WO2019233804A1 - Visual display unit for driving assistance - Google Patents
Visual display unit for driving assistance Download PDFInfo
- Publication number
- WO2019233804A1 WO2019233804A1 PCT/EP2019/063689 EP2019063689W WO2019233804A1 WO 2019233804 A1 WO2019233804 A1 WO 2019233804A1 EP 2019063689 W EP2019063689 W EP 2019063689W WO 2019233804 A1 WO2019233804 A1 WO 2019233804A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- road
- marking
- display device
- control unit
- motor vehicle
- Prior art date
Links
- 230000000007 visual effect Effects 0.000 title abstract 3
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 230000001105 regulatory effect Effects 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 4
- 230000001419 dependent effect Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/23—Head-up displays [HUD]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/365—Guidance using head up displays or projectors, e.g. virtual vehicles or arrows projected on the windscreen or on the road itself
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/178—Warnings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/20—Optical features of instruments
- B60K2360/33—Illumination features
- B60K2360/334—Projection means
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0141—Head-up displays characterised by optical features characterised by the informative content of the display
Definitions
- the present invention generally relates to a display device for assisting the driving of a motor vehicle driver, adapted to project information in the field of view of the driver.
- Various display devices are known for assisting the driving of a motor vehicle driver adapted to project into the driver's field of vision various information, such as a route to follow or advertising information, or the name of the borrowed street.
- Ground marking also commonly referred to as a pavement mark, is intended to indicate unambiguously to road users, the parts of the carriageway reserved for the different directions of traffic or to certain categories of users, as well as, in some cases case, the conduct that these users must observe.
- the Highway Code makes certain markings on the ground mandatory.
- the markings on the highway or express roads, as well as the transversal lines signaling a sign "stop", a sign "give way” and a traffic light are mandatory, while all other markings on the ground are optional.
- the ground marking improves the safety of the users as it guides the driver on his attitude to adopt on the road, for example, as to the side of the road on which he must stand or the possibility or not to overtake another vehicle.
- the ground marking may be lacking, especially following work or wear of the road.
- the present invention proposes a display device for assisting the driving of a motor vehicle driver, adapted to project the representation of a marking on the ground to enhance the safety of the driver and other road users.
- a display device for assisting the driving of a driver of a motor vehicle comprising:
- a detection unit adapted to detecting at least one datum representative of the road on which the motor vehicle is moving
- control unit communicating with said detection unit and configured to determine a marking on the ground to be projected on said road as a function of said data representative of the road detected by the detection unit
- an image projection unit communicating with said control unit and adapted to project in the driver's field of vision a representation of said ground marking.
- the device it is possible, from at least one datum representative of the road, to project into the driver's field of vision a marking on the ground, even when the road is devoid of marking. on the ground or that the original marking on the ground is defective.
- the detection unit comprises:
- short and / or long-distance acquisition means adapted to collect raw data associated with the road on which the motor vehicle is moving
- analysis means adapted to process the raw data collected to determine said at least one data representative of the road;
- said at least one data representative of the road is selected from: the number of the road, the nature of the road, the width of the road or the shape of the road;
- the acquisition means of the detection unit are chosen from: an image sensor, a rangefinder, a geolocation means, a storage unit comprising cartographic data of the geographical area; in which the motor vehicle evolves, means of communication with a member external to the motor vehicle, or a combination of these acquisition means;
- the detection unit is further adapted to detect at least one contextual data relating to the use of the road on which the motor vehicle evolves;
- control unit is adapted to determine said ground marking to be projected taking into account said contextual data
- the image projection unit is adapted to project said representation of the ground marking determined by the control unit when said contextual datum determined by the detection unit corresponds to an absence of ground marking;
- the control unit is adapted to determine said ground marking to be projected taking into account at least one regulatory criterion associated with the data representative of the road detected by the detection unit;
- the said at least one regulatory criterion depends on the regulations relating to road marking of roads in a predetermined region of the world;
- said at least one regulatory criterion is stored in a storage unit with which said control unit is adapted to communicate;
- control unit is adapted to apply a safety factor to determine said ground marking to be projected
- the image projection unit comprises a head-up display
- the image projection unit is adapted to project the representation of the marking on the ground so that it is seen on the road, from the point of view of the driver of the motor vehicle;
- the storage unit storing the map data is embedded in said motor vehicle
- the storage unit storing said at least one regulatory criterion is embedded in said motor vehicle;
- the storage unit is remote from the motor vehicle
- the storage unit is a memory of the semiconductor memory type;
- the contextual data is chosen from: the presence or absence of road markings on the road, the position of the motor vehicle on the road, the presence of other motor vehicles traveling on the road as well as their direction of movement and their position on the road, approaching a crossroads;
- the ground marking to project corresponds to the longitudinal lines of the road.
- FIG. 2 is a schematic representation of a head-up display part of the projection unit of the device according to the invention.
- FIG. 3 is a schematic representation of an exemplary representation of a ground marking obtained by the device according to the invention.
- FIG. 1 there is shown schematically the main elements of a display device 100 for helping to drive a driver of a motor vehicle.
- This display device 100 is adapted to be mounted in a motor vehicle for projecting into the driver's field of view a representation of a ground marking. This improves the safety of the road users, while helping the driver to adapt his driving according to said marking on the ground.
- the display device 100 comprises:
- a detection unit adapted to detect at least one datum representative of the road on which the motor vehicle is moving
- control unit 20 communicating with said detection unit 10 and configured to determine a marking on the ground to be projected on said road as a function of said data representative of the road detected by the detection unit 10, and
- an image projection unit 30 communicating with said control unit 20 and adapted to project into the driver's field of vision, a representation of said ground marking.
- the detection unit 10 here comprises:
- acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D adapted to collect raw data associated with the road on which the motor vehicle is moving, and
- - Analysis means 12 adapted to process the raw data collected to determine said at least one data representative of the road.
- the detection unit 10 is thus adapted to identify the road on which the motor vehicle is traveling.
- the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D are intended to be short and / or long distance, that is to say that they can acquire raw data at more than or less long distances from the position the vehicle is in.
- the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D of the detection unit 10 are for example chosen from: a sensor, in particular an image sensor 11A, a rangefinder 11 B, a geolocation means 1 1 C, a storage unit 1 1 D comprising cartographic data of the geographical area in which the motor vehicle moves, means of communication with a member external to the motor vehicle, or a combination of these means 1 1 A, 1 1 B, 1 1 C, 1 1 D.
- the image sensor 11A is adapted to capture images at a predetermined frequency at a distance relatively close to the vehicle, for example up to about 100 meters from the vehicle.
- the image sensor 11A comprises for example a conventional camera and / or an infrared camera for capturing night images.
- the captured images then form raw data that will be processed by the analysis means 12.
- the rangefinder 1 1 B is an instrument adapted to measure the distance to a given point relatively close to the vehicle, for example up to 100 meters or 150 meters from the vehicle. It is for example formed by a means of acquisition light wave, type LIDAR (for "Light Detection And Ranging", according to the acronym). The distances measured by the rangefinder 1 1 B then form raw data.
- the geolocation means 1 1 C makes it possible to identify the position of the vehicle in space.
- a GPS for "Global Positioning System” according to the acronym is an example of such a means of geolocation.
- the position of the vehicle acquired by the geolocation means thus forms a raw data.
- the geolocation data acquired by the 1 1 C geolocation means can be coupled to the data acquired by the other acquisition means to improve the accuracy of the positioning of the car with respect to the detected road, lines and obstacles. .
- the storage unit 1 1 D can be embedded or not in the motor vehicle. It is planned to be able to update the raw data that it includes, that is to say the map data of the roads that are recorded there. In practice, the storage unit 1 1 D is here a memory type semiconductor memory. The cartographic data of the geographical zone in which the motor vehicle evolves form raw data that will be processed by the analysis means 12. When it is not on board, the storage unit may for example be deported to a space virtual storage (cloud type) and the control unit remains adapted to communicate with the storage unit. The deportation of the storage unit 11 D facilitates its updating.
- the means of communication with an external member are for example formed by a wireless link or a radio frequency link constituting a means of communication with at least part of the other vehicles circulating in the vicinity of the motor vehicle, or with an infrastructure.
- the raw data acquired by this means of communication are then those acquired by the other vehicles, and may be of any of the aforementioned types.
- the vehicle will comprise all of the acquisition means 11 A, 1 1 B, 1 1 C, 1 1 D explained above.
- the acquisition means 1 1 A, 1 1 B such as the LIDAR and the camera are for example arranged around the body of the motor vehicle, preferably at the front of the vehicle.
- the analysis means 12 are chosen from shape recognition means, character recognition means, color recognition means, size recognition means, light reflection level recognition means (especially from data acquired by the LIDAR), means for analyzing travel time (in particular from the data acquired by the rangefinder 11B), or a combination of its analysis means 12.
- Such analysis means 12 are suitable for determining at least one datum representative of the road, that is to say a datum making it possible to identify a characteristic of the road, on the basis of the raw data acquired by the means of analysis.
- acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D the data representative of the road may be the identification number of the road, the nature of the road, the width of the road or even the shape of the road.
- “Nature of the road” means that the road is a national road, a county road, a one-way road, a two-way road, a two-lane road, a highway, a country road ...
- shape of the road is meant for example the fact that the road portion is straight or with turns, or the fact that it is flat or with valleys.
- the analysis means 12 are configured to determine the width of the road, and the median axis of the road, from an image of the road captured by the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D at the front of the motor vehicle.
- the analysis means 12 are, for example, still configured to determine that the road will form a substantial turn about 500 meters in front of the vehicle, based on the map data and the GPS position of the motor vehicle acquired by the acquisition means 1. A, 1 1 B, 1 1 C, 1 1 D.
- the analysis means 12 are also for example configured to determine that the road on which the motor vehicle is moving is a highway, from the map data and the GPS position of the motor vehicle acquired by the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D.
- the analysis means 12 are configured to determine one or more data representative of the road, from one or more raw data acquired by the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D.
- the control unit 20 communicates with said detection unit 10 and receives said at least one piece of data representative of the road determined by the analysis means 12. This communication is represented by the arrow located between the blocks "10" and "20". In FIG. 1.
