• 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 device for assisting the driving of a vehicle (1) driving a road (2), this device comprising: - a sensor adapted to acquire a signal representative of the presence of an obstacle to the inside a detection field (110) of this sensor, and - a control module programmed to control a driving assistance function of the motor vehicle, according to the signal acquired by said sensor, and to: a) detect , on the basis of a position of the motor vehicle and characteristics of said road, a portion of this road (20) located outside the detection field of said sensor, and b) in the event of detection of this portion of the road, driving said driving assistance function taking into account the potential presence of an obstacle at said portion of the road. An associated driving assistance method is also disclosed.
    公开号:FR3048113A1
    申请号:FR1651477
    申请日:2016-02-23
    公开日:2017-08-25
    发明作者:Alexandre Garnault；Thomas Heitzmann；Paulo Resende；Benazouz Bradai；Charles-Henri Quivy
    申请人:Valeo Schalter und Sensoren GmbH；
    IPC主号:
    专利说明:

    (Fl)
    Plus généralement, le module de commande 12 peut être programmé pour déterminer cette distance probable d3’ par extrapolation, à la date t’, de distances séparant les deux véhicules 1, 3 à des dates antérieures, déterminées au moyen dudit capteur 11.
    La distance d3 et la distance probable d3’ sont évaluées chacune le long d’une ligne située sur la route 2, par exemple le long d’une ligne médiane de cette route. Ainsi, des distances d3, d3’ ne sont pas nécessairement évaluées en ligne droite, comme on peut le voir sur les figures 4A à 6B. Chacune de ces distances est représentative, à une date donnée, d’une distance à parcourir entre les deux véhicules 1,3 pour un trajet réalisé le long de cette route 2.
    Dans ce deuxième mode de réalisation, le module de commande 12 est programmé pour, une fois ladite distance probable d3’ déterminée, piloter ladite fonction d’aide à la conduite en tenant compte de la présence dudit obstacle à cette distance probable d3’ du véhicule 1.
    En particulier, lorsque ladite fonction d’aide à la conduite comprend la fonction précédemment décrite de réduction de la vitesse du véhicule 1 à l’approche d’un obstacle, le module de commande 12 commande une décélération du véhicule 1 lorsque ladite distance probable d3’ est inférieure à la distance de sécurité précitée.
    Lorsque la fonction d’aide à la conduite comprend la fonction de suivi automatique de véhicule décrite précédemment, le module de commande 12 est programmé pour, lorsqu’il a estimé que le véhicule suivi 3 est présent au niveau de ladite portion de route 20, commander la vitesse du véhicule 1 qu’il équipe de sorte que ladite distance probable d3’ séparant le véhicule suivi 3 du véhicule 1 qui le suit est approximativement égale à la distance de consigne précitée.
    Autrement formulé, lorsque le module de commande 12 estime que le véhicule suivi 3 est sorti du champ de détection 110 dudit capteur 11 pour entrer sur ladite portion de route 20, il se base, pour commander la vitesse du véhicule 1, non plus sur une distance déterminée au moyen de ce capteur 11, mais sur ladite distance probable d3’, qu’il estime comme expliqué ci-dessus.
    Le module de commande 12 continue ainsi avantageusement à assurer cette fonction de suivi automatique de véhicule, même si le véhicule suivi 3 sort momentanément du champ de détection 110 dudit capteur 11.
    Ce mode de fonctionnement est très intéressant, en particulier lorsque la route 2 empruntée est sinueuse, ou lorsqu’elle présente de fréquents changements de pente, car un véhicule suivi sort alors fréquemment du champ de détection d’un tel capteur, sans pour autant libérer la partie de route vers laquelle se dirige le véhicule équipé du dispositif d’aide à la conduite.
    En variante, le module de commande 12 peut bien sûr être programmé de manière à combiner les caractéristiques des deux modes de réalisation décrits ci-dessus.
    On peut aussi prévoir que le module de commande 12 est programmé pour, à l’étape b), piloter ladite fonction d’aide à la conduite sans pour cela évaluer de distance à partir de laquelle un obstacle est potentiellement présent. Dans ce cas, le module de commande 12 peut par exemple être programmé pour commander au véhicule 1 automobile d’atteindre une vitesse de consigne réduite, lorsque ladite portion de route 20 située hors du champ de détection 110 est détectée.
    Sur la figure 7, on a représenté schématiquement les principales étapes d’un procédé d’aide à la conduite mis en oeuvre dans le dispositif d’aide à la conduite 10 décrit ci-dessus.
    Au cours de ce procédé, le module de commande 12 du dispositif d’aide à la conduite 10 pilote une fonction d’aide à la conduite du véhicule 1 automobile en fonction d’un signal, acquis par le capteur 11 décrit précédemment, représentatif de la présence d’un obstacle à l’intérieur du champ de détection 110 de ce capteur 11.
    Cette fonction d’aide à la conduite peut comprendre notamment la fonction de suivi automatique de véhicule et/ou la fonction de réduction de la vitesse du véhicule 1 automobile à l’approche d’un obstacle présentées ci-dessus.
    Selon une caractéristique particulièrement remarquable, au cours de ce procédé, le module de commande 12 exécute les étapes a) et b) qui ont été décrites en détail ci-dessus. L’organisation des principales étapes de ce procédé, les unes par rapport aux autres, est décrite maintenant plus en détail.
    Ici, ce procédé débute par une étape E1, au cours de laquelle le module de commande 12 teste si un obstacle est présent dans le champ de détection 110 dudit capteur 11, sur la base du signal acquis par ce capteur 11.
    Au cours de l’étape E1, lorsque la présence de cet obstacle est ainsi détectée, le module de commande détermine en outre une distance d3 séparant le véhicule 1 de cet obstacle, ainsi qu’une vitesse de déplacement de cet obstacle v3, sur la base dudit signal.
