US 11,702,092 B2
Method for detecting an obstacle, detection device, detection system and associated vehicle
Alex Pereira Da Silva, Grenoble (FR); and Sylvain Leirens, Grenoble (FR)
Assigned to COMMISSARIAT À L'ÉNERGIE ATOMIQUE ET AUX ÉNERGIES ALTERNATIVES, Paris (FR)
Filed by COMMISSARIAT À L'ÉNERGIE ATOMIQUE ET AUX ÉNERGIES ALTERNATIVES, Paris (FR)
Filed on Oct. 14, 2020, as Appl. No. 17/70,558.
Claims priority of application No. 1911555 (FR), filed on Oct. 16, 2019.
Prior Publication US 2021/0114612 A1, Apr. 22, 2021
Int. Cl. B60W 50/14 (2020.01); B60W 30/09 (2012.01); G06V 20/58 (2022.01); G06N 7/01 (2023.01)
CPC B60W 50/14 (2013.01) [B60W 30/09 (2013.01); G06N 7/01 (2023.01); G06V 20/58 (2022.01); B60W 2050/143 (2013.01)] 12 Claims
OG exemplary drawing
 
1. Computer-implemented method for detecting an obstacle, the method including, for at least one telemeter having a plurality of detection axes and configured to deliver a detection signal indicative of a position, along each detection axis, of a detection horizon corresponding to the detection axis, the steps of:
calculating, for each point of a space around the telemeter, from a current position of the telemeter, an uncertainty model of a plurality of corresponding intermediate probabilities of presence of-the position of the telemeter and the detection signal, each intermediate probability of presence being associated with a respective orientation of the telemeter among a plurality of predetermined orientations around a current orientation of the telemeter, each orientation being certain;
for each point of space, calculating a probability of the presence of an obstacle from each corresponding intermediate probability of presence and from an uncertainty model on the orientation of the telemeter; and
generating an alert if the probability of the presence of an obstacle in a predetermined zone with respect to the telemeter is greater than or equal to a predetermined alert threshold.