- the control unit 20 is configured to determine the ground marking to be projected on said road as a function of the one or more data representative of the road determined.
- control unit comprises for example calculation means and comparison means.
- the control unit may also consist of an artificial intelligence, which learns and follows rules for comparing and displaying representations of different markings on the ground, which is updated as the learning.
- the ground marking determined by the control unit 20 corresponds to the longitudinal lines of the road. It may in particular be an impassable continuous line, an axial discontinuous line or delimitation of the tracks (with a majority of empty spaces compared to solid lines), a discontinuous line of announcement of a continuous line or deterrent replacing a continuous line or delimitation of lanes in certain cases in built-up areas (with a majority of solid lines in relation to empty spaces), a discontinuous line of delimitation of the roadway (with a ratio of order of 1 between solid lines and empty spaces), of a mixed line (discontinuous line contiguous to a continuous line), of a continuous or discontinuous line of delimitation of lanes reserved for certain categories of vehicles or of delimitation of bands emergency stop.
- Ground markings could also include arrows, such as drawdown arrows or directional arrows, or cross-lines, such as continuous stop lines, discontinuous lines of "give way", signal lines of effect, and warning lines. intersecting guidance. Of course, it could still be more specific marking lines, pedestrian crossing types, lines for cyclists, lines for parking, lines for public transport, or lines for speed bumps type of humps. Ground marking may also display priority intersections on the right, indicating to the driver that it is not a priority. Thus, for example, in the case where the control unit receives the data representative of the "turn at 300 meters” road, it determines that the ground marking to be projected is a continuous white line, approximately 100 meters before the turn, and during the turn. This projected ground marking alerts the driver to the danger of overtaking when approaching and in this turn.
- arrows such as drawdown arrows or directional arrows
- cross-lines such as continuous stop lines, discontinuous lines of "give way", signal lines of effect, and warning lines. intersecting guidance. Of course, it
- control unit 20 is further adapted to determine said ground marking to be projected taking into account at least one regulatory criterion associated with the data representative of the road detected by the detection unit 10.
- control unit 20 also communicates with a storage unit 40 in which is stored at least one regulatory criterion.
- This communication is represented by the arrow located between the blocks "20" and "40" in FIG. 1.
- the storage unit 40 stores a plurality of regulatory criteria, each associated with a datum representative of the road.
- the regulatory criteria depend on the regulation of road marking in a predetermined region of the world, for example in a given country.
- the regulatory criterion indicates the obligation or not to display a marking on the ground and which, according to local regulations and data representative of the road.
- the regulatory criteria are those set out in "the ministerial instruction on road signs", according to the decree of 16 February 1988 on the approval of changes to the interministerial instruction on road signs.
- the regulatory criteria are regularly updated and it is expected to be able to update the storage unit 40 accordingly.
- the storage unit 40 storing the regulatory criteria may be confused with the storage unit 11 D already comprising the map data, or may form another storage unit 40, separate. In the latter case, it can be embedded in the motor vehicle or not. When it is not embedded in the motor vehicle, it is accessible remotely, via means of communication type "wireless".
- control unit 20 when the control unit 20 receives from the unit of detecting a data representative of the road in the form of "highway”, the control unit 20 is configured to analyze the regulatory criteria of the storage unit 40 associated with the representative data "highway” and thus determines which marking at soil must be thrown on the ground.
- the ground marking determined by the control unit 20 consists of a line delimiting the emergency stop band, on the right, and a dotted line separating the lane on which the vehicle and the lane to his left.
- the invention is particularly interesting in the case where no ground marking is actually present on the ground.
- the representative data is "country road” and "straight flat road”
- the control unit 20 determines that the ground marking to be projected is a broken line.
- the projected discontinuous line allows the user to know where the middle of the road is and indicates that it is possible to pass through this area without risk.
- the control unit is further adapted to apply a safety factor to determine the ground marking to be projected.
- control unit 20 applies a safety factor of so to finally determine a single ground marking to project.
- the safety factor allows the control unit 20 to make a choice among the plurality of ground markings that can be determined from representative data and associated regulatory criteria.
- the safety factor is a data of the manufacturer.
- the security factor is included in a database F communicating with the control unit 20. This communication is represented by the arrow located between the blocks "20" and "F" in FIG.
- the safety factor allows the control unit 20 to compare all potential ground markings so that said control unit 20 determines the most restrictive ground mark among all potential ground markings.
- control unit 20 is programmed to apply the safety factor and determine that the ground marking to be projected is the continuous line, which is the most restrictive of the two.
- the safety factor is also particularly useful for adapting the ground marking to specific situations such as: a non-receipt of information from the detection unit 10 (sensor unavailable for example), a decision to be taken by the user.
- control unit 20 when the regulatory criteria allow several possibilities of ground marking for a given representative data. For example, in cases where the acquisition means 11A, 11B, 11C, 11D of the detection unit 10 have not been able to collect satisfactory raw data, the unit control 20 determines that the ground marking to project is a continuous line because it is the most restrictive ground marking.
- the image projection unit 30 communicates with the control unit 20. This is represented by the arrow disposed between the blocks "20" and "30" in FIG.
- the image projection unit 30 is here adapted to project said representation of the ground marking according to an augmented reality projection principle.
- the image projection unit is adapted to project the representation of the ground marking so that it is seen on the road, from the point of view of the driver of the motor vehicle.
- the image projection unit 30 comprises for this purpose a head-up display 31 as shown in FIG. 2.
- such a display head-up 31 is adapted to create a virtual image in the field of view of a driver of the vehicle, so that the driver can see this virtual image without having to look away from the road.
- the head-up display 31 here comprises an image generation device 32 adapted to generate at least one (virtual) image of the marking I to be projected, and an image-returning device 33 adapted to transmit said generated image in the direction of the image.
- an at least partially reflective blade placed in the driver's field of vision.
- the partially reflecting blade is constituted by the windshield 34 of the vehicle itself.
- the partially reflective blade could be a separate element of the windshield. In all cases, this partially reflecting blade is a blade at least partially reflective and at least partially transparent.
- control unit 20 not only determines the marking on the ground to be projected, but also the place where the representation of this marking on the ground must be projected by the image projection unit 30 so that he is seen by the driver as if he were on the road.
- control unit 20 uses the raw data and / or representative data received from the detection unit 10 in order to match the virtual display of the ground marking actually increased, with the actual route such that she is seen by the driver.
- the control unit 20 can in particular use the data representative of the road such as the shape of the road.
- the detection unit 10 is further adapted to detect at least one contextual datum relating to the use of the road on which said motor vehicle evolves.
- the analysis means 12 of the detection unit 10 are in this case adapted to process the raw data collected by the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D to determine said at least one contextual data relating to the use of the road.
- This contextual data relates, for example, to the presence or absence of road markings on the road, to the position of the motor vehicle on the roadway, to the presence of other motor vehicles traveling on the road and to their respective positions. on the road and their direction of travel, approaching a crossroads or weather conditions (eg rain, fog, sun).
- the contextual data is determined by the analysis means 12, preferably from the raw data from the image sensor 11A and LIDAR 11B. 12 are adapted to determine the meteorological conditions from the images acquired by the image sensor 11A, raw data received from the LIDAR, data received from the means of communication with an external device, navigation, or the housing multimedia of the vehicle, or even the "cloud”.
- control unit 20 determines the ground marking to be projected only when there is no real road marking on the road. It can also be envisaged that the control unit 20 determines the ground marking to be projected only when there is no real road marking on the road in the event of sunny weather, but that there is no marking on the ground or not in rain or fog.
- the control unit 20 is further adapted to determine said ground marking to be projected taking into account said contextual data.
- the control unit 20 receives as representative data of the road "the width of the road”, and as contextual data the fact that "another vehicle arrives in the other direction", or that an "obstacle” is present on the roadway ".
- the display device projects a marking on the ground to help the driver of the motor vehicle to stay in his lane and to cross the other vehicle (or to avoid 'obstacle).
- Figure 3 where the vehicle crosses on a country road, without marking on the ground, a tractor T of substantial width.
- the display device 100 projects a representation of a discontinuous line LD, off-center with respect to the middle of the road so as to help the car driver to cross the tractor without accident.
- the projection is symbolized here by the symbol "arrow" between the discontinuous line LD and the projection unit 30.
- the representation of the projected discontinuous line indicates to the driver of the motor vehicle the space he has on the road for cross the tractor T.
- control unit 20 receives as representative data of the road “hilly country road” and as contextual data “vehicle arriving in the other direction” and “other vehicle in front of the motor vehicle ". In this situation, the control unit 20 determines that the ground marking is a continuous line to prohibit the driver to overtake the vehicle in front of him, since another vehicle arrives in the other direction.
- the control unit 20 may further utilize the contextual data, in addition to the raw data and / or road representative data to determine where the representation of the ground mark is to be projected.
- the control unit 20 can use the contextual data relating to the position of the motor vehicle on the road to decide whether or not to determine the ground marking to be projected.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a visual display unit (100) for driving assistance for a driver of a motor vehicle, comprising: a detection unit (10) for detecting at least one datum representing the road on which the motor vehicle circulates; a control unit (20) communicating with said detection unit and designed to determine a road marking to be projected onto said road according to said datum representing the road detected by the detection unit; and an image projection unit (30) communicating with said control unit and designed to project a representation of said road marking into the visual field of the driver.
Description
Dispositif d’affichage pour l’aide à la conduite Display device for driving assistance
DOMAINE TECHNIQUE AUQUEL SE RAPPORTE L'INVENTIONTECHNICAL FIELD TO WHICH THE INVENTION REFERS
La présente invention concerne de manière générale un dispositif d’affichage pour l’aide à la conduite d’un conducteur de véhicule automobile, adapté à projeter une information dans le champ de vision du conducteur. The present invention generally relates to a display device for assisting the driving of a motor vehicle driver, adapted to project information in the field of view of the driver.
ARRIERE-PLAN TECHNOLOGIQUE BACKGROUND
On connaît différents dispositifs d’affichage pour l’aide à la conduite d’un conducteur de véhicule automobile adaptés à projeter dans le champ de vision du conducteur des informations diverses, telles qu’un itinéraire à suivre ou des informations publicitaires, ou encore le nom de la rue empruntée. Various display devices are known for assisting the driving of a motor vehicle driver adapted to project into the driver's field of vision various information, such as a route to follow or advertising information, or the name of the borrowed street.