    Lorsque la présence de cet obstacle est détectée à l’étape E1, le procédé se poursuit alors par une étape E2 (flèche T1 sur la figure 7), au cours de laquelle le module de commande 12 pilote ladite fonction d’aide à la conduite, en tenant compte de la présence de l’obstacle ainsi détecté dans ce champ de détection 110. Par exemple, si la distance d3 entre cet obstacle et le véhicule 1, déterminée à l’étape E1, est inférieure à la distance limite présentée ci-dessus, le module de commande 12 peut, à l’étape E2, commander une décélération du véhicule 1, comme expliqué précédemment.
    Après l’étape E2, ce procédé reprend ici à l’étape E1 (flèche T2 sur la figure 7).
    Lorsqu’aucun obstacle n’est détecté dans le champ de détection 110 dudit capteur 11, à l’étape E1, le procédé se poursuit par l’étape a) (flèche T3 sur la figure 7).
    Lorsque le module de commande 12 détecte, au cours de l’étape a), que la partie de route 2 vers laquelle se dirige le véhicule 1 automobile présente une portion de route 20 située hors du champ de détection 110 dudit capteur 11, le procédé se poursuit par l’étape b) (flèche T4 sur la figure 7).
    Une fois l’étape b) exécutée par le module de commande 12, en tenant compte, comme expliqué précédemment, de la présence potentielle d’un obstacle au niveau de ladite portion de route 20, le procédé reprend ici à l’étape E1 (flèche T6 sur la figure 7).
    Lorsque le module de commande 12 ne détecte pas, au cours de l’étape a), une telle portion de route située hors du champ de détection 110 dudit capteur 11, le procédé se poursuit par une étape E3 (flèche T5 sur la figure 7).
    Au cours de l’étape E3, le module de commande 12 pilote ladite fonction d’aide à la conduite en tenant compte de l’absence probable d’obstacle sur la partie de route vers laquelle se dirige le véhicule. Pour cela, le module de commande peut par exemple commander au véhicule 1 d’adopter une vitesse recommandée pour cette partie de route en l’absence d’autres véhicules.
    Après l’étape E3, le processus reprend ici à l’étape E1 (flèche T6 sur la figure 7).
    En variante, les étapes de ce procédé peuvent être organisées différemment les unes par rapport aux autres. Par exemple, on peut prévoir que l’étape E1 est répétée plusieurs fois continûment, ainsi que l’étape a), et que les résultats de ces étapes sont ensuite combinées par le module de commande 12 pour commander ladite fonction d’aide à la conduite.
    Device and method for assisting the driving of a motor vehicle
    Technical field to which the invention relates
    The present invention relates to a device and a method for assisting the driving of a motor vehicle.
    It relates more particularly to a driver assistance device comprising a sensor, such as an image sensor, for detecting the presence of an obstacle on a road taken by this motor vehicle.
    It applies particularly advantageously in a motor vehicle using a winding road with frequent changes of direction, or taking a road with one or more abrupt changes of slope.
    Technological background
    Many motor vehicles are equipped today with a driver assistance device comprising a front camera for detecting the presence of an obstacle, such as a pedestrian, an animal, or another vehicle, on a road. borrowed by this motor vehicle. Such a driving assistance device is generally adapted to further determine a distance separating this obstacle and the motor vehicle that it equips.
    Such a driver assistance device can be further adapted to control various driving assistance functions when this obstacle is detected.
    In particular, a driving assistance device as described above is known, adapted to control a deceleration of the motor vehicle, or to trigger a braking assistance phase when such an obstacle is detected.
    Also known is a driver assistance device adapted to control the speed of the motor vehicle so, when another vehicle ahead on the same road, to maintain the distance separating the two vehicles approximately equal to a distance of set, without intervention, or with a reduced intervention of the driver.
    But a portion of the road taken by the motor vehicle to which it is directed, may be located outside the field of view of this front camera, for example when a bend or a hilltop is facing the motor vehicle.
    The driving aid device is then not able to detect the presence of an obstacle located at this portion of road, outside the field of view of the front camera, which can disrupt the implementation. of aforementioned driving assistance functions.
    In such a situation, the driver assistance device may in particular erroneously interpret the absence of obstacle in the field of vision of the camera as indicating a lack of obstacle on the road taken by the motor vehicle.
    Object of the invention
    In order to overcome the aforementioned drawback of the state of the art, the present invention proposes a device for assisting the driving of a motor vehicle using a road comprising: a sensor adapted to acquire a signal representative of the presence an obstacle within a detection field of this sensor, and - a control module programmed to control a driving assistance function of the motor vehicle according to the signal acquired by said sensor, the module of control being further programmed to: a) detect, on the basis of a position of the motor vehicle and characteristics of said road, a portion of that road lying outside the detection field of said sensor, and b) in case of detection of this portion of road located outside the detection field of said sensor, driving said driving assistance function taking into account the potential presence of an obstacle at said portion of road. Detecting this portion of the road outside the detection field of this sensor, towards which the motor vehicle is likely to go, completes in a particularly interesting way the information relating to the possible presence of an obstacle in the road environment of this vehicle derived from the signal acquired by this sensor.
    In particular, when no obstacle is detected by this sensor, the driver assistance device can detect, thanks to the invention, that an obstacle is nevertheless likely to be present on the road taken by the vehicle automobile, which then makes it possible to better adapt the steering of said driving assistance function to the road environment in which the motor vehicle evolves.
    In particular, it can be provided that the driver assistance module is programmed, in the event of detection of that portion of road outside the detection field of said sensor, to control, that is to say, control, said driving function. driving assistance as if an obstacle were actually present at that portion of the road.
