• 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:
    A method is provided for assisting the driving of non-priority vehicles traveling on a road comprising traffic lanes. This method comprises a first step (10-30) in which a future trajectory of a priority vehicle is estimated based on information representative of the non-priority vehicles and environments around them, and then transmitted by wave a definition of this future trajectory estimated for non-priority vehicles, and a second step (40-70) in which in each of the non-priority vehicles, according to this definition of the estimated future trajectory, at least one action proposal is determined to undertake so that the priority vehicle can follow this estimated future trajectory, then submit each action proposal to its driver.
    公开号:FR3046771A1
    申请号:FR1650356
    申请日:2016-01-18
    公开日:2017-07-21
    发明作者:Christelle Leseigneur；Alain Servel；Jean-Francois Layerle；Celine Etcheverry；Fabien Gurret
    申请人:Peugeot Citroen Automobiles SA；
    IPC主号:
    专利说明:

    The invention relates to non-priority vehicles, possibly of the automotive type, and more specifically to the devices and methods that make it possible to use the vehicle. help drivers drive them in the presence of a priority vehicle.
    When non-priority vehicles and a priority vehicle travel on the same road, and the warning devices of the latter are in operation, it is often difficult for drivers of non-priority vehicles to determine where the priority vehicle is and therefore how they must react.
    In order to improve the situation, it has been proposed to estimate a future trajectory of the priority vehicle on the basis of information representative of the non-priority vehicles in front of it and the environments around them, and then to transmit over the air a definition of this future trajectory estimated for non-priority vehicles. The estimated future trajectory can then be visualized schematically, with the traffic lanes of the road taken and representations of at least some of the non-priority vehicles located in front of the priority vehicle, on a screen present in each non-priority vehicle that has received its definition. by waves.
    However, when the driver of a non-priority vehicle is a little distracted, he often does not really pay attention to the display of the estimated future trajectory, and therefore this display is not useful. On the other hand, drivers of non-priority vehicles frequently do not know how to react in the presence of the estimated future trajectory of a priority vehicle located behind them. The invention is therefore particularly intended to improve the situation.
    It proposes for this purpose a method, intended to help drive non-priority vehicles traveling on a road comprising at least two traffic lanes and each comprising a communication module adapted to exchange messages by wave, and comprising a first step in which it is estimated a future trajectory of a priority vehicle comprising a communication module adapted to exchange messages by wave, based on information representative of these non-priority vehicles and environments around them, then a definition of this estimated future trajectory is transmitted by airwaves to non-priority vehicles.
    This method is characterized by the fact that it furthermore comprises a second step in which, in each of the non-priority vehicles, according to the definition of the estimated future trajectory, at least one action proposal is determined so that the priority vehicle can follow this estimated future trajectory, then submits each action proposal to a driver of the non-priority vehicle considered.
    Thus, the driver can be optimally advised when a priority vehicle is behind him, which is likely to significantly improve road safety.