Néanmoins, aucun de ces dispositifs n’est adapté à renforcer la sécurité du conducteur en améliorant le marquage au sol sur la route empruntée. Nevertheless, none of these devices is adapted to enhance the safety of the driver by improving the marking on the road borrowed.
Le marquage au sol, aussi couramment appelé marque sur chaussée, a pour but d'indiquer sans ambiguïté aux utilisateurs de la route, les parties de la chaussée réservées aux différents sens de circulation ou à certaines catégories d'usagers, ainsi que, dans certains cas, la conduite que doivent observer ces usagers. Ground marking, also commonly referred to as a pavement mark, is intended to indicate unambiguously to road users, the parts of the carriageway reserved for the different directions of traffic or to certain categories of users, as well as, in some cases case, the conduct that these users must observe.
Selon les régions du monde, notamment selon les pays, le code de la route rend obligatoire certains marquages au sol. En France par exemple, les marquages au sol sur les autoroutes ou routes express, ainsi que les lignes transversales signalant un panneau « stop », un panneau « cédez le passage » et un feu tricolore sont obligatoires, tandis que tous les autres marquages au sol sont facultatifs. Depending on the regions of the world, particularly countries, the Highway Code makes certain markings on the ground mandatory. In France, for example, the markings on the highway or express roads, as well as the transversal lines signaling a sign "stop", a sign "give way" and a traffic light are mandatory, while all other markings on the ground are optional.
Pourtant, le marquage au sol améliore la sécurité des utilisateurs dans la mesure où il guide le conducteur sur son attitude à adopter sur la route, par exemple, quant au côté de la route sur lequel il doit se tenir ou quant à la possibilité ou non de dépasser un autre véhicule. However, the ground marking improves the safety of the users as it guides the driver on his attitude to adopt on the road, for example, as to the side of the road on which he must stand or the possibility or not to overtake another vehicle.
En outre, même dans les cas où le marquage est censé être obligatoire, le marquage au sol peut venir à manquer, notamment suite à des travaux ou à l’usure de la route. In addition, even in cases where the marking is supposed to be mandatory, the ground marking may be lacking, especially following work or wear of the road.
OBJET DE L’INVENTION OBJECT OF THE INVENTION
Afin de remédier à l’inconvénient précité de l’état de la technique, la présente invention propose un dispositif d’affichage pour l’aide à la conduite d’un
conducteur de véhicule automobile, adapté à projeter la représentation d’un marquage au sol afin de renforcer la sécurité du conducteur et des autres utilisateurs de la route. In order to overcome the above-mentioned disadvantage of the state of the art, the present invention proposes a display device for assisting the driving of a motor vehicle driver, adapted to project the representation of a marking on the ground to enhance the safety of the driver and other road users.
Plus particulièrement, on propose selon l’invention un dispositif d’affichage pour l’aide à la conduite d’un conducteur d’un véhicule automobile, comprenant : More particularly, there is provided according to the invention a display device for assisting the driving of a driver of a motor vehicle, comprising:
- une unité de détection adaptée à détecter au moins une donnée représentative de la route sur laquelle le véhicule automobile évolue, a detection unit adapted to detecting at least one datum representative of the road on which the motor vehicle is moving,
- une unité de commande communiquant avec ladite unité de détection et configurée pour déterminer un marquage au sol à projeter sur ladite route en fonction de ladite donnée représentative de la route détectée par l’unité de détection, et a control unit communicating with said detection unit and configured to determine a marking on the ground to be projected on said road as a function of said data representative of the road detected by the detection unit, and
- une unité de projection d’images communiquant avec ladite unité de commande et adaptée à projeter dans le champ de vision du conducteur, une représentation dudit marquage au sol. an image projection unit communicating with said control unit and adapted to project in the driver's field of vision a representation of said ground marking.
Ainsi, grâce au dispositif selon l’invention, il est possible, à partir d’au moins une donnée représentative de la route, de projeter dans le champ de vision du conducteur un marquage au sol, y compris lorsque la route est dépourvue de marquage au sol ou que le marquage au sol original y est défaillant. Thus, thanks to the device according to the invention, it is possible, from at least one datum representative of the road, to project into the driver's field of vision a marking on the ground, even when the road is devoid of marking. on the ground or that the original marking on the ground is defective.
D’autres caractéristiques non limitatives et avantageuses du dispositif conforme à l’invention, prises individuellement ou selon toutes les combinaisons techniquement possibles, sont les suivantes : Other nonlimiting and advantageous features of the device according to the invention, taken individually or in any technically possible combination, are as follows:
- l’unité de détection comprend : the detection unit comprises:
des moyens d’acquisition à courte et/ou à longue distance adaptés à collecter des données brutes associées à la route sur laquelle évolue le véhicule automobile, et short and / or long-distance acquisition means adapted to collect raw data associated with the road on which the motor vehicle is moving, and
des moyens d’analyse adaptés à traiter les données brutes collectées pour déterminer ladite au moins une donnée représentative de la route ; analysis means adapted to process the raw data collected to determine said at least one data representative of the road;
- ladite au moins une donnée représentative de la route est choisie parmi : le numéro de la route, la nature de la route, la largeur de la route ou encore la forme de la route ; - said at least one data representative of the road is selected from: the number of the road, the nature of the road, the width of the road or the shape of the road;
- les moyens d’acquisition de l’unité de détection sont choisis parmi : un capteur d’images, un télémètre, un moyen de géolocalisation, une unité de mémorisation comportant des données cartographiques de la zone géographique
dans laquelle évolue le véhicule automobile, des moyens de communication avec un organe externe au véhicule automobile, ou une combinaison de ces moyens d’acquisition ; the acquisition means of the detection unit are chosen from: an image sensor, a rangefinder, a geolocation means, a storage unit comprising cartographic data of the geographical area; in which the motor vehicle evolves, means of communication with a member external to the motor vehicle, or a combination of these acquisition means;
- l’unité de détection est en outre adaptée à détecter au moins une donnée contextuelle relative à l’utilisation de la route sur laquelle évolue ledit véhicule automobile ; - The detection unit is further adapted to detect at least one contextual data relating to the use of the road on which the motor vehicle evolves;
- l’unité de commande est adaptée à déterminer ledit marquage au sol à projeter en tenant compte de ladite donnée contextuelle ; the control unit is adapted to determine said ground marking to be projected taking into account said contextual data;
- l’unité de projection d’images est adaptée à projeter ladite représentation du marquage au sol déterminé par l’unité de commande lorsque ladite donnée contextuelle déterminée par l’unité de détection correspond à une absence de marquage au sol ; the image projection unit is adapted to project said representation of the ground marking determined by the control unit when said contextual datum determined by the detection unit corresponds to an absence of ground marking;
- l’unité de commande est adaptée à déterminer ledit marquage au sol à projeter en tenant compte d’au moins un critère réglementaire associé à la donnée représentative de la route détectée par l’unité de détection ; - The control unit is adapted to determine said ground marking to be projected taking into account at least one regulatory criterion associated with the data representative of the road detected by the detection unit;
- ledit au moins un critère réglementaire dépend de la règlementation relative au marquage au sol des routes dans une région du monde prédéterminée ; the said at least one regulatory criterion depends on the regulations relating to road marking of roads in a predetermined region of the world;
- ledit au moins un critère réglementaire est stocké dans une unité de mémorisation avec laquelle ladite unité de commande est adaptée à communiquer ; said at least one regulatory criterion is stored in a storage unit with which said control unit is adapted to communicate;
- l’unité de commande est adaptée à appliquer un facteur de sécurité pour déterminer ledit marquage au sol à projeter ; the control unit is adapted to apply a safety factor to determine said ground marking to be projected;
- l’unité de projection d’images comprend un afficheur tête haute ; the image projection unit comprises a head-up display;
- l’unité de projection d’images est adaptée à projeter la représentation du marquage au sol de manière qu’elle soit vue sur la route, du point de vue du conducteur du véhicule automobile ; the image projection unit is adapted to project the representation of the marking on the ground so that it is seen on the road, from the point of view of the driver of the motor vehicle;
- l’unité de mémorisation stockant les données cartographiques est embarquée dans ledit véhicule automobile ; - The storage unit storing the map data is embedded in said motor vehicle;
- l’unité de mémorisation stockant ledit au moins critère réglementaire est embarquée dans ledit véhicule automobile ; - The storage unit storing said at least one regulatory criterion is embedded in said motor vehicle;
- l’unité de mémorisation est déportée du véhicule automobile ; the storage unit is remote from the motor vehicle;
- l’unité de mémorisation est une mémoire de type mémoire à semi- conducteurs ;
- la donnée contextuelle est choisie parmi : la présence ou l’absence de marquage au sol sur la route, la position du véhicule automobile sur la route, la présence d’autres véhicules automobiles évoluant sur la route ainsi que leur sens de circulation et leur position sur la route, l’approche d’un carrefour ; the storage unit is a memory of the semiconductor memory type; the contextual data is chosen from: the presence or absence of road markings on the road, the position of the motor vehicle on the road, the presence of other motor vehicles traveling on the road as well as their direction of movement and their position on the road, approaching a crossroads;
- le marquage au sol à projeter correspond aux lignes longitudinales de la route. - the ground marking to project corresponds to the longitudinal lines of the road.
DESCRIPTION DETAILLEE D’UN EXEMPLE DE RÉALISATION DETAILED DESCRIPTION OF AN EXEMPLARY EMBODIMENT
La description qui va suivre en regard des dessins annexés, donnés à titre d’exemples non limitatifs, fera bien comprendre en quoi consiste l’invention et comment elle peut être réalisée. 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.
Sur les dessins annexés : In the accompanying drawings:
- la figure 1 annexée est une représentation schématique des éléments principaux d’un dispositif selon l’invention ; - Figure 1 attached is a schematic representation of the main elements of a device according to the invention;
- la figure 2 est une représentation schématique d’un afficheur tête haute faisant partie de l’unité de projection du dispositif selon l’invention ; et, - Figure 2 is a schematic representation of a head-up display part of the projection unit of the device according to the invention; and,
- la figure 3 est une représentation schématique d’un exemple de représentation d’un marquage au sol obtenu par le dispositif selon l’invention. FIG. 3 is a schematic representation of an exemplary representation of a ground marking obtained by the device according to the invention.