    This arrangement is particularly advantageous when the driving assistance function thus controlled comprises an obstacle avoidance function, or a function of reducing the speed of the motor vehicle when approaching an obstacle such as a function. emergency braking, or brake assist.
    It can also be provided that the driver assistance module is programmed to, in the event of detection of that portion of road lying outside the detection field of said sensor: - evaluating a distance separating the motor vehicle from a position to which, or from which the obstacle potentially present on this portion of road is likely to be located, and - driving said driving assistance function according to this distance.
    Preferably, the driver assistance device further comprises a navigation system comprising locating means adapted to determine said position of the motor vehicle, as well as digital map data comprising said characteristics of the road taken by the motor vehicle.
    Said characteristics of the road taken by the motor vehicle may in particular include information representative of a change of direction and / or slope of the road taken by the motor vehicle.
    With this navigation system, the potential presence of an obstacle located on the road taken by the vehicle, outside the detection field of said sensor, can be detected effectively, and this independently of the type of obstacle that may be present at the of said portion of road.
    Another solution, to detect the presence of an obstacle located on the road taken by the vehicle, outside the detection field of said sensor, is based on the use of data exchanged between different vehicles traveling on said road, through links and a wireless network (or V2X network, according to the English acronym of "Vehicle-to-X communication"). But, compared to the use of a navigation system of the GPS type, the implementation of such a solution is more complex and expensive. In addition, this solution only makes it possible to detect the potential presence (outside the detection field of said sensor) of an obstacle forming part of this communication network; it thus does not detect the presence of an obstacle corresponding to an animal, for example. Other non-limiting and advantageous features of the driver assistance device according to the invention are as follows: the control module is furthermore programmed, in step a), to determine, on the basis of said position of the motor vehicle and said characteristics of the road that it follows, a distance separating the motor vehicle from said portion of road, and, in step b), driving said driving assistance function taking into account this distance separating the motor vehicle from said portion of road; said driving assistance function comprises a function of reducing the speed of the motor vehicle when approaching an obstacle; - The control module is further programmed for, in step b), to control a deceleration of the motor vehicle when the distance between the motor vehicle of said road portion is less than a given limit distance.
    It is particularly advantageous to control such a deceleration of the motor vehicle, when this portion of road is thus located at a distance from the vehicle below said given limit distance, because an obstacle can then be located at this portion of road, and therefore be close to the vehicle, without this obstacle can be detected by means of said sensor.
    It can also be provided that: said signal is furthermore representative of a distance separating the sensor from the obstacle present in its detection field; the control module is furthermore programmed for, when the presence of an obstacle in the detection field of said sensor is detected on the basis of the signal acquired by this sensor, then that this obstacle leaves the detection field of this sensor and that said portion of road outside the detection field of this sensor is detected in step a), then estimate that said obstacle is present at said road portion, and control said driving assistance function by holding account of the presence of this obstacle at said portion of the road; or that - the control module is further programmed to, when it is estimated that said obstacle is present at said road portion, then determine a probable distance separating said obstacle and the motor vehicle, according to a distance between said obstacle and said sensor determined on the basis of the signal having previously made it possible to detect the presence of this obstacle in the detection field of said sensor, and control said driving assistance function according to said probable distance.
    With this arrangement, the control module can advantageously continue to control a driving assistance function based on a distance separating the motor vehicle and an obstacle located on said road, even if this obstacle is thus located out of the field detecting said sensor.
    It can also be provided that: the control module is furthermore programmed to determine said probable distance separating the motor vehicle and said obstacle as a function of a speed of displacement of this obstacle, determined according to said signal having previously made it possible to detect the presence of this obstacle in the detection field of said sensor; - The control module is further programmed to control a deceleration of the motor vehicle when said probable distance is less than a given safety distance; said obstacle being another motor vehicle followed by the motor vehicle equipped with the driver assistance device, and said driver assistance function comprising an automatic vehicle tracking function, the control module is programmed in further to control the speed of the motor vehicle it equips so that, when it is estimated that said tracked vehicle is present at said road portion, said probable distance is approximately equal to a given target distance.
    Thanks to this arrangement, the control module controls this automatic vehicle tracking function advantageously continuously, without interruption despite a momentary exit of the vehicle followed outside the detection field of said sensor.
    This avoids, in particular, when the vehicle being tracked out of this detection field, that the control module does not unnecessarily control an acceleration (of the vehicle which it equips) whereas the vehicle tracked, although not momentarily undetectable, does not released the road 2 on which these vehicles circulate.
    It can further be provided that said sensor comprises an image sensor. The invention also proposes a method of assisting the driving of a motor vehicle using a road, during which a control module controls a driving aid function of the motor vehicle according to a signal acquired by a sensor, representative of the presence of an obstacle inside a detection field of this sensor, this method comprising the following steps: a) detecting, on the basis of a position of the motor vehicle and characteristics of said road, a portion of this road lying outside the detection field of said sensor, and b) if this portion of road located outside the detection field of said sensor is detected, driving said driving assistance function taking into account the potential presence of an obstacle at said portion of road.
    The optional features presented above in terms of device can be applied to the method which has just been presented.
    Detailed description of an example of realization
    The following description with reference to the accompanying drawings, given as non-limiting examples, will make it clear what the invention consists of and how it can be achieved.
    In the accompanying drawings: - Figure 1 shows schematically, seen from above, a motor vehicle equipped with a driver assistance device implementing the teachings of the invention, which comprises a sensor adapted to acquire a representative signal the presence of an obstacle in its field of detection; - Figures 2 and 3 show schematically two road configurations in which a portion of a road taken by the motor vehicle of Figure 1 is located outside the detection field of the aforementioned sensor; - Figures 4A and 4B show schematically, at two successive times, a road configuration similar to that of Figure 2, and wherein the motor vehicle of Figure 1 further follows another motor vehicle; - Figures 5A and 5B show schematically, at two successive times, a road configuration similar to that of Figure 3, and wherein the motor vehicle of Figure 1 further follows another motor vehicle; FIGS. 6A and 6B show diagrammatically, at two successive instants, another road configuration in which the motor vehicle of FIG. 1 follows another motor vehicle, and in which a portion of the borrowed road is situated outside the detection field of said sensor; and FIG. 7 schematically represents, in the form of a flowchart, the main steps of a driving assistance method implementing the teachings of the invention.