    The method according to the invention may comprise other characteristics that can be taken separately or in combination, and in particular: each action proposition can be chosen from (at least) a trajectory to be followed, a slowing down of the non-priority vehicle, a stop of the non-priority vehicle on the side, a temporary deactivation of a traffic tracking control function, a parking space for parking the non-priority vehicle, possibly with an activation of a parking assistance, and a activating a lateral and / or longitudinal control function of the non-priority vehicle; - In the second step can be implemented in a non-priority vehicle each action proposal does not require intervention of its driver, after receiving prior authorization from the driver; as a variant, in the second step, in the presence of a non-priority vehicle of the so-called autonomous type, it is possible to implement each action proposal concerning it after having received prior authorization from its driver; in the second step, it is also possible to estimate a confidence level for tracking the estimated future trajectory according to a driver's library storing a usual behavior of the driver and / or a current state of the driver and / or deviations from a proposed trajectory that the driver has made since the beginning of a journey in progress, and this level of confidence can be used to adapt or recalculate the trajectory in case of need; in the first step the information can be selected from (at least) current positions of the non-priority vehicles, current speeds of the non-priority vehicles, dimensions of the non-priority vehicles, distances separating the non-priority vehicles from neighboring vehicles. distances between non-priority vehicles from neighboring objects or longitudinal marks indicating the edge of the taxiway they are traveling on, and data representative of an ongoing behavior of a non-priority vehicle; in the first step some of the information can be transmitted to the priority vehicle by at least one information station installed near the traffic lanes. The invention also proposes a device intended to assist driving a non-priority vehicle traveling on a road comprising at least two traffic lanes and comprising a communication module capable of exchanging messages by means of waves. This device is characterized in that it comprises analysis means arranged to determine, as a function of an estimated future trajectory of a priority vehicle traveling on this road, at least one proposal for action to be undertaken in the vehicle. not a priority for the priority vehicle to follow this estimated future trajectory, then to submit each action proposal to a driver of the non-priority vehicle. The invention also proposes a non-priority vehicle, possibly of automobile type, and comprising a communication module adapted to exchange messages by wave and a driving assistance device of the type of that presented above. Other characteristics and advantages of the invention will appear on examining the detailed description below, and the attached drawings, in which: FIG. 1 schematically and functionally illustrates a first example of a displayed image, after reception of an estimated future trajectory of a priority vehicle, on the screen of a first non-priority vehicle equipped with a driving assistance device according to the invention and traveling on one of the two traffic lanes of a road on which this priority vehicle and other non-priority vehicles travel, - Figure 2 schematically and functionally illustrates a second example of an image displayed on the screen of the first non-priority vehicle while the latter is doubled by the priority vehicle which follows its estimated future trajectory and after all the non-priority vehicles have implemented the action proposals for themselves, and - Figure 3 schematically illustrates an example of an algorithm implementing a driving aid method according to the invention. The object of the invention is in particular to propose a driving assistance method, and an associated device, intended to help drivers of non-priority vehicles Vj to drive the latter (Vj) in the presence of a priority vehicle VP traveling on the same road as them.
    In what follows, it is considered, by way of non-limiting example, that the non-priority vehicles Vj (here j = 1 to 3) are of automotive type. This is for example cars. But the invention is not limited to this type of vehicle. It concerns indeed any type of land vehicle that can perform movements and maneuvers on the ground. Thus, it also concerns motorcycles, coaches (or buses), trucks, commercial vehicles, road and construction machinery.
    Furthermore, it is considered in the following, by way of non-limiting example, that the priority vehicle VP is automotive type. This is for example a police car. But the invention is not limited to this type of priority vehicle. It concerns indeed any type of terrestrial priority vehicle able to make displacements and maneuvers on the ground. Thus, it may also be a motorcycle (for example police or gendarmerie), a truck (for example firefighters), or a commercial vehicle (for example firefighters ).
    FIG. 1 diagrammatically shows a road comprising two traffic lanes VCk (k = 1 or 2) on which three non-priority vehicles V1 to V3 and a priority vehicle VP travel. Here the first V1 and second V2 non-priority vehicles and the priority vehicle VP are traveling on the first traffic lane VC1, and the third non-priority vehicle V3 is traveling on the second lane VC2.
    Moreover, the priority vehicle VP and the non-priority vehicles Vj here each comprise an MCN communication module capable of exchanging messages by means of waves. Preferably, each MCN communication module is arranged to transmit each information message with a short range, for example using the Car2X wireless communication standard (G5) or Bluetooth or WiFi or 5G. Furthermore, each MCN communication module can be optionally connected to a wireless communication network.
    In addition, it is essential that the MCN communication module of at least some non-priority vehicles Vj is capable of transmitting messages with so-called internal information representative of at least its current geographical position and its current speed.
    It should be noted that the invention can be implemented when certain non-priority vehicles do not include an MCN communication module. In this case, the information concerning them must be determined by non-priority vehicles Vj (thus equipped with an MCN communication module) and / or by at least one information station SI which is installed near a track VCk circulation. This information station (or roadside unit) SI comprises an MCN communication module responsible for sending messages by wave to vehicles that are located in its environment.
