US 12,466,398 B2
Method for determining a trajectory of a motor vehicle
Anh-Lam Do, Antony (FR); Thierry Hermitte, Chatou (FR); Christian Laugier, Montbonnot Saint-Martin (FR); Philippe Martinet, Juan les Pins (FR); Luiz-Alberto Serafim-Guardini, Fontenay le Fleury (FR); and Anne Spalanzani, Grenoble (FR)
Assigned to AMPERE S.A.S., Boulogne Billancourt (FR); and INRIA, Le Chesnay (FR)
Appl. No. 18/006,481
Filed by RENAULT S.A.S, Boulogne Billancourt (FR); and INRIA, Le Chesnay (FR)
PCT Filed Jul. 21, 2021, PCT No. PCT/EP2021/070320
§ 371(c)(1), (2) Date Jan. 23, 2023,
PCT Pub. No. WO2022/018110, PCT Pub. Date Jan. 27, 2022.
Claims priority of application No. 2007743 (FR), filed on Jul. 23, 2020.
Prior Publication US 2023/0365131 A1, Nov. 16, 2023
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 50/14 (2020.01); B60W 50/16 (2020.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 30/0953 (2013.01); B60W 50/16 (2013.01); B60W 60/0015 (2020.02); B60W 2050/146 (2013.01); B60W 2554/80 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method for determining a trajectory of a motor vehicle, comprises:
identifying, via a computer in the motor vehicle, objects present in an environment of the motor vehicle, the identifying including for each identified object:
a) determining a distance between the motor vehicle and the object using a range-finding sensor disposed on the motor vehicle,
b) determining a speed of impact between the object and the motor vehicle,
c) determining a risk of injury in an event of collision between the object concerned and the motor vehicle at the determined speed of impact, and
d) determining a probability of collision resulting in an injury as a function of the determined risk of injury, then
determining a trajectory to be taken by the motor vehicle by optimizing a cost function which depends on determined probabilities of collision resulting in an injury and which makes it possible to minimize the risk of collision resulting in an injury between each object and the motor vehicle;
transmitting the trajectory to be taken to a processing circuitry configured to perform autonomous driving; and
autonomously modifying a current trajectory of the motor vehicle into the trajectory to be taken with the processing circuitry,
wherein said probability of collision resulting in an injury is a function of a distance separating the motor vehicle and said object, said probability of collision resulting in an injury being calculated as a function of a probability of occupancy of a cell of a grid by said object, said grid comprising a plurality of cells representing the environment of the motor vehicle,
wherein the risk of injury associated with each object is determined as a function of a plurality of data which correspond respectively to probabilities of the injury being more or less serious, each probability depending on a nature of the identified object, and
wherein said plurality of data comprises a probability of death, a probability of serious injury and a probability of slight injury, and wherein the risk of injury associated with each object is determined by calculating a weighted sum of the probabilities of death, of serious injuries and of slight injuries associated with the determined speed of impact.