Sur la figure 1 , on a représenté schématiquement les éléments principaux d’un dispositif d’affichage 100 pour l’aide à la conduite d’un conducteur d’un véhicule automobile. In Figure 1, there is shown schematically the main elements of a display device 100 for helping to drive a driver of a motor vehicle.
Ce dispositif d’affichage 100 est adapté à être monté dans un véhicule automobile pour projeter dans le champ de vision du conducteur une représentation d’un marquage au sol. Cela améliore la sécurité des utilisateurs de la route, tout en aidant le conducteur à adapter sa conduite en fonction dudit marquage au sol. This display device 100 is adapted to be mounted in a motor vehicle for projecting into the driver's field of view a representation of a ground marking. This improves the safety of the road users, while helping the driver to adapt his driving according to said marking on the ground.
Pour ce faire, le dispositif d’affichage 100 selon l’invention comprend : To do this, the display device 100 according to the invention comprises:
- une unité de détection 10 adaptée à détecter au moins une donnée représentative de la route sur laquelle le véhicule automobile évolue, a detection unit adapted to detect at least one datum representative of the road on which the motor vehicle is moving,
- une unité de commande 20 communiquant avec ladite unité de détection 10 et configurée pour déterminer un marquage au sol à projeter sur ladite route en fonction de ladite donnée représentative de la route détectée par l’unité de détection 10, et a control unit 20 communicating with said detection unit 10 and configured to determine a marking on the ground to be projected on said road as a function of said data representative of the road detected by the detection unit 10, and
- une unité de projection d’images 30 communiquant avec ladite unité de commande 20 et adaptée à projeter dans le champ de vision du conducteur, une
représentation dudit marquage au sol. an image projection unit 30 communicating with said control unit 20 and adapted to project into the driver's field of vision, a representation of said ground marking.
Grâce à ce dispositif d’affichage, tout se passe pour le conducteur comme si le marquage au sol était toujours présent, sur toutes les routes, en toutes circonstances. Cela renforce la sécurité du conducteur et des autres usagers de la route puisque le conducteur voit toujours un marquage au sol pour le guider dans sa conduite. With this display device, everything happens for the driver as if the marking on the ground was always present, on all roads, in all circumstances. This enhances the safety of the driver and other road users since the driver always sees a marking on the ground to guide him in his driving.
Comme le montre schématiquement la figure 1 , l’unité de détection 10 comprend ici : As schematically shown in FIG. 1, the detection unit 10 here comprises:
- des moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D adaptés à collecter des données brutes associées à la route sur laquelle évolue le véhicule automobile, et acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D adapted to collect raw data associated with the road on which the motor vehicle is moving, and
- des moyens d’analyse 12 adaptés à traiter les données brutes collectées pour déterminer ladite au moins une donnée représentative de la route. - Analysis means 12 adapted to process the raw data collected to determine said at least one data representative of the road.
L’unité de détection 10 est ainsi adaptée à identifier la route sur laquelle circule le véhicule automobile. The detection unit 10 is thus adapted to identify the road on which the motor vehicle is traveling.
Les moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D sont prévus pour être à courte et/ou à longue distance, c’est-à-dire qu’ils peuvent acquérir des données brutes à plus ou moins longues distances de la position à laquelle se trouve le véhicule. The acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D are intended to be short and / or long distance, that is to say that they can acquire raw data at more than or less long distances from the position the vehicle is in.
Les moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D de l’unité de détection 10 sont par exemple choisis parmi : un capteur, notamment un capteur d’images 1 1 A, un télémètre 1 1 B, un moyen de géolocalisation 1 1 C, une unité de mémorisation 1 1 D comportant des données cartographiques de la zone géographique dans laquelle évolue le véhicule automobile, des moyens de communication avec un organe externe au véhicule automobile, ou une combinaison de ces moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D. The acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D of the detection unit 10 are for example chosen from: a sensor, in particular an image sensor 11A, a rangefinder 11 B, a geolocation means 1 1 C, a storage unit 1 1 D comprising cartographic data of the geographical area in which the motor vehicle moves, means of communication with a member external to the motor vehicle, or a combination of these means 1 1 A, 1 1 B, 1 1 C, 1 1 D.
Plus précisément, le capteur d’images 1 1 A est adapté à capturer des images à une fréquence prédéterminée à une distance relativement proche du véhicule, par exemple jusqu’à environ 100 mètres du véhicule. Le capteur d’images 1 1 A comprend par exemple une caméra classique et/ou une caméra infrarouge pour la capture d’images nocturnes. Les images capturées forment alors des données brutes qui seront traitées par les moyens d’analyse 12. More specifically, the image sensor 11A is adapted to capture images at a predetermined frequency at a distance relatively close to the vehicle, for example up to about 100 meters from the vehicle. The image sensor 11A comprises for example a conventional camera and / or an infrared camera for capturing night images. The captured images then form raw data that will be processed by the analysis means 12.
Le télémètre 1 1 B est un instrument adapté à mesurer la distance à un point déterminé relativement proche du véhicule, par exemple jusqu’à 100 mètres voire 150 mètres du véhicule. Il est par exemple formé par un moyen d’acquisition
par onde lumineuse, de type LIDAR (pour « Light Détection And Ranging », selon l’acronyme anglais). Les distances mesurées par le télémètre 1 1 B forment alors des données brutes. The rangefinder 1 1 B is an instrument adapted to measure the distance to a given point relatively close to the vehicle, for example up to 100 meters or 150 meters from the vehicle. It is for example formed by a means of acquisition light wave, type LIDAR (for "Light Detection And Ranging", according to the acronym). The distances measured by the rangefinder 1 1 B then form raw data.
Le moyen de géolocalisation 1 1 C permet d’identifier la position du véhicule dans l’espace. Un GPS pour « Global Positioning System » selon l’acronyme anglais est un exemple d’un tel moyen de géolocalisation. La position du véhicule acquise par le moyen de géolocalisation forme ainsi une donnée brute. En pratique, les données de géolocalisation acquises par le moyen de géolocalisation 1 1 C peuvent être couplées aux données acquises par les autres moyens d’acquisition pour améliorer la précision du positionnement de la voiture par rapport à la route, aux lignes et aux obstacles détectés. The geolocation means 1 1 C makes it possible to identify the position of the vehicle in space. A GPS for "Global Positioning System" according to the acronym is an example of such a means of geolocation. The position of the vehicle acquired by the geolocation means thus forms a raw data. In practice, the geolocation data acquired by the 1 1 C geolocation means can be coupled to the data acquired by the other acquisition means to improve the accuracy of the positioning of the car with respect to the detected road, lines and obstacles. .
L’unité de mémorisation 1 1 D peut être embarquée ou non dans le véhicule automobile. Il est prévu de pouvoir mettre à jour les données brutes qu’elle comprend, c’est-à-dire les données cartographiques des routes qui y sont enregistrées. En pratique, l’unité de mémorisation 1 1 D est ici une mémoire de type mémoire à semi-conducteurs. Les données cartographiques de la zone géographique dans laquelle évolue le véhicule automobile forment des données brutes qui seront traitées par les moyens d’analyse 12. Lorsqu’elle n’est pas embarquée, l’unité de mémorisation peut par exemple être déportée dans un espace de stockage virtuel (de type « cloud ») et l’unité de commande reste adaptée à communiquer avec l’unité de mémorisation. La déportation de l’unité de mémorisation 11 D facilite sa mise à jour. The storage unit 1 1 D can be embedded or not in the motor vehicle. It is planned to be able to update the raw data that it includes, that is to say the map data of the roads that are recorded there. In practice, the storage unit 1 1 D is here a memory type semiconductor memory. The cartographic data of the geographical zone in which the motor vehicle evolves form raw data that will be processed by the analysis means 12. When it is not on board, the storage unit may for example be deported to a space virtual storage (cloud type) and the control unit remains adapted to communicate with the storage unit. The deportation of the storage unit 11 D facilitates its updating.
Les moyens de communication avec un organe externe (non représentés sur la figure 1 ) sont par exemple formés par une liaison sans fil ou une liaison radiofréquences constituant un moyen de communication avec au moins une partie des autres véhicules circulant à proximité du véhicule automobile, ou avec une infrastructure. Les données brutes acquises par ce moyen de communication sont alors celles acquises par les autres véhicules, et peuvent être de l’un quelconque des types précités. The means of communication with an external member (not shown in FIG. 1) are for example formed by a wireless link or a radio frequency link constituting a means of communication with at least part of the other vehicles circulating in the vicinity of the motor vehicle, or with an infrastructure. The raw data acquired by this means of communication are then those acquired by the other vehicles, and may be of any of the aforementioned types.
De préférence, le véhicule comprendra l’ensemble des moyens d’acquisition 11 A, 1 1 B, 1 1 C, 1 1 D explicités ci-dessus. Preferably, the vehicle will comprise all of the acquisition means 11 A, 1 1 B, 1 1 C, 1 1 D explained above.
Les moyens d’acquisition 1 1 A, 1 1 B tels que le LIDAR et la caméra sont par exemple disposés autour de la carrosserie du véhicule automobile, de préférence à l’avant du véhicule.
Les moyens d’analyse 12 sont choisis parmi des moyens de reconnaissance de forme, des moyens de reconnaissance de caractères, des moyens de reconnaissance de couleurs, des moyens de reconnaissance de taille, des moyens de reconnaissance de niveau de réflexion lumineuse (notamment à partir des données acquises par le LIDAR), des moyens d’analyse de temps de parcours (notamment à partir des données acquises par le télémètre 1 1 B), ou une combinaison de ses moyens d’analyse 12. The acquisition means 1 1 A, 1 1 B such as the LIDAR and the camera are for example arranged around the body of the motor vehicle, preferably at the front of the vehicle. The analysis means 12 are chosen from shape recognition means, character recognition means, color recognition means, size recognition means, light reflection level recognition means (especially from data acquired by the LIDAR), means for analyzing travel time (in particular from the data acquired by the rangefinder 11B), or a combination of its analysis means 12.
