Geolocation method, computer program product and associated geolocation system

Abstract

The invention relates to a computer-implemented geolocation method comprising, for at least a first predetermined time window, the steps of: identifying, from among at least one connected object (16), at least one on-board connected object (24) on board a vehicle (4); andassigning a consolidated route to the vehicle (4) and / or to all or some of the on-board connected objects, the consolidated route depending on at least one vehicle route associated with the vehicle (4) and / or at least one object route associated with an on-board connected object (24), wherein: each vehicle route is representative of a position of the vehicle (4) during the first predetermined time window, andeach object route is representative of a position of a respective connected object (16) from among the plurality of connected objects (16) during the first predetermined time window.

Description

Title of the invention: Geolocation method, computer program product and associated geolocation system Technical field

[0001] The present invention relates to a geolocation method.

[0002] The invention also relates to a computer program and a geolocation system configured to implement such a method.

[0003] The invention applies to the field of geolocation, in particular in the field of transport, in particular rail transport. State of the art

[0004] As is known, locomotives and other self-propelled trains are equipped with geolocation devices transmitting their position at predetermined time intervals. In this way, it is possible to locate the rolling stock, thus avoiding losses. It is also known to equip other means of transport with such geolocation devices.

[0005] However, such a solution does not give complete satisfaction.

[0006] Indeed, the old generation geolocation devices, still equipping a significant number of locomotives today, have the disadvantage of transmitting their position at a frequency of around half an hour.

[0007] This is problematic, insofar as such a frequency does not allow time differences to be calculated, or even rolling stock to be precisely located in order to, for example, correlate its position with technical events such as failures or anomalies, which are known to be likely to be influenced by the environment, or even by other trains.

[0008] Furthermore, replacing the geolocation devices already installed on board such vehicles would represent heavy expenses.

[0009] Furthermore, a solution consisting of using a portable geolocation device, such as a smartphone or a tablet carried by the driver, has a certain number of drawbacks. Indeed, this solution requires the establishment of a logical link between the portable device and the vehicle, in order to declare that the portable device is on board the vehicle. However, a declaration made by an operator (for example, the driver) is susceptible to omissions or errors. In addition, the use of specialized pairing devices (QR code, pairing via Bluetooth, etc.) has the disadvantage of being sensitive to business gestures, and is likely to generate inappropriate installation and management costs.

[0010] An aim of the present invention is to remedy at least one of the drawbacks of the state of the art.

[0011] Another aim of the invention is to propose a geolocation method which makes it possible to know more precisely the position of a vehicle over time.

[0012] Another aim of the invention is to propose a geolocation method which is inexpensive, and which does not require the replacement of the geolocation device already installed on board the vehicle.

[0013] Another aim of the invention is to propose a geolocation method capable of avoiding the prior pairing of a portable geolocation device with the vehicle.

[0014] Another aim of the invention is to propose a geolocation method allowing the establishment of a logical link between location devices having shared the same means of transport for a certain period of time, without prior knowledge of their route: wagons of the same train, trailer and tractor, passengers of the same means of transport, etc. Such a logical link is, for example, likely to be used for analysis purposes. Statement of the invention

[0015] To this end, the invention relates to a method of the aforementioned type, implemented by computer and comprising, for at least a first predetermined time window, the steps: • identification, among at least one connected object, of at least one connected object on board a vehicle; and • assignment of a consolidated route to the vehicle and / or to all or part of the on-board connected objects, the consolidated route depending on at least one vehicle route associated with the vehicle and / or at least one object route associated with an on-board connected object, Or : • each vehicle route is representative of a vehicle position during the first predetermined time window, and • each object route is representative of a position of a respective connected object among the plurality of connected objects during the first predetermined time window.

[0016] Indeed, thanks to the identification step, the connected objects on board the vehicle are detected. Such connected objects are, for example, smartphones of users of the vehicle, for example connected to a local network of the vehicle. These connected objects moving together with the vehicle, their route is therefore representative of the vehicle's route, so that the route of said objects can be assigned to the vehicle.

[0017] Current connected objects transmit their position at a frequency of the order of a second, the method which is the subject of the invention therefore makes it possible to know more precisely the position over time of the vehicle carrying such a connected object.