    In Figure 1, there is shown schematically the main elements of a driver assistance device 10 implementing the teachings of the invention.
    This driver assistance device 10 is adapted to be installed in a vehicle 1 automobile, to facilitate driving.
    This driving aid device 10 comprises a sensor 11 adapted to acquire a signal representative of the presence of an obstacle, such as a pedestrian, an animal, another vehicle or a roadwork zone, at the same time. inside a detection field 110 of this sensor 11.
    This sensor 11 may for example comprise an image sensor, such as a video camera. Said signal representative of the presence of an obstacle in its detection field, then corresponds to one or more images acquired by this image sensor.
    This sensor 11 may also include a lidar (according to the Anglo-Saxon acronym "Llght Detection And Ranging"), or a radar. Said signal acquired by this sensor 11 then comprises for example an echo signal acquired by this lidar or radar, or data extracted from such an echo signal.
    By detection field 110 of this sensor 11 is meant the region of the space in which an obstacle can be detected by means of this sensor 11. For example, when this sensor is designed as an image sensor, this detection field corresponds to the field of vision of this image sensor, that is to say to the region of the space whose image is captured, that is to say acquired, by this image sensor. images.
    Here, this sensor 11 is adapted more precisely so that the signal that it acquires is not only representative of the presence of an obstacle in its detection field 110, but is also representative of a distance separating the sensor 11 and this obstacle.
    When this sensor 11 comprises a lidar or a radar, this distance can in particular be deduced from a flight time of the light wave or the radio wave reflected by this obstacle present in the detection field 110, this flight time being obtained from the echo signal captured by this lidar or radar.
    When this sensor 11 is made in the form of an image sensor, this distance can for example be deduced from the size of the obstacle, in an image captured by the image sensor.
    Alternatively, said sensor could be made in the form of a hybrid sensor comprising a plurality of sensors, for example comprising both a video camera and a lidar.
    The sensor 11 is disposed here at the front of the automobile vehicle 1. Its detection field 110 extends facing the vehicle 1 automobile. More particularly, this detection field 110 is generally centered on the longitudinal axis of the vehicle 1. Thus, when the vehicle 1 is traveling in a straight line on a straight road section, this detection field 110 includes the portion of this section of road located in front of the vehicle 1. An obstacle towards which the vehicle 1 automobile, located on this section of road, can then be detected by means of this sensor 11.
    The driver assistance device 10 also comprises a control module 12, which receives the signal acquired by this sensor 11, or at least data extracted from this signal.
    The position and the orientation of the detection field 110 of the sensor 11 relative to the automobile vehicle 1, as well as its extent, are known to the control module 12. More specifically, data representative of the position of the limits of this detection field 110 relative to the vehicle 1 are stored in a memory of the control module 12.
    This control module 12 is adapted to control different members of the vehicle 1, in particular: an engine block of this vehicle 1, so as to be able to control the speed of the vehicle 1, and a braking system of this vehicle 1, so as to to be able to control a deceleration of the vehicle 1.
    This control module 12 is programmed to control a driving assistance function of the automobile vehicle 1 as a function of the signal acquired by said sensor 11.
    More specifically, the control module 12 is programmed to, at first: - detect the presence of an obstacle in the detection field 110 of the sensor 11, and then determine the distance separating this obstacle from said sensor 11, or - detect the absence of an obstacle in the detection field 110 of this sensor 11, by means of said sensor 11.
    Preferably, the control module 12 is programmed to also determine a speed of movement of the obstacle whose presence has been detected. This speed can for example be determined on the basis of at least two successive determinations of the distance separating this obstacle from said sensor 11.
    The control module 12 is programmed to then drive said driving assistance function taking into account, if applicable (that is to say, if this obstacle has been detected), the presence of this obstacle in the detection field 110 of the sensor.
    The driver assistance function may include a function of reducing the speed of the motor vehicle, notably making it possible, when approaching an obstacle, to decelerate the automobile vehicle without intervention or with reduced intervention by a driver. of this vehicle 1.
    When this function is active, the control module 12 controls the engine block of the vehicle, and possibly the braking system, to, on approaching an obstacle, decelerate the vehicle 1.
    More specifically, the control module 12 is for example programmed to control such deceleration when an obstacle is detected in the detection field 110 of the sensor 11, at a distance from the sensor 11 below a given limit distance.
    This limit distance may correspond, for example, to a stopping distance of the vehicle, or to a recommended safety distance.
    This stopping distance corresponds, for a given speed of movement of the vehicle 1, to a distance necessary to decelerate the vehicle 1 until it stops. This stopping distance may take into account the reaction time of the driver assistance device 10, that is to say the time required to acquire and process said signal, and then to trigger this deceleration.
    This recommended safety distance corresponds for example, for a given travel speed of the vehicle 1, to a distance traveled by the vehicle 1 (at this speed of movement) for a period corresponding to the average reaction time of a driver, or reaction time of the driver assistance device 10.
    The aforementioned limit distance can be determined also according to the speed of movement of the detected obstacle and / or the speed of the vehicle 1.
    The control module 12 can also be programmed to control such deceleration when the speed of movement of the detected obstacle is lower than the speed of the vehicle 1 automobile.
    The control module 12 can also be programmed to: - determine that a previously detected obstacle in the detection field 110 is no longer present in this detection field 110, and - then control the motor unit so as to restore the speed to which the vehicle 1 was moving before detecting this obstacle.
