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1. (WO2018220418) DRIVING ASSISTANCE METHOD AND SYSTEM

Pub. No.:    WO/2018/220418    International Application No.:    PCT/IB2017/000856
Publication Date: Fri Dec 07 00:59:59 CET 2018 International Filing Date: Sat Jun 03 01:59:59 CEST 2017
IPC: B60W 30/095
B60W 50/14
Applicants: TOYOTA MOTOR EUROPE
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE (INRIA)
INSTITUT NATIONAL DES SCIENCES APPLIQUEES
Inventors: VIGNARD, Nicolas
SIERRA GONZALEZ, David
LAUGIER, Christian
DIBANGOYE, Jilles, Steeve
ROMERO-CANO, Victor
Title: DRIVING ASSISTANCE METHOD AND SYSTEM
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). The data processor (103) calculates, for the target road user, at a new time step, based on the apparent states that have been observed, 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, based both on the dynamics of the target road user and the behavioral model assigned to the target road user. The data processor (103) determines a risk of collision of the road vehicle with another road user of the plurality of road users, based on the new maneuver and state distributions of the target road user; and outputs a driver warning signal and/or executing an avoidance action if the risk of collision exceeds a predetermined threshold.