[0018] Furthermore, thanks to the use of connected objects transported by passengers, replacement of the geolocation device already installed on board the vehicle is not required.

[0019] Furthermore, thanks to the implementation of the identification step, the geolocation method according to the invention does not require prior pairing of the connected objects with the vehicle.

[0020] The identification step also leads to determining the connected objects that have moved together (i.e. on board the same vehicle) and therefore to establishing a logical link between them.

[0021] The method according to the invention also makes it possible to verify consistency, in a situation during which a presumed reference device is associated at the start of the journey with the vehicle: the method leads to verifying that the reference device is indeed identified as an on-board vehicle.

[0022] Advantageously, the method according to the invention has one or more of the following characteristics, taken in isolation or in any technically possible combination:

[0023] the identification step comprises: • from a vehicle trace received from a vehicle location device on board the vehicle and representative of successive positions of the vehicle over time measured by the vehicle location device, an estimate of at least one corresponding continuous spatio-temporal route representative of the position of the vehicle over time and forming the vehicle route; and / or • for each connected object, from an object trace received from an object location device integrated into the connected object and representative of successive positions of the connected object over time measured by the object location device, an estimate of at least one corresponding continuous spatio-temporal route representative of the position of the connected object over time and forming the object route;

[0024] in the geolocation process: • the estimation of at least one vehicle route includes: • determination, from the vehicle trace and a cartographic reference representative of a transport network likely to be taken by the vehicle, at least one geographic vehicle route; • generation by mapping, from the vehicle trace and each vehicle geographic route, of a corresponding corrected vehicle trace; • calculating the vehicle route from each corrected vehicle track; and / or • for each connected object, the estimation of at least one corresponding object route includes: • determination of at least one corresponding object geographic route, from the object trace and the cartographic reference; • generation by mapping, from the object trace and each object geographic route, of at least one corrected object trace; • calculation of the object route from each corrected object trace;

[0025] each determined vehicle geographic route is associated with a corresponding probability, and, for each vehicle geographic route, the corresponding vehicle route is associated with the probability of said vehicle geographic route, and / or for each connected object, each determined object geographic route is associated with a corresponding probability, and, for each object geographic route, the corresponding object route is associated with the probability of said object geographic route, the geolocation method further comprising a determination of all or part of the set of combinations each comprising a vehicle route and, for each connected object, a corresponding object route, each combination being associated with a score depending on the probability of the vehicle route and / or of each object route of said combination,the assignment step being implemented on the basis of the combination associated with the highest score; ,

[0026] the identification step comprises a calculation of a deviation between the vehicle route and the object route associated with each connected object, each on-board connected object being a connected object for which the calculated deviation is less than a first predetermined threshold;

[0027] each on-board connected object is a connected object moving in the same direction as the vehicle;

[0028] each on-board connected object is a connected object for which, at each instant, a gap between a corresponding position, determined from the object route corresponding, and a position of the vehicle, determined from the vehicle route, is less than a second predetermined threshold;

[0029] for each second time window after the first time window, the assignment step is implemented only for the on-board connected objects identified during the first time window.

[0030] According to another aspect of the invention, there is provided a computer program comprising executable instructions which, when executed by computer, implement the steps of the method as defined above.

[0031] The computer program can be in any computer language, such as for example machine language, C, C++, JAVA, Python, etc.

[0032] According to another aspect of the invention, a geolocation system is proposed comprising a calculator configured so as to, for at least a first predetermined time window: • identify, among at least one connected object, at least one connected object on board a vehicle; and • assign a consolidated route to the vehicle and / or to all or part of the on-board connected objects, the consolidated route depending on a vehicle route associated with the vehicle and / or at least one object route associated with an on-board connected object, Or : • the vehicle route is representative of a position of the vehicle during the first predetermined time window, and • each object route is representative of a position of a respective connected object among the plurality of connected objects during the first predetermined time window.