De tels moyens d’analyse 12 sont adaptés à déterminer au moins une donnée représentative de la route, c’est-à-dire une donnée permettant d’identifier une caractéristique de la route, à partir des données brutes acquises par les moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D. Par exemple, la donnée représentative de la route peut être le numéro d’identification de la route, la nature de la route, la largeur de la route ou encore la forme de la route. Par « nature de la route », on entend par exemple le fait que la route soit une route nationale, une route départementale, une route à sens unique, une route à double sens, une route à deux fois deux voies, une autoroute, une route de campagne... Par « forme de la route » on entend par exemple le fait que la portion de route soit rectiligne ou avec des virages, ou encore le fait qu’elle soit plane ou avec des vallons. Such analysis means 12 are suitable for determining at least one datum representative of the road, that is to say a datum making it possible to identify a characteristic of the road, on the basis of the raw data acquired by the means of analysis. acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D. For example, the data representative of the road may be the identification number of the road, the nature of the road, the width of the road or even the shape of the road. "Nature of the road", for example, means that the road is a national road, a county road, a one-way road, a two-way road, a two-lane road, a highway, a country road ... By "shape of the road" is meant for example the fact that the road portion is straight or with turns, or the fact that it is flat or with valleys.
Ainsi, par exemple, les moyens d’analyse 12 sont configurés pour déterminer la largeur de la route, et l’axe médian de la route, à partir d’une image de la route capturée par les moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D à l’avant du véhicule automobile. Thus, for example, the analysis means 12 are configured to determine the width of the road, and the median axis of the road, from an image of the road captured by the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D at the front of the motor vehicle.
Les moyens d’analyse 12 sont encore par exemple configurés pour déterminer que la route formera un virage conséquent à environ 500 mètres devant le véhicule, à partir des données cartographiques et de la position GPS du véhicule automobile acquis par les moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D. The analysis means 12 are, for example, still configured to determine that the road will form a substantial turn about 500 meters in front of the vehicle, based on the map data and the GPS position of the motor vehicle acquired by the acquisition means 1. A, 1 1 B, 1 1 C, 1 1 D.
Les moyens d’analyse 12 sont aussi par exemple configurés pour déterminer que la route sur laquelle évolue le véhicule automobile est une autoroute, à partir des données cartographiques et de la position GPS du véhicule automobile acquis par les moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D. The analysis means 12 are also for example configured to determine that the road on which the motor vehicle is moving is a highway, from the map data and the GPS position of the motor vehicle acquired by the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D.
En pratique, les moyens d’analyse 12 sont configurés pour déterminer une ou plusieurs données représentatives de la route, à partir d’une ou plusieurs données brutes acquises par les moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D. In practice, the analysis means 12 are configured to determine one or more data representative of the road, from one or more raw data acquired by the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D.
On comprend qu’il existe un grand nombre de données représentatives
possibles pour caractériser chaque route et elles ne seront par conséquent pas toutes détaillées. It is understood that there is a large number of representative data possible to characterize each route and therefore will not be all detailed.
L’unité de commande 20 communique avec ladite unité de détection 10 et reçoit ladite au moins une donnée représentative de la route déterminée par les moyens d’analyse 12. Cette communication est représentée par la flèche située entre les blocs « 10 » et « 20 » sur la figure 1. L’unité de commande 20 est configurée pour déterminer le marquage au sol à projeter sur ladite route en fonction de la ou des données représentatives de la route déterminées. The control unit 20 communicates with said detection unit 10 and receives said at least one piece of data representative of the road determined by the analysis means 12. This communication is represented by the arrow located between the blocks "10" and "20". In FIG. 1. The control unit 20 is configured to determine the ground marking to be projected on said road as a function of the one or more data representative of the road determined.
Pour ce faire, l’unité de commande comprend par exemple des moyens de calcul et des moyens de comparaison. L’unité de commande peut également être constituée d’une intelligence artificielle, qui apprend et suit des règles de comparaison et d’affichage de représentations de différents marquages au sol, qui se met à jour au fur à mesure de l’apprentissage. For this purpose, the control unit comprises for example calculation means and comparison means. The control unit may also consist of an artificial intelligence, which learns and follows rules for comparing and displaying representations of different markings on the ground, which is updated as the learning.
De préférence, le marquage au sol déterminé par l’unité de commande 20 correspond aux lignes longitudinales de la route. Il peut notamment s’agir d’une ligne continue infranchissable, d’une ligne discontinue axiale ou de délimitation des voies (avec une majorité d’espaces vides par rapport aux traits pleins), d’une ligne discontinue d'annonce d'une ligne continue ou de dissuasion remplaçant une ligne continue ou de délimitation des voies dans certains cas en agglomération (avec une majorité de traits pleins par rapport aux espaces vides), d’une ligne discontinue de délimitation de la chaussée (avec un ratio de l’ordre de 1 entre les traits pleins et les espaces vides), d’une ligne mixte (ligne discontinue accolée à une ligne continue), d’une ligne continue ou discontinue de délimitation de voies réservées à certaines catégories de véhicules ou de délimitation de bandes d'arrêt d'urgence. Preferably, the ground marking determined by the control unit 20 corresponds to the longitudinal lines of the road. It may in particular be an impassable continuous line, an axial discontinuous line or delimitation of the tracks (with a majority of empty spaces compared to solid lines), a discontinuous line of announcement of a continuous line or deterrent replacing a continuous line or delimitation of lanes in certain cases in built-up areas (with a majority of solid lines in relation to empty spaces), a discontinuous line of delimitation of the roadway (with a ratio of order of 1 between solid lines and empty spaces), of a mixed line (discontinuous line contiguous to a continuous line), of a continuous or discontinuous line of delimitation of lanes reserved for certain categories of vehicles or of delimitation of bands emergency stop.
Le marquage au sol pourrait aussi comprendre des flèches, type flèches de rabattement ou flèches directionnelles ou des lignes transversales, type lignes continues de « Stop », lignes discontinues « Cédez le passage », lignes d'effet des feux de signalisation, et lignes de guidage en intersection. Bien entendu, il pourrait encore s’agir de lignes de marquages plus spécifiques, types passage pour piétons, lignes pour cyclistes, lignes pour le stationnement, lignes pour les transports en commun, ou encore lignes pour les ralentisseurs de type dos d’âne. Le marquage au sol peut aussi afficher des intersections de priorité à droite, indiquant au conducteur qu’il n’est pas prioritaire.
Ainsi, par exemple, dans le cas où l’unité de commande reçoit la donnée représentative de la route « virage à 300 mètres », elle détermine que le marquage au sol à projeter est une ligne blanche continue, environ 100 mètres avant le virage, et pendant le virage. Ce marquage au sol projeté alerte le conducteur sur le caractère dangereux d’un dépassement à l’approche de et dans ce virage. Ground markings could also include arrows, such as drawdown arrows or directional arrows, or cross-lines, such as continuous stop lines, discontinuous lines of "give way", signal lines of effect, and warning lines. intersecting guidance. Of course, it could still be more specific marking lines, pedestrian crossing types, lines for cyclists, lines for parking, lines for public transport, or lines for speed bumps type of humps. Ground marking may also display priority intersections on the right, indicating to the driver that it is not a priority. Thus, for example, in the case where the control unit receives the data representative of the "turn at 300 meters" road, it determines that the ground marking to be projected is a continuous white line, approximately 100 meters before the turn, and during the turn. This projected ground marking alerts the driver to the danger of overtaking when approaching and in this turn.
Ici, l’unité de commande 20 est en outre adaptée à déterminer ledit marquage au sol à projeter en tenant compte d’au moins un critère réglementaire associé à la donnée représentative de la route détectée par l’unité de détection 10. Here, the control unit 20 is further adapted to determine said ground marking to be projected taking into account at least one regulatory criterion associated with the data representative of the road detected by the detection unit 10.
Pour ce faire, l’unité de commande 20 communique aussi avec une unité de mémorisation 40 dans laquelle est stockée au moins un critère réglementaire. Cette communication est représentée par la flèche située entre les blocs « 20 » et « 40 » sur la figure 1. De préférence, l’unité de mémorisation 40 stocke une pluralité de critères réglementaires, chacun associé à une donnée représentative de la route. To do this, the control unit 20 also communicates with a storage unit 40 in which is stored at least one regulatory criterion. This communication is represented by the arrow located between the blocks "20" and "40" in FIG. 1. Preferably, the storage unit 40 stores a plurality of regulatory criteria, each associated with a datum representative of the road.
Les critères réglementaires dépendent de la règlementation relative au marquage au sol des routes dans une région du monde prédéterminée, par exemple dans un pays donné. En pratique, le critère réglementaire indique l’obligation ou non d’afficher un marquage au sol et lequel, en fonction de la réglementation locale et de la donnée représentative de la route. Par exemple, pour la France, les critères réglementaires sont ceux énoncés dans « l’instruction ministérielle sur la signalisation routière », selon l’arrêté du 16 février 1988 relatif à l’approbation des modifications de l’instruction interministérielle sur la signalisation routière. Les critères réglementaires sont régulièrement mis à jour et il est prévu de pouvoir mettre à jour l’unité de mémorisation 40 en conséquence. The regulatory criteria depend on the regulation of road marking in a predetermined region of the world, for example in a given country. In practice, the regulatory criterion indicates the obligation or not to display a marking on the ground and which, according to local regulations and data representative of the road. For example, for France, the regulatory criteria are those set out in "the ministerial instruction on road signs", according to the decree of 16 February 1988 on the approval of changes to the interministerial instruction on road signs. The regulatory criteria are regularly updated and it is expected to be able to update the storage unit 40 accordingly.
En pratique, l’unité de mémorisation 40 stockant les critères réglementaires peut être confondue avec l’unité de mémorisation 11 D comprenant déjà les données cartographiques, ou peut former une autre unité de mémorisation 40, distincte. Dans ce dernier cas, elle peut être embarquée dans le véhicule automobile ou non. Lorsqu’elle n’est pas embarquée dans le véhicule automobile, elle est accessible à distance, via des moyens de communication de type « sans fil ». In practice, the storage unit 40 storing the regulatory criteria may be confused with the storage unit 11 D already comprising the map data, or may form another storage unit 40, separate. In the latter case, it can be embedded in the motor vehicle or not. When it is not embedded in the motor vehicle, it is accessible remotely, via means of communication type "wireless".
