Abstract: A method for determining a trajectory of a motor vehicle includes identifying a plurality of objects present in the surroundings of the motor vehicle. For each object, the method includes: a) determining a speed of impact between the object of interest and the motor vehicle, b) determining a risk of injury in the event of a collision with the motor vehicle at the determined impact speed, c) determining the probability of a collision resulting in an injury between the object of interest and the motor vehicle, depending on the determined risk of injury. The method subsequently includes determining a plurality of possible trajectories for the motor vehicle, and determining the trajectory to be followed by the motor vehicle by optimising a cost function which depends on the determined collision probabilities and which minimises the risk of collision resulting in an injury between each object and the motor vehicle.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: A computerized device for driving assistance comprises a memory (4) designed to receive data point cloud data (8) 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.

Abstract: 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.

Abstract: 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.

Abstract: This method adapts an initial model trained with labeled images of a source domain into an adapted model. It comprises: copying the initial model into the adapted model; dividing the adapted model into an encoder part and a second part, wherein the second part is configured to process features output from said encoder part; adapting said adapted model to a target domain using images (xs) of the source and target domains while fixing the parameters of said second part and minimizing a function of following two distances: a distance between features of the source domain output of the encoders of the initial model and of the adapted model; and a distance measuring a distribution distance between probabilities of features obtained for images of the source domain and of the target domain.

Abstract: The present invention concerns a driving assistance method and system (100) for a road vehicle (1). The driving assistance system (100) comprises a sensor set (200), a data storage device (101, 102) and an output device (104, 105). The sensor set (200) observes, in a traffic scene including the road vehicle among a plurality of road users, apparent states of each road user of the plurality of road users at successive time steps. The data processor (103) assigns, to a target road user of the plurality of road users, a behavioral model stored in the data storage device (101, 102).

Abstract: A computerized device for driving assistance comprises a memory (4) designed to receive data point cloud data (8) 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.

Abstract: 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.

Abstract: The present invention concerns a driving assistance method and system (100) for a road vehicle (1). The driving assistance system (100) comprises a sensor set (101), a data storage device (102) and an an output device (104,105). The sensor set (101) detects, within a traffic scene including the road vehicle (1), a set of road users and, for each road user of said set of road users, a current state including a current speed and a current position. The data storage device (102) comprises a finite plurality of behavioral models.

Abstract: 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)=?A0?1V-1P(CA00?1VV?1Z)/?A00?1VV?1P(CA00?VV?1Z) comprising the determination of the speeds and positions of dummy particles in the grid depending on those determined at the (k?1)th iteration and the probability P(V|V?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=vki,|ZC), i=32 1 to nk, in which nk is the number of particles determined in cell C for the kth iteration.

Abstract: 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 (40, 42) 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 (44) 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.

Abstract: 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 (51) of intervention decision adapted to decide whether to trigger the intervention of the collision avoidance system at a current time instant (Tc) or to postpone said intervention decision at a later time instant (Tl) depending upon additional first and second information to be acquired between the current time instant (Tc) and the later time instant (Tl), said additional first and second information having an associated probability.

Abstract: A method for analysing 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)=?AO?1 V-1P(CAOO?1VV?1Z)/?AOO?1VV?1P(CAOO?VV?1Z) comprising the determination of the speeds and positions of dummy particles in the grid depending on those determined at the (k?1)th iteration and the probability P(VFV-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(O=empty, V=O|ZC) and P(O=occupied, V=O|ZC) and the solving of a dynamic part corresponding to P(O=occ, V=vkl,|ZC), i=32 1 to nk, in which nk is the number of particles determined in cell C for the kth iteration.

Abstract: 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 (51) of intervention decision adapted to decide whether to trigger the intervention of the collision avoidance system at a current time instant (Tc) or to postpone said intervention decision at a later time instant (Tl) depending upon additional first and second information to be acquired between the current time instant (Tc) and the later time instant (Tl), said additional first and second information having an associated probability.

Abstract: The invention relates to a method for assessing the risk of collision between a first vehicle approaching an intersection and at least one second vehicle driving through said intersection, said first vehicle being provided with a measurement means and a computing means. The method according to the invention is mainly characterised in that same includes the following steps: a step of determining the respective positions of said first vehicle and each second vehicle, a step of estimating the intentions of the driver of said first vehicle and of each second vehicle, a step of estimating the need for the first vehicle and for each second vehicle to stop in accordance with the results provided by the two preceding steps and the traffic rules applicable to said intersection, and a step of estimating the risk of collision between the first vehicle and each second vehicle.

Abstract: The invention concerns a method for assessment of abnormal driving behaviour 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 neighbouring vehicle travelling in the proximity of said vehicle on said road. The method comprises a step of obtaining and memorizing (40, 42) 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 (44) at least one estimate of the reference value for said vehicle and/or its at least one neighbouring vehicles travelling on said road during the observation time interval.

Abstract: The invention relates to a vehicle or traffic control method and to a vehicle or traffic control system. The vehicle or traffic control method comprises the steps: a) estimating actual and/or future behavior of a first traffic participant and of a second traffic participant, respectively, the second traffic participant being different from the first traffic participant, b) estimating a trajectory to be taken by the first traffic participant and/or a trajectory to be taken by the second traffic participant, c) determining risk of collision of the first traffic participant relative to the second traffic participant by calculating information adapted for risk assessment of collision of the first traffic participant relative to the second traffic participant, and d) controlling the behavior of the first traffic participant based on the information provided after step a), step b) and/or step c).