[0033] The geolocation system according to the invention can be any type of device such as a server, a computer, a tablet, a calculator, a processor, a computer chip, programmed to implement the method according to the invention, for example by executing the computer program according to the invention. Brief description of the figures

[0034] The invention will be better understood on reading the description which follows, given solely by way of non-limiting example and made with reference to the appended drawings in which:

[0035] Figure [Fig.l] is a schematic representation of a geolocation system according to the invention;

[0036] Figure [Fig.2] is a schematic representation of a vehicle trace associated with a vehicle and an object trace associated with a connected object on board the vehicle;

[0037] Figure [Fig.3] is a flowchart of a geolocation method implemented by the geolocation system of Figure [Fig.l];

[0038] Figure [Fig.4] is a schematic representation of a geographic vehicle route associated with the vehicle whose vehicle track appears in Figure [Fig.2]; and

[0039] Figure [Fig.5] is a schematic representation of a corrected vehicle track and a corrected object track obtained from the vehicle track and the object track of Figure [Fig.2]; and

[0040] Figure [Fig.6] is a schematic representation of a vehicle route for the vehicle associated with the vehicle trace of Figure [Fig.2].

[0041] It is understood that the embodiments which will be described below are in no way limiting. In particular, it will be possible to imagine variants of the invention comprising only a selection of characteristics described below isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art. This selection comprises at least one preferably functional characteristic without structural details, or with only a part of the structural details if it is this part which is only sufficient to confer a technical advantage or to differentiate the invention compared to the state of the prior art.

[0042] In particular, all the variants and all the embodiments described can be combined with each other if nothing prevents this combination from a technical point of view.

[0043] In the figures and in the remainder of the description, the elements common to several figures retain the same reference. Detailed description

[0044] A geolocation system 2 according to the invention is illustrated by the figure [Fig.l].

[0045] The geolocation system 2 is, in particular, intended to precisely determine the position over time of a vehicle 4, for example a railway vehicle.

[0046] The geolocation system 2 comprises a memory 6 and a computer 8 connected together.

[0047] Memory 6

[0048] The memory 6 is configured to store a vehicle trace 10 received from a vehicle location device 12 on board the vehicle 4, for example permanently attached to the vehicle 4.

[0049] In particular, the vehicle trace 10 is representative of successive positions of the vehicle 4 over time, in a predetermined frame of reference, measured by the vehicle location device 12.

[0050] The memory 6 is further configured to store at least one object trace 14. Each object trace 14 is associated with a respective connected object 16. Furthermore, for each connected object 16, the respective object trace 14 has been received from a respective object location device 18, integrated into said connected object 16.

[0051] In particular, for each connected object 16, the respective object trace 14 is representative of successive positions of the connected object over time, in a predetermined reference frame, measured by the respective object location device 18.

[0052] For example, the vehicle trace 10 and / or each object trace 14 is a GNSS trace (acronym for “Geolocation and Navigation by a Satellite System”), comprising a plurality of points, each associated with a position, a timestamp and, possibly, a speed.

[0053] As an example, a vehicle trace 10 and an object trace 14 are shown in the figure [Fig.2]. In this figure, the black circular markers represent successive positions of the vehicle 4 measured by the vehicle location device 12 corresponding to times ti to tn, while the black crosses represent successive positions of a connected object 16 measured by the corresponding object location device 18 at times Ti to rn.

[0054] The memory 6 is also configured to store a cartographic reference system 20 representative of a transport network likely to be used by the vehicle 4.

[0055] Furthermore, the memory 6 is configured to store a vehicle route 21, representative of a position of the vehicle during a predetermined time window. Obtaining the vehicle route 21 will be described in more detail later.

[0056] The memory 6 is also configured to store, for each connected object 16 which is on board the vehicle 4, a respective object route 22. The obtaining of each object route will be described in more detail later.

[0057] Optionally, for at least one connected object 16, the memory 6 is configured to store a respective logical link 23, representative of the fact that said connected object 16 is on board the vehicle 4.

[0058] Calculator 8

[0059] The calculator 8 is likely to be in a hardware form, such as a computer, a server, a processor, an electronic chip, etc. Alternatively, or additionally, the calculator 8 is likely to be in a software form such as a computer program, or an application, for example an application for a user device of the tablet or smartphone type.

