects at least one aberrant measurement, then the method comprises signaling the presence of the disruptor, and if the execution of the statistical test does not detect at least one aberrant measurement, then the method comprises acquiring second measurements of the physical quantity, the second measurements being measured by the sensors.

Method for initializing a sensor array

A method of calibrating a triaxial sensor such as a magnetometer. The method includes steps (DIS) to calculate a spatial distribution indicator of a set of measurements output by the sensor, and to determine (AJS), using a fitting method, parameters of a parametric surface that can be used to fit said surface to the set of measurements. The fitting method is selected from among several predetermined fitting methods as a function of the spatial distribution indicator. The predetermined fitting methods may include an ellipsoid fitting method, a sphere fitting method, a sphere fitting method and a two-step fitting method consisting of a first fitting to a sphere followed by a second fitting to an ellipsoid, the centre of which is coincident with the centre of the sphere of the first fitting.

Calibration method for a triaxial sensor with selection of a calibration method as a function of the spatial distribution of measurements

A method of localising an access point (B, B, B) to a communication network; The method comprises the following steps: reconstruction of a trajectory (P, P, P, P) followed by a mobile device during a displacement during which it makes measurements of an indicator related to the distance separating it from the access point; determination of a localisation (T, T, T) at which each of the measurements on the trajectory is made; calculation for each measurement of a difference between the distance separating a possible localisation of the access point from the location at which the measurement is made and a distance estimated from the measurement and a propagation model relating the indicator and the distance, and calculation of a localisation error from the calculated differences. The propagation model is updated at each evaluation of a possible localisation of the access point.

Method of locating an access point to a communication network

A method for estimating state-of-charge of a battery cell includes suppressing full execution of a capacitance-estimation algorithm for as long as a parameter does not exceed a certain threshold. The parameter is either a measured voltage value across the cell's terminals, the cell's estimated state-of-charge, or an amount of charge passing in or out of the cell during some interval. A battery-management system triggers full execution when the parameter falls below the threshold, or, if the parameter is the amount of charge passing, when it rises above the threshold.

Automatic method for estimating the state of charge of a cell of a battery

An estimation method for estimating a cell's state-of-charge includes obtaining a capacitance prediction for a cell based at least in part on a preceding capacitance thereof and correcting that prediction by acquiring measurements of a physical quantity that depends on a summation of currents passing through the cell. The correction is based at least in part on a difference between the measurement of the physical quantity and a prediction for that quantity.

Automatic method for estimating the cell's state-of-charge of a battery

In a method for locating mobile devices, a trajectory (T, T) is reconstructed modelling a movement made by each mobile device during which the mobile device carries out measurements of an indicator linked to the distance separating it from access terminals (B-B) to a communication network. From these measurements, the locations of the terminals are calculated in a frame of reference linked to each mobile device. A procrustean analysis is then performed to determine, for each mobile device, a geometric transformation that transforms the locations of the terminals in the frame of reference linked to the mobile device into locations transformed in a common frame of reference. From this determination, the location of each terminal transformed in the common frame of reference is superimposed with a location of the terminal in the common frame of reference. Finally, the corresponding geometric transformation is applied to the trajectory of each mobile device.

Method for locating mobile devices in a common frame of reference

Automatically determining state-of-charge of a battery with cells includes, for each cell, scheduling refreshment times for the cell as a function of the cell's priority level, at times that correspond to refreshment times for the first cell, fully executing an estimation algorithm for the first cell, for at least a second cell of the set of cells, and at times other than those that correspond to refreshment times for the second cell, partially executing the estimation algorithm for the cell thereby obtaining an estimate of the second cell's state-of-charge, and determining a state-of-charge of the battery from states-of-charge estimated for each of the cells of the battery. The estimation algorithm estimates a cell's state-of-charge at a particular time as a function of a measured voltage and a measured current, both of which are obtained at the particular time. As a result of having scheduled refreshment times for each cell based on priority levels for the cell, a first cell from the plurality of cells has its state-of-charge estimate refreshed more frequently than a second cell from the plurality of cells when the first cell has a higher priority than the second cell.

Automatic method for determining the state-of-charge of a battery

An automatic estimation procedure for estimating a battery's state-of-charge includes predicting the state-of-charge using a state model that includes a state-transition matrix. An observation model then uses an observability matrix in connection with predicting a measured value of a parameter. State noise, the covariance of which is characterized by a state-noise covariance matrix contaminates this prediction. Similarly, measurement noise, the covariance of which is characterized by a measurement covariance matrix, contaminates this prediction. The values of these covariance matrices are then adjusted during the estimation procedure.

Automatic method for estimating the state of charge of a battery cell

A system for managing a battery having a plurality of battery cells connected in series, a plurality of control circuits connected in parallel with a battery cell and at least one electrical connection between a first control circuit of a first cell and a second control circuit of a second cell. Each control circuit is capable of emitting a signal representing physical parameters of its respective battery cell. There is a control unit to control the state of the battery on the basis of the signals representative of the physical parameters. There is a power bus electrically connecting said battery cells to one another in series and each control circuit delivers the representative signal via the power bus after reception of a synchronization signal received.

System and corresponding method for managing a battery comprising a plurality of battery cells

A method recalibrates in situ a comparison electrode integrated into an electrochemical system. The electrochemical system includes a working electrode, a counter electrode, and an electrolyte. The method includes verifying a potential of the comparison electrode relative to the working electrode or to the counter electrode in situ, detecting whether there is a drift in the potential of the comparison electrode relative to a potential plateau for which the comparison electrode was functionalized or designed, and when the drift is detected, recalibrating the comparison electrode in situ.

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Grenoble, France

Sylvain Leirens