Par exemple, lorsque l’unité de commande 20 reçoit de l’unité de
détection 10 une donnée représentative de la route sous la forme « autoroute », l’unité de commande 20 est configurée pour analyser les critères règlementaires de l’unité de mémorisation 40 associés à la donnée représentative « autoroute » et elle détermine ainsi quel marquage au sol doit être projeté sur le sol. Lorsque le véhicule est sur la voie de droite, le marquage au sol déterminé par l’unité de commande 20 consiste en une ligne délimitant la bande d’arrêt d’urgence, à droite, et une ligne pointillée séparant la voie sur laquelle circule le véhicule et la voie située à sa gauche. For example, when the control unit 20 receives from the unit of detecting a data representative of the road in the form of "highway", the control unit 20 is configured to analyze the regulatory criteria of the storage unit 40 associated with the representative data "highway" and thus determines which marking at soil must be thrown on the ground. When the vehicle is in the right lane, the ground marking determined by the control unit 20 consists of a line delimiting the emergency stop band, on the right, and a dotted line separating the lane on which the vehicle and the lane to his left.
Ainsi, même lorsque le marquage a été effacé par le temps, l’usure, ou par des travaux, le conducteur sait où se situe sa voie, et peut déduire du marquage au sol projeté ce qu’il est autorisé à faire ou non. Lorsqu’elle n’est pas embarquée dans le véhicule automobile, elle est accessible à distance, via des moyens de communication de type « sans fil ». Thus, even when the marking has been erased by time, wear, or work, the driver knows where his path is, and can deduce from the projected ground marking what he is allowed to do or not. When it is not embedded in the motor vehicle, it is accessible remotely, via means of communication type "wireless".
L’invention revêt un caractère particulièrement intéressant dans le cas où aucun marquage au sol n’est réellement présent au sol. Par exemple dans le cas où les données représentatives sont « route de campagne » et « route rectiligne plane », il y a de forte chance que la route ne comprenne aucun marquage au sol réel. Dans un pareil cas, l’unité de commande 20 détermine que le marquage au sol à projeter est une ligne discontinue. La ligne discontinue projetée permet à l’utilisateur de savoir où se trouve le milieu de la route et lui indique qu’il est possible de dépasser dans cette zone, sans risque. The invention is particularly interesting in the case where no ground marking is actually present on the ground. For example, in the case where the representative data is "country road" and "straight flat road", there is a good chance that the road does not include any real ground markings. In such a case, the control unit 20 determines that the ground marking to be projected is a broken line. The projected discontinuous line allows the user to know where the middle of the road is and indicates that it is possible to pass through this area without risk.
L’unité de commande est en outre adaptée à appliquer un facteur de sécurité pour déterminer le marquage au sol à projeter. The control unit is further adapted to apply a safety factor to determine the ground marking to be projected.
Plus précisément, lorsque plusieurs marquages au sol sont susceptibles d’être déterminés par l’unité de commande 20, à partir de la (ou des) donnée représentative et du critère réglementaire associé, l’unité de commande 20 applique un facteur de sécurité de sorte à déterminer finalement un seul marquage au sol à projeter. More specifically, when several ground markings are likely to be determined by the control unit 20, from the representative data (s) and the associated regulatory criterion, the control unit 20 applies a safety factor of so to finally determine a single ground marking to project.
Autrement dit, le facteur de sécurité permet à l’unité de commande 20 d’opérer un choix parmi la pluralité de marquages au sol susceptibles d’être déterminés à partir de données représentatives et des critères réglementaires associés. In other words, the safety factor allows the control unit 20 to make a choice among the plurality of ground markings that can be determined from representative data and associated regulatory criteria.
Le facteur de sécurité est une donnée du constructeur. En pratique, le facteur de sécurité est compris dans une base de données F communiquant avec
l’unité de commande 20. Cette communication est représentée par la flèche située entre les blocs « 20 » et « F » sur la figure 1. The safety factor is a data of the manufacturer. In practice, the security factor is included in a database F communicating with the control unit 20. This communication is represented by the arrow located between the blocks "20" and "F" in FIG.
De préférence, le facteur de sécurité permet à l’unité de commande 20 de comparer tous les marquages au sol potentiels, de sorte que ladite unité de commande 20 détermine le marquage au sol le plus restrictif parmi tous les marquages au sol potentiels. Preferably, the safety factor allows the control unit 20 to compare all potential ground markings so that said control unit 20 determines the most restrictive ground mark among all potential ground markings.
Par exemple, lorsque les données représentatives et les critères réglementaires sont tels que l’unité de commande 20 est susceptible de déterminer un marquage au sol de type « ligne continue » ou « ligne pointillée » (discontinue), l’unité de commande 20 est programmée pour appliquer le facteur de sécurité et déterminer que le marquage au sol à projeter est la ligne continue, qui est la plus restrictive des deux. For example, when the representative data and the regulatory criteria are such that the control unit 20 is able to determine a "continuous line" or "dotted line" type of ground marking (discontinuous), the control unit 20 is programmed to apply the safety factor and determine that the ground marking to be projected is the continuous line, which is the most restrictive of the two.
Le facteur de sécurité est aussi particulièrement utile pour adapter le marquage au sol à des situations spécifiques comme : une non-réception d’information de la part de l’unité de détection 10 (capteur indisponible par exemple), une décision à prendre par l’unité de commande 20 lorsque les critères réglementaires autorisent plusieurs possibilités de marquage au sol pour une donnée représentative donnée. Par exemple, dans les cas où les moyens d’acquisition 1 1 A, 11 B, 1 1 C, 1 1 D de l’unité de détection 10 n’ont pas été en mesure de collecter des données brutes satisfaisantes, l’unité de commande 20 détermine que le marquage au sol à projeter est une ligne continue car il s’agit du marquage au sol le plus restrictif. The safety factor is also particularly useful for adapting the ground marking to specific situations such as: a non-receipt of information from the detection unit 10 (sensor unavailable for example), a decision to be taken by the user. control unit 20 when the regulatory criteria allow several possibilities of ground marking for a given representative data. For example, in cases where the acquisition means 11A, 11B, 11C, 11D of the detection unit 10 have not been able to collect satisfactory raw data, the unit control 20 determines that the ground marking to project is a continuous line because it is the most restrictive ground marking.
L’unité de projection d’images 30 communique avec l’unité de commande 20. Cela est représenté par la flèche disposée entre les blocs « 20 » et « 30 » sur la figure 1. The image projection unit 30 communicates with the control unit 20. This is represented by the arrow disposed between the blocks "20" and "30" in FIG.
De manière avantageuse, l’unité de projection d’images 30 est ici adaptée à projeter ladite représentation du marquage au sol selon un principe de projection en réalité augmentée. Advantageously, the image projection unit 30 is here adapted to project said representation of the ground marking according to an augmented reality projection principle.
Plus précisément, l’unité de projection d’images est adaptée à projeter la représentation du marquage au sol de manière qu’elle soit vue sur la route, du point de vue du conducteur du véhicule automobile. More specifically, the image projection unit is adapted to project the representation of the ground marking so that it is seen on the road, from the point of view of the driver of the motor vehicle.
Ici, l’unité de projection d’images 30 comprend pour ce faire un afficheur tête haute 31 tel que représenté sur la figure 2. Here, the image projection unit 30 comprises for this purpose a head-up display 31 as shown in FIG. 2.
D’une manière générale, comme le montre la figure 2, un tel afficheur
tête haute 31 est adapté à créer une image virtuelle dans le champ de vision d’un conducteur du véhicule, de sorte que le conducteur peut voir cette image virtuelle sans avoir à détourner le regard de la route. L’afficheur tête haute 31 comprend ici un dispositif de génération d’images 32 adapté à générer au moins une image (virtuelle) du marquage I à projeter, et un dispositif de renvoi d’images 33 adapté à transmettre ladite image générée en direction d’une lame au moins partiellement réfléchissante placée dans le champ de vision du conducteur. Dans l’exemple décrit, la lame partiellement réfléchissante est constituée par le parebrise 34 du véhicule lui-même. En variante, la lame partiellement réfléchissante pourrait être un élément distinct du parebrise. Dans tous les cas, cette lame partiellement réfléchissante est une lame au moins partiellement réfléchissante et au moins partiellement transparente. In general, as shown in FIG. 2, such a display head-up 31 is adapted to create a virtual image in the field of view of a driver of the vehicle, so that the driver can see this virtual image without having to look away from the road. The head-up display 31 here comprises an image generation device 32 adapted to generate at least one (virtual) image of the marking I to be projected, and an image-returning device 33 adapted to transmit said generated image in the direction of the image. an at least partially reflective blade placed in the driver's field of vision. In the example described, the partially reflecting blade is constituted by the windshield 34 of the vehicle itself. Alternatively, the partially reflective blade could be a separate element of the windshield. In all cases, this partially reflecting blade is a blade at least partially reflective and at least partially transparent.
En pratique, l’unité de commande 20 ne détermine pas seulement le marquage au sol à projeter, mais également l’endroit où la représentation de ce marquage au sol doit être projetée par l’unité de projection d’images 30 de sorte qu’il soit vue par le conducteur comme s’il était sur la route. In practice, the control unit 20 not only determines the marking on the ground to be projected, but also the place where the representation of this marking on the ground must be projected by the image projection unit 30 so that he is seen by the driver as if he were on the road.
Pour ce faire, l’unité de commande 20 utilise les données brutes et/ou données représentatives reçues de l’unité de détection 10 afin de faire coïncider l’affichage virtuel du marquage au sol en réalité augmentée, avec la route réelle telle qu’elle est vue par le conducteur. L’unité de commande 20 peut notamment utiliser les données représentatives de la route telles que la forme de la route. To do this, the control unit 20 uses the raw data and / or representative data received from the detection unit 10 in order to match the virtual display of the ground marking actually increased, with the actual route such that she is seen by the driver. The control unit 20 can in particular use the data representative of the road such as the shape of the road.