[0060] The calculator 8 is configured so as to, for at least a first predetermined time window, identify, among the connected objects 16, at least one on-board connected object 24 (hereinafter “on-board object”) which is on board the vehicle 4.

[0061] The calculator 8 is, in addition, intended to assign a consolidated route to the vehicle 4 and / or to all or part of the on-board objects 24.

[0062] To do this, the computer 8 is configured to implement a geolocation method 30. As illustrated by the figure [Fig.3], the geolocation method 30 comprises an identification step 32 and an assignment step 34.

[0063] Identification 32

[0064] The computer 8 is configured to identify, during the identification step 32, at least one on-board object 24 among the connected objects 16 whose object traces 14 are stored in the memory 6.

[0065] Case of the existence of a logical link between the vehicle and the connected object

[0066] For example, in the case where the memory 6 stores one or more logical link(s) 23, the calculator 8 is configured to identify, as an on-board object 24, each connected object 16 for which a respective logical link 23 associates said connected object 16 with the vehicle 4.

[0067] Case of absence of logical link between the vehicle and the connected object

[0068] Alternatively, or additionally, the computer 8 is configured to identify each on-board object 24 from the associated object trace 14 and the vehicle trace 10. This is particularly the case in the absence of a logical link 23 in the memory 6 between the connected object 16 and the vehicle 4.

[0069] In this case, the calculator 8 is configured to implement, during the identification step 32, a route estimation phase 36.

[0070] More precisely, the computer 8 is configured to estimate, during the route estimation phase 36, and from the vehicle trace 10, a continuous spatio-temporal route associated with the vehicle 4 and representative of the position of the vehicle 4 in time. The estimated continuous spatio-temporal route forms the vehicle route 21 mentioned previously.

[0071] Similarly, for each on-board object 24 whose object trace 14 is stored in the memory 6, the computer 8 is configured to estimate, during the route estimation phase 36, and from the corresponding vehicle trace 14, a continuous spatio-temporal route associated with said on-board object 24 and representative of the position of the on-board object 24 in time. The continuous spatio-temporal route thus estimated forms the object route 22 mentioned previously.

[0072] To estimate the vehicle route 21, the computer 8 is preferably configured to determine a geographic vehicle route 40 from the vehicle track 10 and the cartographic reference frame 20.

[0073] The geographic route of vehicle 40, illustrated by the figure [Fig.4], is the portion of the transport network which is most likely to have been taken by the vehicle 4, knowing the trace of vehicle 4 and the transport network. For example, this is the portion of the transport network closest (for example in the least squares sense) to the points of the trace of vehicle 10.

[0074] In this case, the computer 8 is also configured to generate a corrected vehicle trace 42 (figure [Fig.5]) by cartospondence (or “map matching” in English), from the vehicle trace 10 and the geographic vehicle route 40.

[0075] In figure [Fig.5], the white circular markers represent positions successive corrections of vehicle 4 at times ti to tn, from the corrected vehicle trace 42 obtained by mapping.

[0076] Furthermore, in this case, the computer 8 is configured to calculate the vehicle route 21 (figure [Fig.6]) from the generated corrected vehicle track 42. For example, the computer 8 is configured to estimate any position of the vehicle 4 between two points of the corrected vehicle track 42 by implementing a linear interpolation, or, more advantageously, an interpolation based on an estimator based on the known speed at each point of the corrected vehicle track 42, the curvature of the geographic road, the gradient, etc. The result of such an interpolation is the vehicle route 21.

[0077] In figure [Fig.6], the gray markers correspond to positions of the vehicle 4 obtained following such a calculation, i.e. extracted from the calculated vehicle route 21.

[0078] Furthermore, the calculator 8 is configured to write the calculated vehicle route 21 into the memory 6.

[0079] Alternatively, or additionally, to estimate the object route 22 associated with each connected object 16, the calculator 8 is preferably configured to determine a geographic object route 44 from the corresponding object trace 14 and the cartographic reference system 20.

[0080] By analogy with the above, the object geographic route 44 is the portion of the transport network that is most likely to have been taken by the connected object 16, knowing the object trace 14 and the transport network. In the example of the figure [Fig.4], the vehicle geographic route 40 and the object geographic route 44 for the connected object 14 considered are identical.

