公开(公告)号：US20240105060A1

公开(公告)日：2024-03-28

申请号：US18276747

申请日：2022-02-07

Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI

Inventor： Marco ANDREETTO ,  Pietro POSTAL ,  Marco DARIN ,  Nicola POERIO ,  Andrea STECCANELLA ,  Filippo VISINTAINER

IPC: G08G1/16 ,  G08G1/0967 ,  H04W4/46

CPC classification number: G08G1/167 ,  G08G1/096791 ,  G08G1/163 ,  H04W4/46

Abstract: An automotive electronic system designed to allow automotive cooperative lane-level relative localization based on inter-vehicular communication of two motor vehicles each equipped with such an automotive electronic system, comprising:



an automotive sensory system configured to output an output such as to allow right and left lane lines which delimit a lane traveled by the motor vehicle to be identified;
an automotive geo-location system configured to output position data indicative of a geographical position of the motor vehicle;
an automotive communication interface configured to allow the motor vehicle to communicate with other motor vehicles through an inter-vehicular communication based on inter-vehicular messaging; and
automotive electronic storing and processing resources in communication with the automotive sensory system to receive the output therefrom, with the automotive geo-location system to receive the position data therefrom, and with the automotive communication interface and designed to allow the lane-level relative localization of two motor vehicles.




In order to allow the lane-level relative localization of the first motor vehicle by the second motor vehicle, the automotive electronic storing and processing resources of the first motor vehicle are configured to:



identify, based on the output of the automotive sensory system, the right and left lane lines which delimit the lane traveled by the first motor vehicle;
compute, based on the identified right and left lane lines, the right and left distances of the first motor vehicle from the identified right and left lane lines; and
transmit to the second motor vehicle, via the inter-vehicular communication interface, inter-vehicular messages containing position data indicative of the geographical position of the first motor vehicle and distance data representative of the right and left distances of the first motor vehicle from the identified right and left lane lines.




In order to allow the lane-level relative localization of the second motor vehicle by the first motor vehicle, the automotive electronic storing and processing resources of the first motor vehicle are configured to:



receive, via the motor automotive communication interface inter-vehicular messages transmitted by the second motor vehicle and containing position data indicative of the geographical position of the second motor vehicle and outputted by the automotive geo-location system of the second motor vehicle and distance data representative of the left and right distances of the second motor vehicle from the right and left lane lines which delimit the lane traveled by the second motor vehicle and identified based on the output of the automotive sensory system of the second motor vehicle;
extract position and distance data contained in the V2V messages received by the second motor vehicle; and
lane-level localize the second motor vehicle relative to the first motor vehicle based on the geographical position of the first motor vehicle, on the right and left lane lines which delimit the lane traveled by the first motor vehicle and on the geographical position of the second motor vehicle and the left and right distances of the second motor vehicle from the right and left lane lines which delimit the lane traveled by the second motor vehicle extracted from the inter-vehicular messages transmitted by the second motor vehicle.




The electronic automotive system therefore allows any two motor vehicles communicating with each other via inter-vehicular messages to map-free lane-level localize each other relatively and bidirectionally.

公开(公告)号：US20230037798A1

公开(公告)日：2023-02-09

申请号：US17792744

申请日：2021-01-18

Applicant: C.R.F. SOCIETA' CONSORTILE PER AZIONI

Inventor： Paola DALMASSO ,  Silvano MARENCO ,  Nicola POERIO ,  Giuliana ZENNARO

IPC: B60W30/14 ,  B60W50/16 ,  G08G1/01

Abstract: System for automatically recognising anomalous situations along roads travelled by motor-vehicles for intelligent motor-vehicle driving speed control along roads.
The motor-vehicles are configured to transmit data allowing anomalous situations to be recognised along roads travelled by the motor-vehicles.
The system comprises data processing resources configured to:
receive and process data transmitted by the motor-vehicles to recognise anomalous situations along the roads travelled by the motor-vehicles based on a recognition algorithm,
when anomalous situations are recognised along roads travelled by the motor-vehicles, generate associated alert events and compute reference driving speeds along the roads recognised to be affected by anomalous situations, and
transmit data representative of the alert events and of the reference driving speeds along the roads recognised to be affected by anomalous situations.
The motor-vehicles are further configured to:
receive data representative of alert events and reference driving speeds, and
use the received data to implement one or both of the following actions: inform the drivers of motor-vehicles, through automotive user interfaces of motor-vehicles of the anomalous situations recognised along roads travelled by motor-vehicles, and cause current driving speeds of the motor-vehicles to be adjusted to the reference driving speeds along roads recognised to be affected by anomalous situations.