    As indicated above, the object of the invention is notably to propose a driving assistance method, and an associated device, intended to help drivers of non-priority vehicles Vj to drive the latter (Vj) in the presence of a vehicle. priority VP.
    The method (driving aid) according to the invention comprises first and second steps.
    The first step of the method, according to the invention, begins to be implemented in the priority vehicle VP as soon as the MCN communication module of the latter (VP) receives internal information from at least one non-priority vehicle Vj located in his environment (and more precisely in front of him). The reception of this internal information constitutes the sub-step referenced 10 in the exemplary implementation algorithm of the method illustrated without limitation in FIG.
    In this first step of the method, it begins by estimating in the priority vehicle VP a future trajectory of the latter (VP) based on information that is representative of non-priority vehicles Vj and environments around them (Vj). This estimation of the future trajectory of the priority vehicle VP constitutes the sub-step referenced in the exemplary algorithm illustrated without limitation in FIG.
    Then, (the priority vehicle VP) transmits by waves (with its communication module MCN) a definition of the future trajectory estimated for non-priority vehicles Vj. This transmission of the definition of the estimated future trajectory of the priority vehicle VP constitutes the sub-step referenced in the exemplary algorithm illustrated without limitation in FIG.
    This information may, for example, be chosen from at least the current positions of the non-priority vehicles Vj, the running speeds of the non-priority vehicles Vj, the dimensions (width and length) of the non-priority vehicles Vj, the distances (transverse and longitudinal) separating the non-priority vehicles Vj from neighboring vehicles, distances (transverse and longitudinal) separating the non-priority vehicles Vj from neighboring objects or longitudinal marks (continuous or discontinuous) indicating the edge of the taxiway VCk they borrow, and data representative of the current behavior of a vehicle of non-priority Vj. The latter behavioral data may, for example, represent the activation state of at least some of the signaling functions provided by the optical blocks of a non-priority vehicle.
    Vj (change of direction (or flashing), recoil, stop, distress (or warning)) or of a parameter involving such an activation (as for example the engagement of reverse gear or the pressing of the brake pedal) .
    This information can be determined by non-priority vehicles Vj and / or by at least one information station SI installed near a taxiway VCk.
    It will be noted that in order for non-priority vehicles V 1 to be able to determine some of the above-mentioned information, they must, as shown without limitation in FIG. 1, include acquisition means MA 1 capable of acquiring data in at least part of the area who surrounds them. These acquisition means MA1 may, for example, comprise at least one camera and / or at least one scanning laser and / or at least one radar or lidar. Some of these acquisition means MA1 can acquire data representative of the current speed and / or at least one dimension of a neighboring vehicle which is not equipped with the MCN communication module and / or the current behavior. this neighboring vehicle (such as the activation status of at least some of the signaling functions provided by its optical blocks (change of direction (or flashing), recoil, stop, distress (or warning)).
    Note also that for an information station SI can determine some of the aforementioned information, it must include acquisition means for acquiring data in a part of the surrounding area. These acquisition means may, for example, comprise at least one camera and / or at least one scanning laser and / or at least one radar or lidar.
    It will also be noted that an information station SI may possibly serve as an information transmission relay between a non-priority vehicle Vj and the priority vehicle VP.
    Any mathematical technique, known to those skilled in the art and for estimating the future trajectory of the priority vehicle VP based on the above information, can be used here.
    The communication protocol used to transmit the information, as to transmit the definition of the estimated future trajectory, is preferably a broadcasting protocol (or "broadcast").
    In the second step of the method, according to the invention, it is determined in each of the non-priority vehicles Vj, according to the definition of the estimated future trajectory and received, at least one proposal for action to be undertaken for the priority vehicle VP can follow this estimated future trajectory, then submits each action proposal to the driver of the non-priority vehicle Vj considered.