Selon une variante plus sophistiquée du dispositif selon l’invention, l’unité de détection 10 est en outre adaptée à détecter au moins une donnée contextuelle relative à l’utilisation de la route sur laquelle évolue ledit véhicule automobile. According to a more sophisticated variant of the device according to the invention, the detection unit 10 is further adapted to detect at least one contextual datum relating to the use of the road on which said motor vehicle evolves.
Plus précisément, les moyens d’analyse 12 de l’unité de détection 10 sont dans ce cas adaptés à traiter les données brutes collectées par les moyens d’acquisition 1 1 A, 1 1 B, 1 1 C, 1 1 D pour déterminer ladite au moins une donnée contextuelle relative à l’utilisation de la route. More specifically, the analysis means 12 of the detection unit 10 are in this case adapted to process the raw data collected by the acquisition means 1 1 A, 1 1 B, 1 1 C, 1 1 D to determine said at least one contextual data relating to the use of the road.
Cette donnée contextuelle est par exemple relative à la présence ou à l’absence de marquage au sol sur la route, à la position du véhicule automobile sur la chaussée, à la présence d’autres véhicules automobiles évoluant sur la route et à leur position respective sur la route et leur sens de circulation, à l’approche d’un carrefour ou encore aux conditions météorologiques (par exemple pluie, brouillard, soleil).
En pratique, la ou les données contextuelles sont déterminées par les moyens d’analyse 12, de préférence à partir des données brutes provenant du capteur d’images 1 1 A et du LIDAR 1 1 B. On peut prévoir par exemple que les moyens d’analyse 12 sont adaptés à déterminer les conditions météorologiques à partir des images acquises par le capteur d’images 11 A, des données brutes reçues du LIDAR, des données reçues des moyens de communication avec un organe externe, de la navigation, ou du boîtier multimédia du véhicule, voire du « cloud ». This contextual data relates, for example, to the presence or absence of road markings on the road, to the position of the motor vehicle on the roadway, to the presence of other motor vehicles traveling on the road and to their respective positions. on the road and their direction of travel, approaching a crossroads or weather conditions (eg rain, fog, sun). In practice, the contextual data is determined by the analysis means 12, preferably from the raw data from the image sensor 11A and LIDAR 11B. 12 are adapted to determine the meteorological conditions from the images acquired by the image sensor 11A, raw data received from the LIDAR, data received from the means of communication with an external device, navigation, or the housing multimedia of the vehicle, or even the "cloud".
Selon cette variante sophistiquée, il est possible que l’unité de commande 20 ne détermine le marquage au sol à projeter que lorsque il y a absence de marquage au sol réel sur la route. On peut aussi envisager que l’unité de commande 20 détermine le marquage au sol à projeter seulement lorsqu’il y a absence de marquage au sol réel sur la route en cas de météo ensoleillée, mais qu’il y ait absence de marquage au sol ou non par temps de pluie ou brouillard. According to this sophisticated variant, it is possible for the control unit 20 to determine the ground marking to be projected only when there is no real road marking on the road. It can also be envisaged that the control unit 20 determines the ground marking to be projected only when there is no real road marking on the road in the event of sunny weather, but that there is no marking on the ground or not in rain or fog.
Par météo ensoleillée, cela évite qu’il y ait deux marquages au sol superposés, le marquage réel sur la route et le marquage projeté par le dispositif d’affichage. Autrement dit, prévoir de déterminer le marquage au sol à projeter uniquement lorsqu’il y a absence de marquage au sol réel diminue le risque de confusion pour le conducteur lorsque le temps est ensoleillé. Au contraire, par temps de pluie ou brouillard, prévoir de déterminer le marquage au sol et d’afficher sa représentation, qu’il existe un marquage au sol réel ou non, permet de garantir que le conducteur aura au moins un marquage au sol sur lequel s’appuyer (le marquage au sol réel risquant d’être moins voire non visible par temps de pluie ou brouillard, le conducteur verra au moins la représentation du marquage projetée par le dispositif d’affichage 100). In sunny weather, this prevents there being two superimposed ground markings, the actual marking on the road and the marking projected by the display device. In other words, planning to determine the ground marking to be projected only when there is no real marking on the ground reduces the risk of confusion for the driver when the weather is sunny. On the other hand, in the case of rain or fog, planning to determine the marking on the ground and to display its representation, whether or not there is a real ground marking, ensures that the driver will have at least one ground marking on the ground. which to rely (the actual ground marking may be less or not visible in rain or fog, the driver will see at least the representation of the marking projected by the display device 100).
L’unité de commande 20 est en outre adaptée à déterminer ledit marquage au sol à projeter en tenant compte de ladite donnée contextuelle. The control unit 20 is further adapted to determine said ground marking to be projected taking into account said contextual data.
Par exemple, l’unité de commande 20 reçoit comme donnée représentative de la route « la largeur de la route », et comme donnée contextuelle le fait qu’un « autre véhicule arrive dans l’autre sens », ou qu’un « obstacle est présent sur la chaussée ». Lorsque la chaussée est suffisamment large pour que les deux véhicules se croisent, le dispositif d’affichage projette un marquage au sol permettant d’aider le conducteur du véhicule automobile à rester sur sa voie et à croiser l’autre véhicule (ou à éviter l’obstacle). Cette situation est
illustrée sur la figure 3, où le véhicule automobile croise sur une route de campagne, sans marquage au sol, un tracteur T de largeur conséquente. Le dispositif d’affichage 100 selon l’invention projette alors une représentation d’une ligne discontinue LD, décentrée par rapport au milieu de la route de manière à aider le conducteur automobile à croiser le tracteur sans accident. La projection est symbolisée ici par le symbole de « flèche » entre la ligne discontinue LD et l’unité de projection 30. Autrement dit, la représentation de la ligne discontinue projetée indique au conducteur du véhicule automobile la place dont il dispose sur la chaussée pour croiser le tracteur T. For example, the control unit 20 receives as representative data of the road "the width of the road", and as contextual data the fact that "another vehicle arrives in the other direction", or that an "obstacle" is present on the roadway ". When the roadway is wide enough for the two vehicles to cross, the display device projects a marking on the ground to help the driver of the motor vehicle to stay in his lane and to cross the other vehicle (or to avoid 'obstacle). This situation is illustrated in Figure 3, where the vehicle crosses on a country road, without marking on the ground, a tractor T of substantial width. The display device 100 according to the invention then projects a representation of a discontinuous line LD, off-center with respect to the middle of the road so as to help the car driver to cross the tractor without accident. The projection is symbolized here by the symbol "arrow" between the discontinuous line LD and the projection unit 30. In other words, the representation of the projected discontinuous line indicates to the driver of the motor vehicle the space he has on the road for cross the tractor T.
Selon un autre exemple, il est imaginable que l’unité de commande 20 reçoive comme donnée représentative de la route « route de campagne vallonnée » et comme données contextuelles « véhicule arrivant dans l’autre sens » et « autre véhicule situé devant le véhicule automobile ». Dans cette situation, l’unité de commande 20 détermine que le marquage au sol est une ligne continue pour interdire au conducteur de dépasser le véhicule situé devant lui, puisqu’un autre véhicule arrive dans l’autre sens. In another example, it is conceivable that the control unit 20 receives as representative data of the road "hilly country road" and as contextual data "vehicle arriving in the other direction" and "other vehicle in front of the motor vehicle ". In this situation, the control unit 20 determines that the ground marking is a continuous line to prohibit the driver to overtake the vehicle in front of him, since another vehicle arrives in the other direction.
Ainsi, selon cette variante sophistiquée, ce ne sont pas seulement les caractéristiques de la route qui sont prises en compte pour déterminer le marquage au sol, mais aussi les conditions d’utilisation de la route. Thus, according to this sophisticated variant, it is not only the characteristics of the road that are taken into account to determine the marking on the ground, but also the conditions of use of the road.
L’unité de commande 20 peut en outre utiliser les données contextuelles, en plus des données brutes et/ou des données représentatives de la route pour déterminer l’endroit où la représentation du marquage au sol doit être projetée. Par exemple, l’unité de commande 20 peut utiliser la donnée contextuelle relative à la position du véhicule automobile sur la route pour décider s’il y a lieu ou non de déterminer le marquage au sol à projeter.
The control unit 20 may further utilize the contextual data, in addition to the raw data and / or road representative data to determine where the representation of the ground mark is to be projected. For example, the control unit 20 can use the contextual data relating to the position of the motor vehicle on the road to decide whether or not to determine the ground marking to be projected.
Claims
1. Dispositif d’affichage (100) pour l’aide à la conduite d’un conducteur d’un véhicule automobile, comprenant : A display device (100) for assisting a driver of a motor vehicle, comprising:
- une unité de détection (10) adaptée à détecter au moins une donnée représentative de la route sur laquelle le véhicule automobile évolue, a detection unit (10) adapted to detect at least one datum representative of the road on which the motor vehicle is moving,
- une unité de commande (20) communiquant avec ladite unité de détection (10) et configurée pour déterminer un marquage au sol à projeter sur ladite route en fonction de ladite donnée représentative de la route détectée par l’unité de détection, et a control unit (20) communicating with said detection unit (10) and configured to determine a ground marking to be projected on said road as a function of said data representative of the road detected by the detection unit, and
- une unité de projection d’images (30) communiquant avec ladite unité de commande (20) et adaptée à projeter dans le champ de vision du conducteur, une représentation dudit marquage au sol. - an image projection unit (30) communicating with said control unit (20) and adapted to project in the field of view of the driver, a representation of said ground marking.
2. Dispositif d’affichage (100) selon la revendication 1 , dans lequel l’unité de détection (10) comprend : The display device (100) according to claim 1, wherein the detection unit (10) comprises:
- des moyens d’acquisition (1 1 A, 1 1 B, 1 1 C, 1 1 D) à courte et/ou à longue distance adaptés à collecter des données brutes associées à la route sur laquelle évolue le véhicule automobile, et - Acquisition means (1 1 A, 1 1 B, 1 1 C, 1 1 D) short and / or long distance adapted to collect raw data associated with the road on which the motor vehicle moves, and
- des moyens d’analyse (12) adaptés à traiter les données brutes collectées pour déterminer ladite au moins une donnée représentative de la route, choisie parmi : le numéro de la route, la nature de la route, la largeur de la route ou encore la forme de la route. analysis means (12) adapted to process the raw data collected in order to determine the said at least one representative datum of the road, chosen from: the number of the road, the nature of the road, the width of the road or else the shape of the road.
