• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a lane-assisting method for a motor vehicle (1) from an initial taxiway to a final taxiway, comprising a step of evaluating a risk of collision with a third-party vehicle ( 3) in the case of a lane departure authorization and a decision step relating to a lane departure authorization according to the evaluated collision risk, characterized in that it further comprises a step of processing images received by at least one camera on said motor vehicle (1) adapted to detect an activation of a lighting and / or signaling device (30) located on a third vehicle (3), and in that an activation thus detected at least one lighting and / or signaling device (30) of the third vehicle (3) is taken into account in the step of evaluating the risk of collision with said third party vehicle.
    公开号:FR3046769A1
    申请号:FR1650278
    申请日:2016-01-14
    公开日:2017-07-21
    发明作者:Xavier Groult；Gaetan Le-Gall；Camillo Vejarano；Alexandre Garnault；Thomas Heitzmann；Paulo Resende；Benazouz Bradai
    申请人:Valeo Schalter und Sensoren GmbH；
    IPC主号:
    专利说明:

    METHOD AND SYSTEM FOR ASSISTING THE CHANGE OF THE RUNWAY FOR AUTOMOBILE VEHICLE
    The present invention generally relates to motor vehicles equipped with semi-automatic or even automatic driver assistance systems, and more specifically assistance systems for the change of driving lane for a motor vehicle.
    Such lane change systems, known as LCC (English initials set for Lane Change Control) or LCA (English initials set for Lane Change Assist) aim to control, by acting on the organs control of the direction of the vehicle or of the braking system, the trajectory followed by a motor vehicle when it is necessary to change the driving lane, for example in case of overtaking another vehicle or after passing a vehicle .
    Such systems generally use information from a road mark detector, such as an on-board camera at the front of the vehicle, to identify the lateral limits not only of the track on which the vehicle is traveling, but also lanes adjacent to the current taxiway. When the vehicle is in a situation where a change of lane, from an initial taxiway to a final taxiway, is possible, the conventional systems generally calculate the central trajectory of the final taxiway, and determine from information from a vehicle location system, for example a navigation system, and vehicle speed and / or acceleration information, a trajectory that must be followed by the motor vehicle to make it reach the central trajectory of the final taxiway. The conventional systems then control the vehicle so that it follows this path automatically until reaching the central path of the final taxiway. By way of example, FIG. 1a shows a driving situation on a road, for example a motorway, comprising two possible driving lanes in the same rolling direction, each being delimited by two marking lines on the ground. A motor vehicle 1 equipped with a lane departure assistance system is shown rolling on the taxiway here located furthest to the right of the road 1 in the direction of the traffic. The motor vehicle 1 follows in the example a third vehicle 2 that it is about to overtake using the lane assistance system. For the sake of simplification, it is assumed that the system has already identified the initial taxiway, the final taxiway, here the adjacent lane located on the left of the initial lane, and that the lane change is indeed possible (flagging). ground allowing the change of lane, no vehicle likely to occur at the rear of the vehicle 1). In this case, a conventional lane-assisting system will determine the trajectory T to be followed by the vehicle 2 to bring the vehicle onto the final taxiway. The maneuver is generally triggered by the driver of the vehicle 1 which actuates its direction indicator 10, in the example the indicator or left indicator, to warn of its intention to overtake.
    As indicated above, it is also necessary, in order to authorize the change of lane, that the lane be effectively possible, and in particular that the vehicle fitted with the lane departure assistance system is not followed by another vehicle. 'preparing to go beyond it. Lane change assistance systems are thus known in which detection means, such as radars, lidars or cameras, are used to detect the presence of a follower vehicle, such as the vehicle 3 represented in FIG. 1b. as traveling on the track immediately adjacent to that of the vehicle 1, and wherein the system comprises processing algorithms using in particular the positions and relative speeds of the vehicle 1 and the follower vehicle to estimate a risk of collision with the follower vehicle if the overrun was allowed. In some cases, particularly if the follower vehicle is very close to the vehicle 1 and / or if its speed is higher than that of the vehicle 1, the overtaking maneuver is not allowed, as illustrated in the example of FIG. 1b.