    The determination of each action proposal and the submission of each determined action proposal constitute the sub-step referenced 40 in the exemplary algorithm illustrated nonlimitingly in FIG. 3.
    The determination of each action proposal for a non-priority vehicle Vj can be carried out by a driver assistance device DA according to the invention, implanted in each non-priority vehicle Vj. It will be noted that in the example illustrated nonlimitingly in FIG. 1, all the non-priority vehicles are equipped with a device for assisting the driving of DA and are therefore referenced Vj. But only one of these non-priority vehicles could be equipped with a DA driver assistance device.
    As illustrated in FIG. 1, a device (assistance with driving) DA comprises at least some means of analysis MA2 responsible for carrying out the determination of the proposal (s) of action for the non-priority vehicle Vj of which they make part, depending on the definition of the estimated and received future trajectory. This device (driving assistance) DA can, as illustrated, be implanted in an on-board computer CA, which possibly performs at least one other function within its non-priority vehicle Vj. For example, this CA calculator may be the on-board computer of a non-priority vehicle Vj. But in an alternative embodiment, the device DA could be an on-board electronic equipment, such as a computer. Therefore, the device DA (and in particular its means of analysis MA2) can be realized in the form of software modules (or computer or "software"), or a combination electronic circuits (or "hardware") and software modules.
    Note that it is the MA2 analysis means that trigger the submission to the driver of their non-priority vehicle Vj each action proposal they have determined. By way of example, each action proposal determined for a non-priority vehicle Vj can be chosen from at least one trajectory to follow, a slowing down of this non-priority vehicle Vj, a stopping of this non-priority vehicle Vj on the side of the route, a temporary deactivation of a traffic control function (or LKA (Lane Keep (ing) Assist)) previously activated, a parking space to park the vehicle non-priority Vj, possibly with activation of a parking assistance, and activation of a lateral and / or longitudinal control function of this non-priority vehicle Vj.
    For example, each action proposal may be submitted to the driver of a non-priority vehicle Vj by displaying on a screen of the latter (Vj) and / or by sound diffusion in the passenger compartment of this non-priority vehicle Vj by at least a speaker.
    Note that in the second step can be implemented in a non-priority vehicle Vj each action proposal that does not require intervention of its driver, after receiving prior authorization from the driver. This authorization may be provided by any means, and in particular by pressing a control member, possibly dedicated, or by selecting an option from a menu displayed on a screen, or by pressing on a particular area of the screen used. for displaying the action proposals, or by a dedicated expression pronounced by the driver. For example, when the action proposal is a slowdown or a stop on the side of the road of a non-priority vehicle Vj, the device DA of the latter (Vj) can control this slowdown or this stop at instructions sent to the calculator (s) concerned. Likewise, when the action proposal consists of a temporary deactivation of the traffic tracking control function of a non-priority vehicle Vj, the latter's DA device (Vj) can control this deactivation by means of an instruction transmitted to the concerned calculator. Likewise, when the action proposal consists in activating the parking assistance of a non-priority vehicle Vj, the device DA of the latter (Vj) can control this activation by means of an instruction transmitted to the computer concerned. Likewise, when the action proposal consists in activating the lateral and / or longitudinal control function of a non-priority vehicle Vj, the device DA of the latter (Vj) can control this activation by means of a instruction transmitted to the concerned calculator.
    In a variant, when a non-priority vehicle Vj is of the so-called autonomous type, it is possible to implement each action proposal in the second step, after having received prior authorization from its driver (including the change of trajectory). It is then the device DA of this non-priority vehicle Vj which controls this implementation by means of instructions transmitted to the concerned computer (s). As indicated above, this authorization can be provided by any means, and in particular by pressing a control element, possibly dedicated, or by selecting an option from a menu displayed on a screen, or by pressing on a particular zone of the screen used to display the action proposals, or by a dedicated expression pronounced by the driver.
