公开(公告)号：US20240227852A1

公开(公告)日：2024-07-11

申请号：US18558958

申请日：2022-04-29

Applicant: RENAULT S.A.S.

Inventor： Nievsabel MOLINA RAMOS ,  Vicente MILANES ,  David GONZALEZ BAUTISTA ,  Irene CORTES LAFUENTE ,  Armando ASTUDILLO OLALLA

IPC: B60W60/00 ,  B60W30/095 ,  B60W30/18

CPC classification number: B60W60/001 ,  B60W30/0956 ,  B60W30/18009 ,  B60W2520/10 ,  B60W2552/05 ,  B60W2556/40

Abstract: A method controls an autonomous vehicle equipped with at least one perception unit and a first map including stored digital data representing the actual infrastructure of the environment of the autonomous vehicle. The method includes defining a first trajectory of the autonomous vehicle and a first associated kinematic profile, detecting, from data transmitted by the perception unit, a situation to be optimized on a given segment of the first trajectory located in front of the autonomous vehicle, optimizing at least one element from the first map and the first kinematic profile, optimizing the first map including determining a local map on the given segment, and/or optimizing the first kinematic profile including a determination of a second kinematic profile associated with the given segment, and controlling the displacement of the autonomous vehicle over the given segment taking into account the local map and/or the second kinematic profile.

公开(公告)号：US20230257000A1

公开(公告)日：2023-08-17

申请号：US18004033

申请日：2021-06-07

Applicant: RENAULT S.A.S

Inventor： Jorge BELTRAN DE LA CITA ,  Vicente MILANES ,  Carlos GUINDEL GOMEZ ,  Fernando GARCIA FERNANDEZ ,  Irene CORTES LAFUENTE

IPC: B60W60/00 ,  G01S17/931 ,  G01S17/89 ,  B60W30/09

CPC classification number: B60W60/0016 ,  G01S17/931 ,  G01S17/89 ,  B60W30/09 ,  B60W2420/42 ,  B60W2556/60

Abstract: The invention relates to a detection method implemented in a vehicle for detecting the presence of an obstacle in an area surrounding the vehicle from data from a perception system comprising:—a LIDAR configured to perform a 360° scan of the area surrounding the vehicle;—five cameras, each of the cameras being configured to capture at least one image (I2, I3, I4, I5, I6) in an angular portion of the area surrounding the vehicle; the method being characterised in that it comprises:—a step (100) of scanning the area surrounding the vehicle by means of the LIDAR to obtain a point cloud (31) of the obstacle;—for each camera, a step (200) of capturing an image (I2, I3, I4, I5, I6) to obtain a 2D representation of the obstacle located in the angular portion associated with the camera;—for each captured image (I2, I3, I4, I5, I6), a step (300) of assigning the points in the point cloud (31) corresponding to the 2D representation of the obstacle to form a 3D object (41);—a step (400) of merging the 3D objects (41) making it possible to generate a 3D map (42) of the obstacles all around the vehicle;—a step (500) of estimating the movement of the obstacle from the generated 3D map (42) and GPS data (43) of the vehicle to obtain information (44) on the position, size, orientation and speed of the vehicles detected in the area surrounding the vehicle.