Method of determining the position of a vehicle in a traffic lane of a road and methods for detecting alignment and risk of collision between two vehicles

Abstract

A method of determining positioning of a subject automobile vehicle in a traffic corridor of a traffic lane, including: a) acquiring a number of traffic corridors of the traffic lane, b) acquiring an image of the traffic lane on which there appears at least one lateral part of the traffic lane, c) acquiring a datum relating to a direction of traffic flow of the subject automobile vehicle on the traffic lane, and d) deducing the positioning of the subject automobile vehicle in one of the traffic corridors of the traffic lane, as a function of the number of traffic corridors, the datum relating to the direction of traffic flow, and the image acquired.

1 - 10 . (canceled) 
     
     
         11 . A method for determining a positioning of a subject motor vehicle in a traffic lane of a highway, comprising:
 a) acquiring a number of traffic lanes of the highway;   b) acquiring an image of the highway showing at least a lateral part of the highway;   c) acquiring a datum relating to a direction of travel of the subject motor vehicle on the highway; and   d) deducting the positioning of the subject motor vehicle in one of the traffic lanes of the highway, as a function of the number of traffic lanes, the datum relating to the direction of travel, and the acquired image.   
     
     
         12 . The determination method as claimed in  claim 11 , wherein:
 prior to d), further comprising reception by the subject motor vehicle of at least one message from at least one other motor vehicle, the message including a first information item relating to a positioning of the other motor vehicle in one of the traffic lanes of the highway, and a second information item relating to a direction of travel of the other motor vehicle on the highway, and   in d), the positioning of the subject motor vehicle in one of the traffic lanes of the highway is deduced as a function also of the first and second information items.   
     
     
         13 . The determination method as claimed in  claim 12 , wherein the second information item is a heading. 
     
     
         14 . The determination method as claimed in  claim 12 , wherein the second information item comprises at least two successive geolocation coordinates of the other motor vehicle. 
     
     
         15 . The determination method as claimed in  claim 11 , wherein, in a), there are provided:
 an operation of acquiring geolocation coordinates of the subject motor vehicle,   an operation of reading a global digital map in which roads are stored, and, for each highway, a corresponding number of traffic lanes, and   an operation of deducing the number of traffic lanes of the highway as a function of the acquired geolocation coordinates and of the global digital map read.   
     
     
         16 . The determination method as claimed in  claim 11 , wherein, in a), the subject motor vehicle receives and processes a signal which is sent by a roadside unit and which comprises at least the number of traffic lanes of the highway. 
     
     
         17 . The determination method as claimed in  claim 11 , wherein,
 prior to d), further comprising acquiring a change of traffic lane datum of the subject motor vehicle on the highway, and   in d), the positioning of the subject motor vehicle in one of the traffic lanes of the highway is deduced as a function also of the change of traffic lane datum of the subject motor vehicle on the highway.   
     
     
         18 . A method of detecting longitudinal alignment between a first subject motor vehicle and a second subject motor vehicle, comprising:
 an operation of determining a positioning of the first subject motor vehicle and a second subject motor vehicle in traffic lanes of a highway by a determination method as claimed in  claim 11 ;   an operation of sending, by the first subject motor vehicle, and receiving by the second subject motor vehicle, a message including the positioning of the first subject motor vehicle in one of the traffic lanes of the highway, and   if the second subject motor vehicle and the first subject motor vehicle are positioned in a same traffic lane of the highway, an operation of detecting a longitudinal alignment of the first and second subject motor vehicles.   
     
     
         19 . A method of detecting a risk of longitudinal collision between a first subject motor vehicle and a second subject motor vehicle, comprising:
 an operation of detecting, by the second subject motor vehicle, a longitudinal alignment with the first subject motor vehicle by a method of detecting longitudinal alignment as claimed in  claim 18 ;   an operation of sending, by the first subject motor vehicle, and receiving by the second subject motor vehicle, a message including a speed and a direction of travel of the first subject motor vehicle;   acquiring, by the second subject motor vehicle, its speed and its direction of travel; and   if a longitudinal alignment is detected between the first subject motor vehicle and the second subject motor vehicle, an operation of detecting a risk of collision between the first subject motor vehicle and the second subject motor vehicle as a function of the respective positionings, speeds, and directions of travel of the first and second subject motor vehicles.   
     
     
         20 . A motor vehicle comprising:
 a means of acquiring a number of traffic lanes of a highway on which the motor vehicle is traveling;   a means of acquiring an image of the highway, showing at least a lateral part of the highway;   a means of acquiring a datum relating to a direction of travel of the motor vehicle on the highway; and   a driver unit configured to implement a determination method as claimed in  claim 11 .