    In the autonomous case, as in the non-autonomous case, it is the device DA of a non-priority vehicle Vj that makes each application for authorization to implement a proposal for action. If the driver gives his authorization in a sub-step referenced 50 in the example of algorithm illustrated without limitation in Figure 3, then the device DA triggers each authorized implementation. This triggering is then carried out in the sub-step referenced 60 in the example of algorithm illustrated nonlimitingly in FIG. 3. On the other hand, if the driver does not give his authorization in the sub-step referenced 50, the algorithm takes end in a sub-step referenced 70 in the exemplary algorithm illustrated without limitation in FIG.
    It should be noted that in the second step it is also possible to estimate a confidence level for monitoring the estimated future trajectory according to a driver library that stores the usual behavior of the latter (for example, following the proposed trajectory) and / or the current state of the driver (eg tired or distracted), and / or deviations from the proposed path that the driver has made since the start of the trip, and this level of confidence can be used to adapt or recalculate the trajectory if necessary (with less lane change if the driver never changes lanes, for example). The image example illustrated schematically in FIG. 1 is intended to be displayed (without the elements MCN, CA, DA, MA1 and MA2, and without the references), on a screen of the first non-priority vehicle V1, after reception of the estimated future trajectory of the priority vehicle VP which is initially placed behind it. Here the estimated future trajectory is materialized by a right arrow TF. It is located here in the center of the road, and therefore straddles the two traffic lanes VC1 and VC2. It is therefore intended to indicate that the priority vehicle VP wants to pass between, on the one hand, the first V1 and second V2 non-priority vehicles (which circulate in the same direction as it), and, on the other hand, the third vehicle non priority V3 (which circulates in a direction opposite to hers). Note that in another example the estimated future trajectory could have at least one curvature instead of being straight. The image example illustrated schematically in FIG. 2 is intended to be displayed (without the elements MCN, CA, DA, MA1 and MA2, and without the references) on the screen of the first non-priority vehicle V1, while last (V1) is doubled by the priority vehicle VP which follows its estimated future trajectory TF and after all non-priority vehicles V1 to V3 have implemented the action proposals determined for them. For example, the action proposals of non-priority vehicles V1 to V3 consisted of a slowdown and a change of trajectory for a taxi on the right side of their taxiway VC1 or VC2.
    Once the priority vehicle VP has completely overtaken a non-priority vehicle Vj, the latter (Vj) can resume working as it did before it receives the definition of the estimated future trajectory TF, of course if it is still possible. The device DA can act accordingly, either partially (in the case of a non-autonomous vehicle), or completely (in the case of an autonomous vehicle). To do this, it will generate appropriate instructions for the concerned calculators. By way of example, if the device DA had temporarily disabled the traffic tracking control function of its non-priority vehicle Vj, then it can control the reactivation of this function by means of an instruction transmitted to the concerned calculator. Similarly, if the device DA had activated the parking assistance function of its non-priority vehicle Vj to park the latter (Vj), then it can control a new activation of this function to exit its non-priority vehicle Vj from its location parking by means of an instruction transmitted to the calculator concerned.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. A method for assisting the driving of non-priority vehicles (Vj) traveling on a road comprising at least two traffic lanes (VCk) and each comprising a communication module (MCN) capable of exchanging messages over the airwaves said method comprising a first step (10-30) in which a future trajectory of a priority vehicle (VP) is estimated comprising a communication module (CMM) capable of exchanging messages by wave, as a function of information representative of said non-priority vehicles (Vj) and environments around the latter (Vj), then a definition of said estimated future trajectory is transmitted by waves to said non-priority vehicles (Vj), characterized in that comprises a second step (40-70) in which in each of said non-priority vehicles (Vj), according to said definition of the estimated future trajectory, at least one proposal is determined of action to be undertaken so that said priority vehicle (VP) can follow this estimated future trajectory, then submits each action proposal to a driver of said non-priority vehicle (Vj).