[0081] In this case, for each connected object 14, the computer 8 is also configured to generate a corrected object trace 46 (figure [Fig.5]) by mapping, from the object trace 14 and each vehicle geographic route 40.

[0082] In figure [Fig.5], the white crosses represent successive corrected positions of a connected object 16 at times Ti to rn, from the corresponding corrected object trace 48 obtained by mapping.

[0083] Furthermore, in this case, for each connected object 16, the calculator 8 is configured to calculate the respective object route 22 from the corrected object trace 46 generated for said connected object, in particular by implementing an interpolation similar to that described previously. The result of such an interpolation is the object route 22.

[0084] Furthermore, for each connected object 16, the calculator 8 is configured to write the corresponding calculated object route 22 into the memory 6.

[0085] Furthermore, the computer 8 is configured to compare the vehicle route 21 to all or part of the object routes 22 to identify the on-board connected objects 24 among the connected objects 16.

[0086] Preferably, for each connected object 16, the calculator 8 is configured to calculate a difference between the vehicle route 21 and the associated object route 22. Such a difference corresponds, for example, to an area delimited by the two routes 21, 22.

[0087] Furthermore, the calculator 8 is configured to identify a connected object 16 as being an on-board object 24 if the calculated difference is less than a first predetermined threshold.

[0088] Advantageously, the computer 8 is configured to identify a connected object 16 as being an on-board object 24 if, in addition, said connected object 16 moves in the same direction as the vehicle 4.

[0089] Such a characteristic is advantageous, insofar as it leads to eliminating connected objects 16 which would have taken the same route as the vehicle 4, during the first predetermined time window, but in the opposite direction.

[0090] Advantageously, the computer 8 is configured to identify a connected object 16 as being an on-board object 24 if, in addition to a calculated difference less than the first predetermined threshold, said connected object 16 verifies the condition according to which, at each instant, a difference between a corresponding position (extracted from the associated object route 22) and a position of the vehicle 4 (extracted from the vehicle route 21) is less than a second predetermined threshold.

[0091] Such a characteristic is advantageous, insofar as it leads to the elimination of connected objects 16 which would have taken the same route as the vehicle 4, in the same direction, but on a different date.

[0092] Assignment 34

[0093] The computer 8 is also configured to assign, during the assignment step 34, a consolidated route to the vehicle 4 and / or to all or part of the on-board connected objects 24, the consolidated route depending on the vehicle route 21 and / or at least one object route associated with an on-board connected object 24.

[0094] For example, if an average time difference between the points of the vehicle trace 10 is greater than an average time difference between the points of an object trace 14 of an on-board object 24, the computer 8 is configured to assign the object route 22 of said on-board object 24 to the vehicle 4 as a consolidated route.

[0095] Alternatively, the consolidated route assigned to the vehicle 4 is an average of the object routes 22 of the on-board objects 24 for which an average time difference between the points of each corresponding object trace 14 is less than the average time difference between the points of the vehicle trace 10.

[0096] Alternatively, or additionally, if an average time difference between the points of the object trace 14 of a first onboard object 24 is greater than an average time difference between the points of an object trace 14 of a second onboard object 24, the computer 8 is configured to assign the object route 22 of the second onboard object 24 to the first onboard object 24 as a consolidated route. The use of an average of object routes 22 as a consolidated route, by analogy with the above, is also envisaged.

[0097] Preferably, the computer 8 is configured to implement the geolocation method 30 for at least a second time window subsequent to the first time window.

[0098] In this case, the calculator is advantageously configured to implement the assignment step 34 only for the connected objects 16 identified, during the first time window, as being on-board connected objects 24. In other words, the calculator 8 is configured to have the ability to dispense with the implementation of the identification step 32, subsequent to the execution of the geolocation method 30 during the first time window.

[0099] This has the advantageous effect of limiting the number of calculations to be carried out, and therefore the computing power necessary for implementing the geolocation method 30.