    An automatic adaptation of the speed of the vehicle 1 to its road environment (or ACC, according to the English acronym of "Adaptive Cruise Control") is thus implemented by the control module 12.
    The driver assistance function may also include an automatic vehicle tracking function which makes it possible, when another vehicle precedes the vehicle 1 equipped with the driver assistance device 10, on the same lane, to maintain the distance separating the two vehicles approximately equal to a set distance, without intervention, or with a reduced intervention of the driver. The obstacle whose presence is detected in the detection field 110 of said sensor 11 then corresponds to this vehicle followed.
    To implement this driving assistance function, the control module 12 is for example programmed to control the speed of the vehicle 1 so that the distance separating said sensor 11 from the vehicle tracked, determined on the basis of the acquired signal by this sensor 11, is approximately equal to this set distance.
    This setpoint distance may for example be equal to the aforementioned safety distance.
    The control module 12 can also be programmed to, when an obstacle is detected in the detection field 110 of said sensor 11, to control the engine block, and possibly the braking system, so that the vehicle 1 reaches a set speed , this setpoint speed being determined as a function in particular of the distance separating the sensor 11 and this obstacle, and possibly as a function of the speed of displacement of this obstacle.
    According to a particularly remarkable characteristic, the control module 12 is programmed to: a) detect, on the basis of a position of the vehicle 1 that it equips, and characteristics of the route 2 that it borrows, a portion 20 this road 2 located outside the detection field 110 of said sensor 11 (as shown in FIGS. 2 to 6B), and b) in the event of detection of that portion of road 20 situated outside the detection field 110 of said sensor 11 , driving said driving assistance function taking into account the potential presence of an obstacle at said portion of road 20.
    Steps a) and b) are described in more detail below.
    Step a).
    Preferably, the driver assistance device 10 comprises a navigation system 13 comprising locating means adapted to determine said position of the automobile vehicle 1, as well as digital map data comprising said characteristics of the road 2 taken by the vehicle 1 automobile.
    The locating means comprise, for example, a system for receiving and processing GPS or GMS signals (according to the English acronym for "Global System for Mobile Communication") allowing a determination of a position of the vehicle 1, here of coordinates locating the vehicle 1.
    The digital map data describes in particular the road network that the vehicle 1 takes. In particular, these cartographic data describe the route of the roads of this network, for example by indicating, for each of these roads, the geographical coordinates of several successive points situated on the road. along this road. These map data may also include, for each of these points, an indication of curvature, direction or slope of the corresponding route, at this point.
    The vehicle 1 can thus be located on this road network, by mapping its geographical coordinates and said digital geographic data ("Map Matching" process according to the English name). In particular, the navigation system 13 can thus identify the road 2 on which the motor vehicle 1 is traveling, determine its position along this road 2, as well as the direction in which the vehicle 1 travels along this road 2. Navigation 13 can also determine an orientation of the vehicle 1 with respect to the direction of this road 2 at the vehicle 1.
    Characteristics of this road 2, representative of the geometry of a portion of this road 2 towards which the vehicle 1 is moving, can then be deduced from the digital map data of the navigation system 13.
    The control module 12 is then programmed to detect that a portion 20 of this road 2 is located outside the detection field 110 of said sensor 11, on the basis of: the position and the orientation of the automobile vehicle relative to to this route 2, - data representative of the position of the limits of the detection field 110 of said sensor 11 with respect to this vehicle 1, and - characteristics of the part of the road 2 towards which the automobile vehicle 1 is directed, provided by the navigation system 13. For this purpose, the control module 12 may for example be programmed to: - superimpose the data representing the position of the limits of this detection field 110 to the map data supplied by the navigation system 13, considering the position and the orientation of the vehicle 1, then - determine if a portion of this road 2 is located outside the limits of this detection field 110.
    The control module can also be programmed to detect said portion of road 20 when the characteristics of the part of the road 2 towards which the vehicle 1 is pointing indicate a steep change of direction of this road 2, corresponding for example to a turn tight, or when they indicate a significant change in the slope of the road 2, corresponding for example to the top of a hill.
    Figures 2 to 6B schematically show different road configurations in which a portion 20 of the road 2 taken by the vehicle 1 automobile is located outside the detection field 110 of said sensor, which detected by the control module 12, as explained above.
    In the configuration shown in FIG. 2, the automobile vehicle 1 travels in a straight line along a straight road section, followed by a sharp turn. The portion of road 20 located beyond this turn (in the direction of movement of the vehicle 1) is thus located outside the detection field 110 of said sensor 11.
    FIGS. 4A and 4B show schematically, at two successive instants, a road configuration similar to that of FIG. 2, in which the automobile vehicle 1 also follows another vehicle 3.
    In the situation corresponding to FIG. 4A, these two vehicles are located on the rectilinear road section, so that the tracked vehicle 3 is located at least partly in the detection field 110 of said sensor 11. The vehicle followed 3 is on the point of approaching the turn beyond which that portion of Highway 20 is located.
    In the situation corresponding to FIG. 4B, the vehicle 1 equipped with the driver assistance device 10 is still located on the rectilinear road section, while the vehicle followed 3 has passed the turn, and is thus located at the level of the vehicle. of said road portion 20, outside the detection field 110 of said sensor 11.
    In the configuration shown in FIG. 3, the automobile vehicle 1 is traveling to the top of one side. The road portion 20 located beyond the vertex of this side (in the direction of movement of the vehicle 1) is located outside the detection field 110 of said sensor 11.
    FIGS. 5A and 5B show schematically, at two successive instants, a road configuration similar to that of FIG. 3, in which the automobile vehicle 1 also follows another vehicle 3.