    [2" id="c-fr-0002]
    2. Method according to claim 1, characterized in that each action proposal is selected from a group comprising a trajectory to follow, a slowing of the non-priority vehicle, a stop of the vehicle not priority on the side, a temporary deactivation of a traffic tracking control function, a parking space for parking the non-priority vehicle, possibly with activation of a parking assist, and activation of a lateral and / or longitudinal control function of the non-priority vehicle; priority.
    [3" id="c-fr-0003]
    3. Method according to one of claims 1 and 2, characterized in that in said second step is implemented each action proposal does not require intervention of said driver, after receiving prior authorization from the driver.
    [4" id="c-fr-0004]
    4. Method according to one of claims 1 and 2, characterized in that in said second step, in the presence of a non-priority vehicle (Vj) type said autonomous, it implements each action proposal after receiving prior authorization from his driver.
    [5" id="c-fr-0005]
    5. Method according to one of claims 1 to 4, characterized in that in said first step said information is selected from a group comprising current positions of said non-priority vehicles (Vj), current speeds of said non-priority vehicles ( Vj), dimensions of said non-priority vehicles (Vj), distances separating said non-priority vehicles (Vj) from neighboring vehicles, distances separating said non-priority vehicles (Vj) from neighboring objects or longitudinal marks indicating the edge of the traffic lane (VCk) that they borrow, and data representative of an ongoing behavior of a non-priority vehicle (Vj).
    [6" id="c-fr-0006]
    6. Method according to one of claims 1 to 5, characterized in that in said second step is also estimated a confidence level for the monitoring of said estimated future trajectory based on a driver library storing a usual behavior of this last and / or current state of the driver and / or deviations from a proposed path that the driver has made from the beginning of a current trip, and this level of confidence is used to adapt or recalculate said path in case of need.
    [7" id="c-fr-0007]
    7. Method according to one of claims 1 to 6, characterized in that in said first step some of said information is transmitted to said priority vehicle (VP) by at least one information station (SI) installed near said traffic lanes (VCk).
    [8" id="c-fr-0008]
    8. Device (DA) for assisting the driving of a non-priority vehicle (Vj) traveling on a road comprising at least two traffic lanes (VCk) and comprising a communication module (MCN) able to exchange messages by lane characterized in that it comprises analysis means (MA2) arranged to determine, according to a definition of an estimated future trajectory of a priority vehicle (VP) traveling on said road, at least a proposed action to be taken in said non-priority vehicle (Vj) so that said priority vehicle (VP) can follow this estimated future trajectory, then to submit each action proposal to a driver of said non-priority vehicle (Vj).
    [9" id="c-fr-0009]
    9. Non-priority vehicle (Vj) comprising a communication module (MCN) capable of exchanging messages by waves, characterized in that it further comprises a driving assistance device (DA) according to the claim 8.
    [10" id="c-fr-0010]
    10. Vehicle according to claim 9, characterized in that it is automotive type.
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    引用文献:
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    法律状态:
    2016-12-20| PLFP| Fee payment|Year of fee payment: 2 |
    2017-07-21| PLSC| Search report ready|Effective date: 20170721 |
    2017-12-21| PLFP| Fee payment|Year of fee payment: 3 |
    2018-06-29| CA| Change of address|Effective date: 20180312 |
    2018-06-29| CD| Change of name or company name|Owner name: PEUGEOT CITROEN AUTOMOBILES SA, FR Effective date: 20180312 |
    2019-12-19| PLFP| Fee payment|Year of fee payment: 5 |
    2021-10-08| ST| Notification of lapse|Effective date: 20210905 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1650356|2016-01-18|
    FR1650356A|FR3046771B1|2016-01-18|2016-01-18|METHOD AND DEVICE FOR ASSISTING THE DRIVING OF A NON-PRIORITY VEHICLEIN THE PRESENCE OF A PRIORITY VEHICLE|FR1650356A| FR3046771B1|2016-01-18|2016-01-18|METHOD AND DEVICE FOR ASSISTING THE DRIVING OF A NON-PRIORITY VEHICLEIN THE PRESENCE OF A PRIORITY VEHICLE|
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