[0100] In one embodiment, the computer 8 is configured to, during the route determination phase 38, determine at least one vehicle geographic route 40 likely to have been taken by the vehicle 4. This is particularly the case when there is ambiguity, for example in the case of two lanes close to each other. In this case, each vehicle geographic route 40 is associated with a corresponding probability, particularly representative of the probability that the vehicle 4 has taken the vehicle geographic route 40. Such a probability is, for example, example, function of the average proximity between vehicle 4 and the geographic route of vehicle 40.

[0101] Preferably, each geographic vehicle route 40 associated with a probability lower than a predetermined probability threshold is considered insignificant and is not taken into account in the rest of the processing.

[0102] In this case, the calculator 8 is configured to calculate, for each vehicle geographic route 40, a corresponding vehicle route 21, to which the probability of said vehicle geographic route 40 is assigned.

[0103] In this case, the calculator 8 is preferably also configured to, during the route determination phase 38, determine, for each connected object 16, at least one geographical object route 44 likely to have been taken by said connected object 16. In this case, each geographical object route 44 is associated with a corresponding probability, in particular representative of the probability that the connected object 16 has taken the geographical object route 44. Such a probability is, for example, a function of the average proximity between the connected object 16 and the geographical object route 44.

[0104] Preferably, each geographic route of object 44 associated with a probability lower than a predetermined probability threshold is considered to be insignificant and is not taken into account in the rest of the processing.

[0105] Furthermore, in this case, the calculator 8 is configured to calculate, for each connected object 16, and for each associated geographical object route 44, a corresponding object route 22, to which the probability of said geographical object route 44 is assigned.

[0106] In this case, the calculator 8 is configured to calculate the set of combinations each comprising a vehicle route 21 and, for each connected object, an object route 22. Each combination is associated with a score, for example equal to the sum of the probabilities of the corresponding routes 21, 22.

[0107] Furthermore, the calculator 8 is configured so as to retain, for the implementation of the assignment step 34, the combination associated with the highest score.

[0108] Operation

[0109] The operation of the geolocation system 2 will now be described with reference to figure [Fig.3].

[0110] During a preliminary initialization step, the vehicle trace 10 and at least one object trace 14 are recorded in the memory 6. The cartographic reference system 20 is also written in the memory 6.

[0111] Optionally, for at least one connected object 16, a respective logical link 23 is written in the memory 6.

[0112] Then, during the identification step 32, the computer 8 identifies at least one connected object 24 on board the vehicle 4.

[0113] More precisely, if the memory 6 stores one or more logical link(s) 23, the computer 8 identifies, as an on-board object 24, each connected object 16 for which a logical link 23 is recorded in the memory 6.

[0114] Alternatively, or additionally, the calculator 8 implements the route estimation phase 36.

[0115] During route estimation phase 36, the computer 8: • determines the geographic route of vehicle 40 from the vehicle track 10 and the cartographic reference 20; • optionally, generates the corrected vehicle trace 42 by mapping, from the vehicle trace 10 and the geographic vehicle route 40; and • calculates the vehicle route 21, possibly from the generated corrected vehicle track 42.

[0116] Furthermore, during the route estimation phase 36, for each connected object 16, the calculator 8: • determines the geographic route of object 44 from the trace of object 14 and the cartographic reference 20; • optionally, generates the corrected object trace 46 by mapping, from the object trace 14 and the object geographic route 44; and • calculates the object route 22, possibly from the generated corrected object trace 46.

[0117] Then, the computer 8 identifies the on-board objects 24 among the connected objects 16 by comparing the vehicle route 21 with all or part of the object routes 22.

[0118] Then, during the assignment step 34, the computer 8 assigns a consolidated route to the vehicle 4 and / or to all or part of the on-board connected objects 24, from the vehicle route 21 and / or at least one object route associated with an on-board connected object 24.

[0119] Of course, the invention is not limited to the examples which have just been described.

Claims

1.