    In the situation corresponding to FIG. 5A, these two vehicles are moving towards the summit of this coast. The tracked vehicle 3 is located at least partly in the detection field 110 of said sensor 11, and is about to pass the top of the coast.
    In the situation corresponding to FIG. 5B, the vehicle 1 equipped with the driver assistance device 10 has not yet passed the top of this coast, while the vehicle 3 is already located on the other side of the vehicle. top of this coast. The tracking vehicle 3 is thus located at said road portion 20, outside the detection field 110 of said sensor 11.
    Figure 6A schematically shows a road configuration in which the vehicle 1 follows another vehicle 3. The road 2 taken by these vehicles 1, 3 has significant changes in slopes. It includes a first section with a steep slope, followed by a second section approximately horizontal, itself followed by a third section again having a steep slope. The two vehicles 1, 3 are located on this first section of road, they go down. The tracking vehicle 3 is then located at least partly in the detection field 110 of the sensor 11 which equips the first vehicle 1. The road portion 20 comprising the second and third sections is instead located outside this detection field 110.
    Figure 6B shows schematically the same road configuration as in Figure 6A, at a later time. The vehicle 1 equipped with the driver assistance device 10 is still located on the first section of road, while the vehicle followed 3 is located on the second section of road, at said portion of road 20, out of the field detecting 110 of said sensor 11.
    Step b)
    Preferably, the control module 12 is programmed to, when said road portion 20 has been detected in step a): - evaluate a distance d20; d3 'separating the vehicle 1 automobile from a position to which, or from which the obstacle potentially present on this portion of road 20 is likely to be located, and - driving said driving assistance function based this distance d20; d3.
    Two methods of evaluating and taking into account such a distance are described below.
    According to a first embodiment, the control module 12 is programmed to determine, on the basis of the data used to detect said road portion 20 (digital map data in particular), a distance d20 separating the vehicle 1 from the automobile and the portion of the vehicle. detected route 20.
    This distance d20 corresponds for example to a distance separating a front end of the vehicle 1 and an end of this portion of road 20 located on the side of the vehicle 1 (that is to say corresponding to the end of this portion of the road. closer to the vehicle 1).
    This distance d20 is evaluated along a line located on the road 2, for example along a median line of this road. Thus, this distance d20 is not necessarily evaluated in a straight line, as can be seen in FIGS. 2 and 3. It is representative of the distance to be traveled between the automobile vehicle 1 and said road portion for a path realized along this road 2.
    The control module 12 is then programmed to control said driving assistance function by taking into account the potential presence of an obstacle, for example an immovable obstacle, at the distance d20 of the vehicle 1 automobile.
    More particularly, when said driving assistance function comprises the previously described function of reducing the speed of the vehicle 1 when approaching an obstacle, the control module 12 controls a deceleration of the vehicle 1 when the distance d20 separating the automobile vehicle 1 and said detected road portion 20 is less than the abovementioned limit distance.
    According to a second embodiment, the control module 12 is programmed for: when the presence of an obstacle in the detection field 110 of said sensor 11 is detected on the basis of the signal acquired by this sensor 11, and that this obstacle leaves the detection field 110 of this sensor 11 and said road portion 20 is detected in step a), then estimate that said obstacle is present at said road portion 20.
    This obstacle may correspond in particular to another vehicle 3, followed by the vehicle 1 equipped with the driver assistance device 10.
    Thus, when the automobile vehicle 1 follows this other vehicle 3, the latter leaves the detection field 110 of said sensor 11, and said road portion 20 is detected in step a), the control module 12 estimates here that this tracking vehicle 3 is present on said road portion 20 located outside the detection field 110.
    Preferably, the control module 12 is then programmed so, when it has estimated that said obstacle is present at said road portion 20: determine a probable distance d3 'separating this obstacle and the vehicle 1 automobile (this distance likely d3 'is represented in FIGS. 4B, 5B and 6B), as a function of a distance d3 between said obstacle and said sensor 11 determined on the basis of the signal having previously made it possible to detect the presence of this obstacle in the detection field 110 said sensor 11 (this distance d3 is shown in Figures 4A, 5A and 6A).
    Preferably, the control module is furthermore programmed to determine said probable distance d3 'as a function of a speed v3 of displacement of this obstacle, determined as a function of said signal having previously made it possible to detect the presence of this obstacle in the detection field. 110 of said sensor 11.
    Here, the control module 12 is programmed more precisely for, when the vehicle 1 follows another vehicle 3: - to detect the presence of this vehicle followed 3 in the detection field 110 of said sensor 11, and to determine, on the basis of the signal acquired by this sensor 11, the distance d3 separating the two vehicles 1, 3 at the date t of this detection, as well as the speed v3 of the vehicle followed 3 with respect to the vehicle 1 following it; then - detecting the absence of the vehicle followed 3 in the detection field 110 of said sensor 11, and detecting said portion of road 20 located outside this detection field (in step a) described previously); then - estimate that the tracked vehicle 3 is located at said portion of road 20; then - determining the probable distance d3 'between the vehicle followed 3 and the vehicle 1 following it, according to the distance d3 and the speed v3 of the vehicle followed previously determined when the vehicle followed 3 was present in the detection field 110 of said sensor 11.
    The control module 12 may for example be programmed to determine the value of this probable distance d3 ', a date t', according to the following formula F1:
    (Fl)
    More generally, the control module 12 can be programmed to determine this probable distance d3 'by extrapolation, on the date t', of distances separating the two vehicles 1, 3 at earlier dates determined by means of said sensor 11.
    The distance d3 and the probable distance d3 'are each evaluated along a line situated on the road 2, for example along a median line of this road. Thus, distances d3, d3 'are not necessarily evaluated in a straight line, as can be seen in FIGS. 4A-6B. Each of these distances is representative, at a given date, of a distance to be traveled between the two vehicles 1.3 for a path taken along this road 2.