    These known systems, however, do not go far enough in assessing the real risk of collision. In particular, a follower vehicle detected in the adjacent lane can be considered as a major risk, not allowing the overtaking maneuver, even when the latter is about to fall back on the same road that the equipped vehicle of the assistance system, without exceeding it. On the other hand, a tracking vehicle detected in the same driving lane as the vehicle equipped with the assistance system is generally not taken into consideration in the risk assessment, even though this follower vehicle may also be on the point of overcoming. In this case, the overtaking maneuver is allowed while the risk of collision with the following vehicle is real.
    The present invention aims to overcome the disadvantages and limitations of known systems by providing a change of lane assistance that improves the risk assessment in an overtaking maneuver taking into account the intentions of a detected follower vehicle.
    To do this, the subject of the present invention is a lane-assisting method for a motor vehicle from an initial taxiway to a final taxiway, comprising a step of evaluating a risk of collision with a vehicle. third vehicle in the case of a lane departure authorization and a decision step relating to a lane departure authorization according to the assessed collision risk, characterized in that it further comprises a step of processing images received by a camera on said motor vehicle capable of detecting an activation of at least one lighting and / or signaling device located on a third vehicle, and in that a detection and detection of a lighting device and / or signaling the third-party vehicle is taken into account in the step of assessing the risk of collision with said third-party vehicle.
    According to other possible aspects of the method: the relative speeds of the motor vehicle and the third vehicle are taken into account in the collision risk evaluation step; - the lighting and / or signaling device of the third vehicle is a direction indicator and / or a lighting projector; - The on-board camera can be located at the rear of the motor vehicle to thus allow an assessment of the risk of collision with a third-party vehicle follower; - a collision risk assessed during the evaluation stage may be increased when a third-party vehicle is detected on the initial taxiway and the activation of a direction indicator located on the side of the taxiway final is detected; - a lane change may not be allowed when the assessed collision risk has been increased above a certain threshold; a risk of collision evaluated during the evaluation step may be reduced when a third-party vehicle is detected on the final taxiway and the activation of a direction indicator located on the side of the taxiway initial is detected; - The on-board camera can also be located on the side of the motor vehicle to thereby allow an assessment of the risk of collision with a third vehicle moving substantially to the height of the motor vehicle. The invention also relates to a lane-assisting system for a motor vehicle from an initial taxiway to a final taxiway, the system comprising evaluation means able to evaluate a risk of collision with a vehicle. third vehicle in the case of a lane change authorization and being configured to take a lane departure authorization decision according to the assessed collision risk, characterized in that it further comprises image processing means received by a camera on board said motor vehicle, said processing means being able to detect an activation of at least one lighting and / or signaling device located on a third vehicle, and in that an activation thus detected a third-party lighting and / or signaling device is taken into account by the said collision risk assessment means; one with said third party vehicle. The invention and the various advantages that it provides will be better understood from the following description, made with reference to the appended figures, in which: FIG. 1a, already described above, describes a first example of a rolling situation. involving a lane change made with a known lane departure assistance system; - Figure 1b, already described above, describes another example of a taxi situation in which lane change is not allowed; FIG. 2 represents, in the form of a simplified block diagram, a possible general architecture of a system for assisting the change of lane capable of implementing the method according to the invention; FIG. 3 shows a first example of a driving situation in which a lane change may be authorized according to the principles of the invention; FIG. 4 shows a second example of a driving situation in which a lane change may not be authorized according to the principles of the invention; FIG. 5 shows a third example of a taxi situation in which a lane change may not be authorized according to the principles of the invention; FIG. 6 shows a fourth example of a driving situation in which a lane change may not be authorized according to the principles of the invention;
    In the rest of the description, and unless otherwise stated, the elements common to all the figures bear the same references. The different driving situations shown in the figures relate to vehicles traveling on roads in a country where driving is on the right side of the road. The principles of the invention are nevertheless transposable to countries where driving is on the left.
