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    • 1. 发明公开
    • AUTOMOTIVE COOPERATIVE MAP-FREE LANE-LEVEL RELATIVE LOCALIZATION BASED ON INTER-VEHICULAR COMMUNICATION
    • US20240105060A1
    • 2024-03-28
    • US18276747
    • 2022-02-07
    • C.R.F. SOCIETA' CONSORTILE PER AZIONI
    • Marco ANDREETTOPietro POSTALMarco DARINNicola POERIOAndrea STECCANELLAFilippo VISINTAINER
    • G08G1/16G08G1/0967H04W4/46
    • G08G1/167G08G1/096791G08G1/163H04W4/46
    • 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.
    • 5. 发明申请
    • EXPLOITATION OF AUTOMOTIVE AUTOMATED DRIVING SYSTEMS TO CAUSE MOTOR VEHICLES TO PERFORM FOLLOW-ME LOW-SPEED MANOEUVRES CONTROLLABLE FROM THE OUTSIDE OF THE MOTOR VEHICLES BY USER TERMINALS
    • US20210389760A1
    • 2021-12-16
    • US17281605
    • 2019-09-27
    • C.R.F. SOCIETA' CONSORTILE PER AZIONI
    • Luca LIOTTI
    • G05D1/00B60W60/00B60W10/18B60W10/20B60W10/04B60W50/14
    • System to cause a motor vehicle equipped with an automotive automated driving system to perform a Follow-Me low-speed manoeuvre under the control of a user terminal from the outside of the motor vehicle. The motor vehicle comprises automotive on-vehicle systems comprising a propulsion system, a braking system, a steering system, a sensory system; an automotive communications system to communicate with communications systems of user terminals; and an automotive electronic control unit configured to be connectable to the automotive on-vehicle systems and to the communications system, and to cooperate with the automotive on-vehicle systems to implement said automotive automated driving system. The user terminal comprises a digital image capture device and a communications system to communicate with automotive communications systems. The user terminal is programmed to communicate and cooperate with the electronic control unit of the motor vehicle to implement a Follow-Me functionality that allows a user from the outside of the motor vehicle and in possession of the user terminal to cause the motor vehicle to perform a Follow-Me low-speed manoeuvre under the control of the user terminal. The user terminal is further programmed to: set up a communication between the communications systems of the motor vehicle and of the user terminal, activate the digital image capture device so that the user can frame the motor vehicle, capture and process one or more digital images of the motor vehicle captured by the digital image capture device of the user terminal to identify the motor vehicle in the captured digital images and to compute a relative position of the user terminal relative to the identified motor vehicle based on the captured digital images, implement a surveillance device whose operating state is indicative of a continuous surveillance of the user in possession of the user terminal on the execution of the Follow-Me manoeuvre, and send to the electronic control unit of the motor vehicle Follow-Me data indicative of the relative position of the user terminal relative to the identified vehicle and the operating state of the surveillance device. The Electronic Control Unit is Programmed to: receive and process the Follow-Me data transmitted by the user terminal to determine the relative position of the user terminal relative to the motor vehicle and the operating state of the surveillance device, and control the automotive automated driving system the motor vehicle based on the Follow-Me data, so as to cause the motor vehicle to perform a Follow-Me low-speed manoeuvre under the control of the user terminal to follow the movements of the user in possession of the user terminal as long as the operating state of the surveillance device is such as to indicate a continuous surveillance of the user in possession of the user terminal on the execution of the Follow-Me low-speed manoeuvre, and to interrupt the Follow-Me low-speed manoeuvre when the operating state of the surveillance device is such as to indicate an interruption of the surveillance of the user in possession of the user terminal on the execution of the Follow-Me manoeuvre.
    • 7. 发明申请
    • AUTOMOTIVE DRIVER ASSISTANCE
    • US20210024061A1
    • 2021-01-28
    • US17041537
    • 2019-09-24
    • C.R.F. SOCIETA' CONSORTILE PER AZIONI
    • Filippo VISINTAINERAndrea STECCANELLAPaolo DENTIMarco DARINLuciano ALTOMAREAlessandro MARCHETTO
    • B60W30/09B60W30/095G01S19/42G01S19/53
    • An advanced driver assistance system configured to implement one or more automotive V2V applications designed to assist a driver in driving a Host Motor-Vehicle. The advanced driver assistance system is configured to be connectable to an automotive on-board communication network to communicate with automotive on-board systems to implement one or different automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle. The advanced driver assistance system comprises an automotive V2V communication system operable to communicate with automotive V2V communication systems of Remote Motor-Vehicles via V2V messages containing motor-vehicle position-related, motion-related, and state-related data. The advanced driver assistance system is further configured to receive V2V messages transmitted by V2V communications systems of Remote Motor-Vehicles; identify from among the Remote Motor-Vehicles in communication with the Host Motor-Vehicle, Nearby Motor-Vehicles that may represent potential threats to the driving safety of the Host Motor-Vehicle, based on motor-vehicle position-related, motion-related, and state-related data in received V2V messages and on motor-vehicle position-related, motion-related, and state-related data of the Host Motor-Vehicle; and process the data contained in the V2V messages received from the Nearby Motor-Vehicles to identify from among the Nearby Motor-Vehicles Relevant Motor-Vehicles that may be relevant to the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, at informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety, and dispatch on the automotive on-board communication network a list of virtual objects containing information on the Host Motor-Vehicle and on the Relevant Motor-Vehicles, for exploitation by one or more of the functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of the Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle, or exploit the information on the Host Motor-Vehicle and on the Relevant Motor-Vehicles in the implementation of one or more of the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of the Relevant Motor-Vehicles and of relevant events deemed to be relevant to the driving safety of the Host Motor-Vehicle.