    In this second embodiment, the control module 12 is programmed to, once said probable distance d3 'determined, control said driving assistance function taking into account the presence of said obstacle at this probable distance d3' of the vehicle 1.
    In particular, when said driving assistance function comprises the previously described function of reducing the speed of the vehicle 1 when approaching an obstacle, the control module 12 controls a deceleration of the vehicle 1 when said probable distance d3 is less than the aforementioned safety distance.
    When the driving assistance function includes the automatic vehicle tracking function described above, the control module 12 is programmed to, when it has estimated that the vehicle followed 3 is present at said portion of road 20, controlling the speed of the vehicle 1 that it equips so that said probable distance d3 'separating the vehicle followed 3 from the vehicle 1 which follows it is approximately equal to the aforementioned set distance.
    Otherwise formulated, when the control module 12 estimates that the vehicle followed 3 has left the detection field 110 of said sensor 11 to enter said road portion 20, it is based, to control the speed of the vehicle 1, no longer on a distance determined by means of this sensor 11, but over said probable distance d3 ', which it estimates as explained above.
    The control module 12 thus advantageously continues to provide this automatic vehicle tracking function, even if the tracked vehicle 3 momentarily leaves the detection field 110 of said sensor 11.
    This mode of operation is very interesting, in particular when the route 2 taken is sinuous, or when it has frequent changes of slope, because a tracked vehicle then frequently leaves the detection field of such a sensor, without releasing the part of the road to which the vehicle equipped with the driving assistance device is directed.
    Alternatively, the control module 12 can of course be programmed to combine the characteristics of the two embodiments described above.
    It can also be provided that the control module 12 is programmed for, in step b), to drive said driving assistance function without it to estimate distance from which an obstacle is potentially present. In this case, the control module 12 may for example be programmed to control the vehicle 1 automobile to achieve a reduced speed of reference, when said road portion 20 located outside the detection field 110 is detected.
    FIG. 7 diagrammatically shows the main steps of a driving assistance method implemented in the driving assistance device 10 described above.
    During this method, the control module 12 of the driver assistance device 10 controls a driving assistance function of the automobile vehicle 1 as a function of a signal, acquired by the sensor 11 described above, representative of the presence of an obstacle inside the detection field 110 of this sensor 11.
    This driving assistance function may include the automatic vehicle tracking function and / or the speed reduction function of the vehicle 1 approaching an obstacle presented above.
    According to a particularly remarkable characteristic, during this method, the control module 12 executes steps a) and b) which have been described in detail above. The organization of the main steps of this process, relative to each other, is now described in more detail.
    Here, this method starts with a step E1, during which the control module 12 tests whether an obstacle is present in the detection field 110 of said sensor 11, on the basis of the signal acquired by this sensor 11.
    During the step E1, when the presence of this obstacle is thus detected, the control module further determines a distance d3 separating the vehicle 1 from this obstacle, as well as a speed of displacement of this obstacle v3, on the base of said signal.
    When the presence of this obstacle is detected in step E1, the method then continues with a step E2 (arrow T1 in FIG. 7), during which the control module 12 controls said driving assistance function. , taking into account the presence of the obstacle thus detected in this detection field 110. For example, if the distance d3 between this obstacle and the vehicle 1, determined in step E1, is less than the limit distance presented ci above, the control module 12 can, in step E2, control a deceleration of the vehicle 1, as explained above.
    After step E2, this method resumes here in step E1 (arrow T2 in FIG. 7).
    When no obstacle is detected in the detection field 110 of said sensor 11, in step E1, the method continues with step a) (arrow T3 in FIG. 7).
    When the control module 12 detects, during the step a), that the road part 2 towards which the automobile vehicle 1 is pointing has a portion of road 20 located outside the detection field 110 of said sensor 11, the method continues with step b) (arrow T4 in FIG. 7).
    Once the step b) executed by the control module 12, taking into account, as previously explained, the potential presence of an obstacle at said road portion 20, the method resumes here at step E1 ( arrow T6 in Figure 7).
    When the control module 12 does not detect, during step a), such a portion of road located outside the detection field 110 of said sensor 11, the method continues with a step E3 (arrow T5 in FIG. ).
    During step E3, the control module 12 controls said driving assistance function taking into account the probable absence of obstacle on the part of road towards which the vehicle is moving. For this, the control module may for example command the vehicle 1 to adopt a recommended speed for this part of road in the absence of other vehicles.
    After step E3, the process resumes here in step E1 (arrow T6 in FIG. 7).
    Alternatively, the steps of this method can be organized differently from each other. For example, it can be provided that the step E1 is repeated several times continuously, as well as the step a), and that the results of these steps are then combined by the control module 12 to control said help function to the conduct.
    权利要求:
    Claims (14)
    [1" id="c-fr-0001]
    1. Device for assisting the driving (10) of a vehicle (1) driving a road (2), the driving assistance device (10) comprising: - a sensor (11) adapted to acquire a signal representative of the presence of an obstacle (3) inside a detection field (110) of this sensor (11), and - a control module (12) programmed to drive a function of assistance to driving the vehicle (1) automobile, according to the signal acquired by said sensor (11), characterized in that the control module (12) is further programmed to: a) detect, based on a position of car vehicle (1) and characteristics of said road (2), a portion of said road (20) situated outside the detection field (110) of said sensor, and b) in case of detection of that portion of road (20) located outside the detection field (110) of said sensor, control said driving assistance function taking into account the potential presence of an obstacle (3) at said stretch of road (20).
    [2" id="c-fr-0002]
    A driving aid (10) according to claim 1, further comprising a navigation system (13) having locating means adapted to determine said position of the automobile vehicle (1), as well as digital map data including said characteristics of the road (2) taken by the vehicle (1) automobile.