    FIG. 2 schematically illustrates an on-board lane-assist system 4 for a motor vehicle (such as the motor vehicle 1 shown in FIGS. 3 to 6) from an initial taxiway to a final taxiway. In the nonlimiting example shown in this figure, the system 4 cooperates with other elements present on the vehicle 1, in particular with a detector 5 road marking lines, for example a camera located at the front of the motor vehicle , a system 6 for locating the motor vehicle, for example a GPS-type navigation receiver, and various sensors 7 making it possible to determine the current speed and / or the acceleration of the motor vehicle. The system 4 also cooperates with a system 8 for checking the steering column of the vehicle, or even with a braking system (not shown). It should be noted that the detector 5 could also be integrated into the system 4 without departing from the scope of the present invention.
    In the following, we are not interested in how the system 4 evaluates the trajectory T which it will have to follow to make a lane change, but to the preliminary treatment which consists in verifying that the overtaking is possible with regard to vehicles. which would be at the rear and / or sides of the motor vehicle 1. To do this, the vehicle 1 is also equipped with sensors 9, for example radar, lidars or at least one camera, these sensors being able to monitor an area located at the rear and / or on each side of the motor vehicle 1, and thus detect the arrival of a third vehicle, such as a follower vehicle 3 or a vehicle moving substantially at the same height on another way of driving. "Third-party vehicle" means any motorized vehicle such as another motor vehicle, a truck, or a motorcycle.
    When such a third-party vehicle is detected, the assistance system 4 must evaluate the risk of collision that could be between the vehicle 1 and the third vehicle 3 if the overtaking maneuver was allowed, before it can actually take whether or not to authorize the overtaking, or at least to alert the driver of the risk that he would take in doing so. The system 4 comprises, for this purpose, evaluation means, for example in the form of a dedicated software module, which uses or estimates, in particular, relative relative speed and position information of the vehicle 1 and the third vehicle 3 to evaluate the risk of collision. Several processing algorithms exist and will not be detailed further.
    According to the invention, the assistance system 4 further comprises processing means 41, such as a dedicated software module, receiving images received by at least one camera 11 on board the motor vehicle 1 and capable of detecting in these images if a lighting and / or signaling device, for example a direction indicator or the front projectors of the third vehicle is activated or not. This additional information on the third-party vehicle will help refine the collision risk assessment, and therefore improve decision-making on override clearance.
    FIG. 3 represents a first rolling situation in which the interest of the invention can be better understood. Here, a third-party vehicle 3 is located on the adjacent lane to the left of the vehicle 1, which should normally prohibit the overtaking maneuver. However, from images captured by a camera located at the rear of the vehicle 1, with a rearward observation zone Z, the assistance system 4 will be able to detect that the right turn signal 30 of the third vehicle. follower 3 is activated, and to deduce that the intention of the vehicle third follower 3 is not to overtake the vehicle 1 but to fall back behind him (provided, of course, the relative speeds and relative positions of the vehicles 1 and 3 are compatible with this intention).
    In other words, the evaluation means will be able to minimize the risk of collision evaluated when a third track vehicle 3 is detected on the final taxiway and the activation of a direction indicator located on the side of the initial taxiway is detected. If the risk of collision thus reduced is sufficiently low, the system 4 can authorize the maneuver of the change of lane according to the trajectory T, while other systems proposed so far would have in all cases prohibited. Of course, the relative speeds of the motor vehicle 1 and the third follower vehicle 3 are advantageously taken into account in the collision risk assessment step. The risk of collision, even if reduced, may thus remain high and not lead to a decision to authorize the overtaking maneuver if the speed of the third-party vehicle is significantly greater than the speed of the vehicle 1.