3. Dispositif d’affichage (100) selon la revendication 2, dans lequel les moyens d’acquisition (1 1 A, 1 1 B, 1 1 C, 1 1 D) de l’unité de détection (10) sont choisis parmi : un capteur d’images (1 1 A), un télémètre (1 1 B), un moyen de géolocalisation (1 1 C), une unité de mémorisation (11 D) comportant des données cartographiques de la zone géographique dans laquelle évolue le véhicule automobile, ou une combinaison de ces moyens d’acquisition (1 1 A, 1 1 B, 11 C, 11 D). The display device (100) according to claim 2, wherein the acquisition means (11A, 11B, 11C, 11D) of the detection unit (10) are selected from : an image sensor (1 1 A), a range finder (1 1 B), a geolocation means (1 1 C), a storage unit (11 D) comprising cartographic data of the geographical area in which the motor vehicle, or a combination of these acquisition means (1 1 A, 1 1 B, 11 C, 11 D).
4. Dispositif d’affichage (100) selon l’une des revendications 1 à 3, dans lequel l’unité de détection (10) est en outre adaptée à détecter au moins une donnée contextuelle relative à l’utilisation de la route sur laquelle évolue ledit véhicule automobile. 4. Display device (100) according to one of claims 1 to 3, wherein the detection unit (10) is further adapted to detect at least one contextual data relating to the use of the road on which evolves said motor vehicle.
5. Dispositif d’affichage (100) selon la revendication 4, dans lequel l’unité
de commande (20) est adaptée à déterminer ledit marquage au sol à projeter en tenant compte de ladite donnée contextuelle. The display device (100) according to claim 4, wherein the unit control unit (20) is adapted to determine said ground marking to be projected taking into account said contextual data.
6. Dispositif d’affichage (100) selon l’une des revendications 4 et 5, dans lequel l’unité de projection d’images (30) est adaptée à projeter ladite représentation du marquage au sol déterminé par l’unité de commande lorsque ladite donnée contextuelle déterminée par l’unité de détection (10) correspond à une absence de marquage au sol. The display device (100) according to one of claims 4 and 5, wherein the image projection unit (30) is adapted to project said representation of the ground marking determined by the control unit when said contextual data determined by the detection unit (10) corresponds to an absence of ground marking.
7. Dispositif d’affichage (100) selon l’une des revendications 1 à 6, dans lequel l’unité de commande (20) est adaptée à déterminer ledit marquage au sol à projeter en tenant compte d’au moins un critère réglementaire associé à la donnée représentative de la route détectée par l’unité de détection. 7. Display device (100) according to one of claims 1 to 6, wherein the control unit (20) is adapted to determine said ground marking to project taking into account at least one associated regulatory criterion to the data representative of the route detected by the detection unit.
8. Dispositif d’affichage (100) selon la revendication 7, dans lequel ledit au moins un critère réglementaire dépend de la règlementation relative au marquage au sol des routes dans une région du monde prédéterminée. The display device (100) according to claim 7, wherein said at least one regulatory criterion is dependent on the regulations for road marking of roads in a predetermined region of the world.
9. Dispositif d’affichage (100) selon l‘une des revendications 7 et 8, dans lequel ledit au moins un critère réglementaire est stocké dans une unité de mémorisation (40, 1 1 D) avec laquelle ladite unité de commande (20) est adaptée à communiquer. 9. Display device (100) according to one of claims 7 and 8, wherein said at least one regulatory criterion is stored in a storage unit (40, 1 1 D) with which said control unit (20) is adapted to communicate.
10. Dispositif d’affichage (100) selon l’une des revendications 1 à 9, dans lequel l’unité de commande (20) est adaptée à appliquer un facteur de sécurité pour déterminer ledit marquage au sol à projeter. 10. Display device (100) according to one of claims 1 to 9, wherein the control unit (20) is adapted to apply a safety factor to determine said floor marking to be projected.
1 1. Dispositif d’affichage (100) selon l’une des revendications 1 à 10, dans lequel l’unité de projection d’images (30) comprend un afficheur tête haute. The display device (100) according to one of claims 1 to 10, wherein the image projection unit (30) comprises a head-up display.
12. Dispositif d’affichage selon la revendication 1 1 , dans lequel l’unité de projection d’images (30) est adaptée à projeter la représentation du marquage au sol de manière qu’elle soit vue sur la route, du point de vue du conducteur du véhicule automobile.
12. A display device according to claim 11, wherein the image projection unit (30) is adapted to project the representation of the ground marking so that it is seen on the road, from the point of view of the driver of the motor vehicle.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1854918A FR3082320B1 (en) | 2018-06-06 | 2018-06-06 | DISPLAY DEVICE FOR DRIVING ASSISTANCE |
FR1854918 | 2018-06-06 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019233804A1 true WO2019233804A1 (en) | 2019-12-12 |
Family
ID=63407403
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2019/063689 WO2019233804A1 (en) | 2018-06-06 | 2019-05-27 | Visual display unit for driving assistance |
Country Status (2)
Country | Link |
---|---|
FR (1) | FR3082320B1 (en) |
WO (1) | WO2019233804A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113928336A (en) * | 2021-09-24 | 2022-01-14 | 上海时代之光照明电器检测有限公司 | Automatic driving assistance method and system for automobile |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100001883A1 (en) * | 2005-07-19 | 2010-01-07 | Winfried Koenig | Display Device |
US20110301813A1 (en) * | 2010-06-07 | 2011-12-08 | Denso International America, Inc. | Customizable virtual lane mark display |
EP2525335A2 (en) * | 2011-05-16 | 2012-11-21 | Samsung Electronics Co., Ltd. | User interface method for terminal for vehicle and apparatus thereof |
US20170120819A1 (en) * | 2014-09-29 | 2017-05-04 | Mitsubishi Electric Corporation | Information display control system and method of controlling display of information |
-
2018
- 2018-06-06 FR FR1854918A patent/FR3082320B1/en active Active
-
2019
- 2019-05-27 WO PCT/EP2019/063689 patent/WO2019233804A1/en active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100001883A1 (en) * | 2005-07-19 | 2010-01-07 | Winfried Koenig | Display Device |
US20110301813A1 (en) * | 2010-06-07 | 2011-12-08 | Denso International America, Inc. | Customizable virtual lane mark display |
EP2525335A2 (en) * | 2011-05-16 | 2012-11-21 | Samsung Electronics Co., Ltd. | User interface method for terminal for vehicle and apparatus thereof |
US20170120819A1 (en) * | 2014-09-29 | 2017-05-04 | Mitsubishi Electric Corporation | Information display control system and method of controlling display of information |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113928336A (en) * | 2021-09-24 | 2022-01-14 | 上海时代之光照明电器检测有限公司 | Automatic driving assistance method and system for automobile |
CN113928336B (en) * | 2021-09-24 | 2023-09-01 | 上海时代之光照明电器检测有限公司 | Automatic driving assisting method and system for automobile |
Also Published As
Publication number | Publication date |
---|---|
FR3082320B1 (en) | 2022-05-27 |
FR3082320A1 (en) | 2019-12-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2448786B1 (en) | Method for controlling a vehicle member | |
CN104691447B (en) | System and method for dynamically focusing on vehicle sensors | |
EP3428900B1 (en) | Method and system to assist with driving an autonomous vehicle on a roadway having force passage zones | |
FR2919098A1 (en) | METHOD FOR AUTOMATIC DETERMINATION OF SPEED LIMITS ON A ROAD AND ASSOCIATED SYSTEM | |
EP3105752B1 (en) | Method for determining a speed limit in force on a road taken by a motor vehicle | |
JP2007147564A (en) | Image recognition device and method thereof, and own vehicle position recognition device and method | |
EP1431918B1 (en) | Method and system for detecting road bends | |
FR3082340A1 (en) | SIGNALING PANEL RECOGNITION SYSTEM | |
FR3056804A1 (en) | DEVICE FOR ASSISTING THE DRIVING OF A VEHICLE BY DETERMINING AND DISPLAYING THE BRAKING DISTANCE OF SAID VEHICLE | |
FR2952599A1 (en) | DRIVER ASSISTANCE SYSTEM OF A MOTOR VEHICLE | |
WO2021047990A1 (en) | System for interaction between an autonomous vehicle and a vulnerable user | |
EP3784987A1 (en) | Method for a motor vehicle to select a preferred traffic lane to cross a toll area | |
FR2785434A1 (en) | Motor vehicle driving aid using video images has field of view of cameras altered in real time depending on surroundings | |
FR2994758A1 (en) | METHOD FOR PREVENTING COLLISION OR REDUCTION OF DAMAGE IN CASE OF ACCIDENTS AND DRIVER ASSISTANCE SYSTEM FOR IMPLEMENTING THE METHOD | |
FR3046769A1 (en) | METHOD AND SYSTEM FOR ASSISTING THE CHANGE OF THE TRACK TRACK FOR A MOTOR VEHICLE | |
WO2019233804A1 (en) | Visual display unit for driving assistance | |
FR3078045A1 (en) | DEVICE AND METHOD FOR AIDING THE DRIVING OF A MOTOR VEHICLE | |
EP4100700A1 (en) | Method for preparing road guidance instructions | |
EP2681724B1 (en) | System and method for detecting a ghost driving situation and for warning accordingly | |
FR3108298A1 (en) | Driver assistance system | |
FR3061287A1 (en) | GPS CORRECTION BY VIDEO REFERENCING ON PANELS TO QR CODE | |
FR2743655A1 (en) | Route selection method for road-bound vehicle | |
EP1738293B1 (en) | Method for controlling the trajectory of a vehicle | |
WO2019220030A1 (en) | Method and device for assisting the automated driving of a vehicle by determining the safety of a proposed trajectory | |
FR3056808A1 (en) | DEVICE FOR AIDING THE DRIVING OF A VEHICLE BY DETERMINING AND DISPLAYING THE ADAPTATION DISTANCE OF THE SPEED OF THE VEHICLE AND AN OBJECT OF THE ROAD SCENE |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19725768 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 19725768 Country of ref document: EP Kind code of ref document: A1 |