    [3" id="c-fr-0003]
    3. driving assistance device (10) according to one of claims 1 and 2, wherein said characteristics of the road (2) taken by the vehicle (1) automobile include information representative of a change of direction and / or slope of the road taken by the motor vehicle.
    [4" id="c-fr-0004]
    4. A driving aid (10) according to one of claims 1 to 3, wherein the control module (12) is further programmed for: - in step a), determine, based on of said position of the motor vehicle and said characteristics of the road that it follows, a distance (d20) separating the vehicle (1) automobile from said road portion (20), and - in step b), driving said function driving assistance taking into account this distance (d20) separating the vehicle (1) automobile from said portion of road (20).
    [5" id="c-fr-0005]
    The driving aid (10) according to one of claims 1 to 4, wherein said driving assist function comprises a function of reducing the speed of the vehicle (1) on approaching the vehicle. an obstacle (3).
    [6" id="c-fr-0006]
    The driving assistance device (10) according to claim 5, taken in accordance with claim 4, wherein the control module (12) is further programmed to, in step b), control a deceleration of the vehicle (1) automobile when the distance (d20) between the motor vehicle of said portion of road is less than a given limit distance.
    [7" id="c-fr-0007]
    7. Driving assistance device (10) according to one of claims 1 to 6, wherein said signal is further representative of a distance (d3) separating the sensor (11) and the obstacle (3) present in its detection field (110).
    [8" id="c-fr-0008]
    8. Driving assistance device (10) according to one of claims 1 to 7, wherein the control module (12) is further programmed for: when the presence of an obstacle (3) in the field of detection (110) of said sensor is detected on the basis of the signal acquired by this sensor (11), then that this obstacle (3) leaves the detection field (110) of this sensor and that said portion of road (20) located outside the detection field of this sensor is detected in step a), then estimate that said obstacle (3) is present at said road portion (20), and drive said driving assistance function by holding account of the presence of this obstacle (3) at said portion of road (20).
    [9" id="c-fr-0009]
    The driving assistance device (10) according to claim 8, taken in accordance with claim 7, wherein the control module (12) is further programmed for: when it is judged that said obstacle ( 3) is present at said road portion (20), then determining a probable distance (d3 ') separating said obstacle (3) and the vehicle (1) automobile, according to a distance (d3) between said obstacle (3) and said sensor (11) determined on the basis of the signal having previously made it possible to detect the presence of this obstacle (3) in the detection field (110) of said sensor, and to drive said driving aid function in function of said probable distance (d3 ').
    [10" id="c-fr-0010]
    The driving assistance device (10) according to claim 9, wherein the control module (12) is further programmed to determine said probable distance (d3 ') separating the car vehicle (1) and said obstacle ( 3) as a function of a speed (v3) of displacement of this obstacle (3), determined as a function of said signal having previously made it possible to detect the presence of this obstacle (3) in the detection field (110) of said sensor.
    [11" id="c-fr-0011]
    11. Driving assistance device (10) according to one of claims 9 and 10 taken in accordance with claim 5, wherein the control module (12) is further programmed to control a deceleration of the vehicle ( 1) automobile when said probable distance (d3 ') is less than a given safety distance.
    [12" id="c-fr-0012]
    12. driving assistance device (10) according to one of claims 9 to 11, wherein, said obstacle (3) being another motor vehicle followed by the vehicle (1) automobile equipped with the device of a driving aid (10), and said driver assistance function comprising an automatic vehicle tracking function, the control module (12) is further programmed to control the speed of the vehicle (1) that it equipped so that, when it is estimated that said tracked vehicle (3) is present at said road portion (20), said probable distance (d3 ') is approximately equal to a given set distance.
    [13" id="c-fr-0013]
    The driving aid (10) according to one of claims 1 to 12, wherein said sensor (11) comprises an image sensor.
    [14" id="c-fr-0014]
    14. A method of assisting the driving of a vehicle (1) driving a road (2), during which a control module (12) controls a driving aid function of the vehicle (1) automobile in function of a signal, acquired by a sensor (11), representative of the presence of an obstacle (3) within a detection field (110) of this sensor (11), characterized in that the method comprises the following steps: a) detecting, on the basis of a position of the vehicle (1) automobile and characteristics of said road (2), a portion of this road (20) located outside the detection field (110) of said sensor (11), and b) if this portion of road (20) located outside the detection field (110) of said sensor (11) is detected, driving said driving assistance function taking into account the potential presence of an obstacle (3) at said road portion (20).
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    同族专利:
    公开号 | 公开日
    US20190061757A1|2019-02-28|
    US11052912B2|2021-07-06|
    FR3048113B1|2019-06-14|
    WO2017144627A1|2017-08-31|
    EP3419877A1|2019-01-02|
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    法律状态:
    2017-02-28| PLFP| Fee payment|Year of fee payment: 2 |
    2017-08-25| PLSC| Search report ready|Effective date: 20170825 |
    2018-02-26| PLFP| Fee payment|Year of fee payment: 3 |
    2020-02-28| PLFP| Fee payment|Year of fee payment: 5 |
    2021-02-26| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1651477|2016-02-23|
    FR1651477A|FR3048113B1|2016-02-23|2016-02-23|DEVICE AND METHOD FOR AIDING THE DRIVING OF A MOTOR VEHICLE|FR1651477A| FR3048113B1|2016-02-23|2016-02-23|DEVICE AND METHOD FOR AIDING THE DRIVING OF A MOTOR VEHICLE|
    US16/078,311| US11052912B2|2016-02-23|2017-02-23|Device and method for assisting with driving a motor vehicle|
    EP17707005.9A| EP3419877A1|2016-02-23|2017-02-23|Motor vehicle driving assistance device and method|
    PCT/EP2017/054257| WO2017144627A1|2016-02-23|2017-02-23|Motor vehicle driving assistance device and method|
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