    Figure 4 shows another rolling situation. Here, the third follower vehicle 3 is located on the same track as the vehicle 1, which should normally allow the overtaking maneuver. However, from images captured by a camera located at the rear of the vehicle 1, with a rearward observation zone Z, the assistance system 4 will be able to detect that the left turn signal 30 of the third vehicle follower 3 is activated, and to deduce that the intention of the third follower vehicle 3 is to overtake the vehicle 1.
    In this case where the third follower vehicle 3 is detected on the initial taxiway and the activation of a direction indicator located on the side of the final taxiway is also detected, a high collision risk exists if the The speed of the third follower vehicle 3 is significantly higher than that of the vehicle 1, for example 20 km / h higher. The means of evaluation will be able to increase the estimated collision risk. If the risk is increased beyond a certain threshold, the lane change maneuver may not be allowed, or the system will at least warn the driver of the danger associated with this maneuver.
    The camera used for this activation detection of the flashing of a follower vehicle may be a camera already used in other features such as pedestrian detection or parking assistance. The same camera can also be used to detect the presence of a third-party vehicle follower, and in this case, detect a possible activation of the flashing of the following vehicle.
    Figure 5 shows another driving situation quite similar to that of Figure 4, with a third track vehicle 3 located on the same track as the vehicle 1, which should normally allow overtaking maneuver. However, from images captured by a camera located at the rear of the vehicle 1, with a rearward observation zone Z, the assistance system 4 will be able to detect that the front projectors 30 of the third vehicle follower 3 is activated, typically a "headlamp" type activation, and deduce that the intention of the third follower vehicle 3 is to overtake the vehicle 1.
    In this case where the third follower vehicle 3 is detected on the initial taxiway and the activation of the headlights is also detected, a high collision risk exists if the speed of the third follower vehicle 3 is significantly higher than that vehicle 1, for example 20 km / h higher. The means of evaluation will be able to increase the estimated collision risk. Here again, if the risk is increased beyond a certain threshold, the lane change maneuver may not be allowed, or the system will at least warn the driver of the danger associated with this maneuver.
    FIG. 6 illustrates yet another rolling situation in which the motor vehicle 1 is about to overtake a vehicle 2 on the left. Here, at least one on-board camera is used on the vehicle 1, with a lateral observation zone Z , here shown on the left side. From images captured by this side camera, the assistance system 4 will be able to detect that the right turn signals 30 of a third vehicle 3 moving on another path but substantially at the height of the vehicle 1 are activated, and deduce therefrom that the intention of the third vehicle 3 is to fall back on the right lane. The means of evaluation will be able to increase the assessed collision risk, and prohibit, if necessary the lane change maneuver or warn the driver of the danger associated with this maneuver.
    权利要求:
    Claims (14)
    [1" id="c-fr-0001]
    A lane-assisting method for a motor vehicle (1) from an initial taxiway to a final taxiway, comprising a step of evaluating a risk of collision with a third-party vehicle (3) by a lane departure authorization case and a lane change authorization decision step based on the assessed collision risk, characterized in that it further comprises a step of processing images received by at least one camera (11) embarked on said motor vehicle (1) able to detect an activation of at least one lighting and / or signaling device (30) located on a third vehicle (3), and in that an activation thus detected from said lighting and / or signaling device (30) of the third vehicle (3) is taken into account in the step of evaluating the risk of collision with said third vehicle (3).
    [2" id="c-fr-0002]
    2. Method according to claim 1, characterized in that the relative speeds of the motor vehicle (1) and the third vehicle (3) are taken into account in the collision risk assessment step.
    [3" id="c-fr-0003]
    3. Method according to any one of the preceding claims, wherein the lighting and / or signaling device of the third vehicle is a direction indicator and / or a lighting projector.
    [4" id="c-fr-0004]
    4. Method according to any one of the preceding claims, characterized in that said camera (11) on board is on the rear of said motor vehicle (1) so as to allow an evaluation of the risk of collision with a third vehicle (3) follower.