2. Claims Geolocation method (30), characterized in that it is implemented by computer and in that it comprises, for at least a first predetermined time window, the steps: • identification (32), among at least one connected object (16), of at least one on-board connected object (24) on board a vehicle (4); and • assignment (34) of a consolidated route to the vehicle (4), the consolidated route depending on at least one vehicle route (21) associated with the vehicle (4) and at least one object route (22) associated with an on-board connected object (24), Or : • each vehicle route (21) is representative of a position of the vehicle (4) during the first predetermined time window, and • each object route (22) is representative of a position of a respective connected object (16) among the plurality of connected objects (16) during the first predetermined time window. Geolocation method (30) according to claim 1, wherein the identification step comprises: • from a vehicle trace (10) received from a vehicle location device (12) on board the vehicle (4) and representative of successive positions of the vehicle (4) over time measured by the vehicle location device (12), an estimate of at least one corresponding continuous spatio-temporal route representative of the position of the vehicle over time and forming the vehicle route (21); and / or • for each connected object (16), from an object trace (14) received from an object location device (18) integrated into the connected object (16) and representative of successive positions of the connected object (16) in time measured by the object location device (18), an estimate n of at least one corresponding continuous spatio-temporal route representative of the position of the connected object (16) in time and forming the object route (22).

3. Geolocation method (30) according to claim 2, in which: • the estimation of at least one vehicle route (21) includes: • determination, from the vehicle trace (10) and a cartographic reference system (20) representative of a transport network likely to be used by the vehicle, of at least one geographic vehicle route (40); • generation by mapping, from the vehicle trace (10) and each vehicle geographic route (40), of a corresponding corrected vehicle trace (42); • calculation of the vehicle route (21) from each corrected vehicle trace (42); and / or • for each connected object (16), the estimation of at least one corresponding object route (22) includes: • determination of at least one corresponding geographic object route (44), from the object trace and the cartographic reference system (20); • generation by mapping, from the object trace and each object geographic route (4 4), of at least one corrected object trace (46); • calculation of the object route (22) from each corrected object trace (46).

4. A geolocation method (30) according to claim 3, wherein each determined vehicle geographic route (40) is associated with a corresponding probability, and, for each vehicle geographic route (40), the corresponding vehicle route (21) is associated with the probability of said vehicle geographic route (40), and / or for each connected object (16), each determined object geographic route (44) is associated with a corresponding probability, and, for each object geographic route (44), the corresponding object route (22) is associated with the probability of said object geographic route (44), the geolocation method (30) further comprising determining all or part of the set of combinations each comprising a vehicle route (21) and, for each connected object (16), a corresponding object route (22), each combination being associated with a score depending on the probability of the vehicle route (21) and / or of each object route (22) of said combination, the assignment step (34) being implemented on the basis of the combination associated with the highest score.

5. Geolocation method (30) according to any one of claims 1 to 4, wherein the identification step (32) comprises a calculation of a deviation between the vehicle route (21) and the object route associated with each connected object (16), each on-board connected object (24) being a connected object (16) for which the calculated deviation is less than a first predetermined threshold.

6. Geolocation method (30) according to claim 5, in which each on-board connected object (24) is a connected object (16) moving in the same direction as the vehicle.

7. Geolocation method (30) according to claim 5 or 6, wherein each on-board connected object (24) is a connected object (16) for which, at each instant, a difference between a corresponding position, determined from the corresponding object route (22), and a position of the vehicle, determined from the vehicle route (21), is less than a second predetermined threshold.

8. Method according to any one of claims 1 to 7, in which, for each second time window subsequent to the first time window, the assignment step (34) is implemented only for the on-board connected objects (24) identified during the first time window.

9. A method according to any one of claims 1 to 8, further comprising assigning (34) a consolidated route to an on-board connected object, the consolidated route depending on the at least one vehicle route (21) associated with the vehicle (4) and / or the at least one object route (22) associated with another on-board connected object (24).

10. A computer program comprising executable instructions which, when executed by a computer, implement the steps of the method according to any one of claims 1 to 9.

11. Geolocation system comprising a computer configured so as to, for at least a first predetermined time window: • identify, from among at least one connected object (16), at least one on-board connected object (24) on board a vehicle; and • assign a consolidated route to the vehicle, the consolidated route depending on a vehicle route (21) associated with the vehicle and at least one object route (22) associated with an on-board connected object (24), where: • the vehicle route (21) is representative of a position of the vehicle during the first predetermined time window, and • each object route (22) is representative of a position of a respective connected object (16) from among the plurality of connected objects during the first predetermined time window.

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