    [5" id="c-fr-0005]
    5. Method according to claim 4, characterized in that a risk of collision evaluated during the evaluation step is increased when a third track vehicle (3) is detected on the initial taxiway and the activation a direction indicator of the third follower vehicle (3), located on the side of the final taxiway is detected.
    [6" id="c-fr-0006]
    6. Method according to claim 5, characterized in that a change of lane is not allowed when the assessed collision risk has been increased beyond a certain threshold.
    [7" id="c-fr-0007]
    7. Method according to claim 4, characterized in that a risk of collision evaluated during the evaluation step is reduced when a third track vehicle (3) is detected on the final taxiway and the activation a direction indicator of the third follower vehicle (3) located on the side of the initial taxiway is detected.
    [8" id="c-fr-0008]
    8. Method according to any one of claims 1 to 3, characterized in that said onboard camera is on one side of said motor vehicle (1) so as to allow an assessment of the risk of collision with a third vehicle moving substantially at height. said motor vehicle (1).
    [9" id="c-fr-0009]
    9. A lane-assisting assistance system for a motor vehicle (1) from an initial taxiway to a final taxiway, the system comprising evaluation means (40) able to evaluate a risk of collision with a vehicle. third vehicle (3) in the case of a lane departure authorization and being configured to take a lane departure clearance decision based on the assessed collision risk, characterized in that it further comprises means (41). ) of image processing received by at least one camera (11) on board said motor vehicle (1), said processing means being able to detect an activation of at least one lighting and / or signaling device (30). ) located on a third vehicle (3), and in that an activation thus detected of a lighting and / or signaling device (30) of the third vehicle (3) is taken into account by said means (40) devaluation the risk of collision with said third party vehicle (3).
    [10" id="c-fr-0010]
    10. System according to claim 9, characterized in that the relative speeds of the motor vehicle (1) and the third vehicle (3) are taken into account by said means (40) for assessing the risk of collision.
    [11" id="c-fr-0011]
    11. System according to any one of claims 9 or 10, characterized in that said camera (11) on board is on the rear of said motor vehicle (1) so as to allow an assessment of the risk of collision with a third-party vehicle follower .
    [12" id="c-fr-0012]
    12. System according to claim 11, characterized in that said evaluation means are configured to increase the risk of collision evaluated when a third track vehicle (3) is detected on the initial taxiway and the activation of a direction indicator located on the side of the final taxiway is detected.
    [13" id="c-fr-0013]
    13. System according to claim 11, characterized in that said evaluation means are configured to minimize the risk of collision evaluated when a third track vehicle (3) is detected on the final taxiway and the activation of a direction indicator located on the side of the initial taxiway is detected.
    [14" id="c-fr-0014]
    14. System according to any one of claims 9 or 10, characterized in that said camera (11) on board is on one side of said motor vehicle (1) so as to allow an assessment of the risk of collision with a third moving vehicle. substantially at height of said motor vehicle (1).
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    同族专利:
    公开号 | 公开日
    FR3046769B1|2019-05-31|
    引用文献:
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    法律状态:
    2017-01-31| PLFP| Fee payment|Year of fee payment: 2 |
    2017-07-21| PLSC| Publication of the preliminary search report|Effective date: 20170721 |
    2018-01-31| PLFP| Fee payment|Year of fee payment: 3 |
    2020-01-31| PLFP| Fee payment|Year of fee payment: 5 |
    2021-01-28| PLFP| Fee payment|Year of fee payment: 6 |
    2022-01-31| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1650278|2016-01-14|
    FR1650278A|FR3046769B1|2016-01-14|2016-01-14|METHOD AND SYSTEM FOR ASSISTING THE CHANGE OF THE TRACK TRACK FOR A MOTOR VEHICLE|FR1650278A| FR3046769B1|2016-01-14|2016-01-14|METHOD AND SYSTEM FOR ASSISTING THE CHANGE OF THE TRACK TRACK FOR A MOTOR VEHICLE|
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