WO2024013437A1 - Method and device for managing the stopping of an autonomous vehicle travelling along a traffic lane - Google Patents
Method and device for managing the stopping of an autonomous vehicle travelling along a traffic lane Download PDFInfo
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- WO2024013437A1 WO2024013437A1 PCT/FR2023/050788 FR2023050788W WO2024013437A1 WO 2024013437 A1 WO2024013437 A1 WO 2024013437A1 FR 2023050788 W FR2023050788 W FR 2023050788W WO 2024013437 A1 WO2024013437 A1 WO 2024013437A1
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000000694 effects Effects 0.000 claims description 74
- 230000006870 function Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 2
- 238000011144 upstream manufacturing Methods 0.000 description 21
- 238000012360 testing method Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000006399 behavior Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/30—Driving style
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
Definitions
- Title Method and device for managing a stop of an autonomous vehicle traveling on a traffic lane.
- the invention is in the field of autonomous vehicle driving assistance systems.
- the invention relates to a method and a device for managing a stop of an autonomous vehicle traveling on a traffic lane, said traffic lane comprising a traffic light and a traffic sign, said traffic light and said traffic sign being downstream of said vehicle and at the same intersection.
- Vehicle means any type of vehicle such as a motor vehicle, a moped, a motorcycle, a storage robot in a warehouse, etc.
- Autonomous driving of an “autonomous vehicle” means any process capable of assisting the driving of the vehicle. The method may thus consist of partially or totally steering the vehicle or providing any type of assistance to a natural person driving the vehicle. The process thus covers all autonomous driving, from level 0 to level 5 in the OICA scale, for International Organization of Automobile Manufacturers.
- downstream respectively “upstream”, of the vehicle traveling on a traffic lane is understood to mean that which is in front of, respectively behind, the vehicle traveling in the direction of traffic.
- upstream of an object we mean the space between the object and the vehicle, the vehicle traveling on a lane in the direction of traffic.
- downstream of an object means the space located after the object in the direction of vehicle movement.
- traffic light or “light”, means all traffic lights installed and used permanently or temporarily on the roads to regulate the movement of vehicles.
- traffic lights are intersection light signals, flow control or individual control lights and stop signals modifying normal traffic rules, commonly called traffic lights or traffic signals. 'stop.
- a traffic light indicating a stop is a traffic light whose color and/or flashing frequency legally requires the vehicle to be stopped.
- Traffic sign or “sign” means all signs indicating an intersection and regulating traffic.
- a traffic sign is a “priority on the right”, “punctual priority”, “give way”, “STOP”, “roundabout”, etc. sign.
- ground marking means all the lines, transverse to the traffic lane, continuous or discontinuous, on the roadway which are intended to indicate unambiguously the conduct that users must observe.
- “Effect line” means a marking associated with a traffic light or a traffic sign, indicating the place where the traffic rule of the traffic light or traffic sign applies.
- the markings are lines of effect of traffic lights, lines of effect of traffic signs, etc.
- a line of effect of a STOP sign is a continuous transverse line extending over the entire width of the lanes assigned to the circulation of vehicles which must mark the stop imposed by the STOP sign.
- This line is not necessarily an extension of the edges of the priority roadway. It must be installed in such a way that stopped vehicles have the best possible visibility of traffic on the priority roadway, without hindering the latter in any way.
- This line should therefore be placed on the traffic lane a few meters upstream or downstream, in the direction of traffic, from the STOP sign.
- a line of effect of traffic lights is a transverse line which extends only on the lanes assigned to the circulation of vehicles to which the light signals are addressed. It is often traced when vehicles must stop upstream of the signals or upstream of a pedestrian crossing or a bicycle lock if they exist.
- distance is meant a longitudinal distance, in the direction of a traffic lane on which the autonomous vehicle is traveling, between a marker of said autonomous vehicle and a marker of a detected object.
- a detected object is a traffic light, a traffic sign, a ground marking, or any other object, detected and recognized by an on-board sensor of said vehicle or a sensor mounted outside said vehicle. vehicle.
- a vehicle landmark is a point located at the center of gravity of the vehicle, in the middle of a front or rear axle, a vertical projection, or other, of one of the aforementioned points on the ground, on a horizontal plane or other.
- a mark of the detected object is a point located at the center of gravity of said object, a point of said object closest to said vehicle, a vertical projection, or substantially vertical, of a aforementioned points on the ground, on a horizontal plane or otherwise.
- ADAS Advanced Driver Assistance Systems
- ADAS systems systems capable of stopping a vehicle at a traffic light or a traffic sign in the absence of an effect line are known. Also known are systems capable of stopping a vehicle at the level of a line of effect of a traffic light or a traffic sign.
- An object of the present invention is to remedy the aforementioned problem, in particular to propose management of the stopping of an autonomous vehicle at an intersection equipped with a traffic light and a traffic sign, in the presence or not of effect line.
- a first aspect of the invention relates to a method for managing a stop of an autonomous vehicle traveling on a traffic lane, said traffic lane comprising a traffic light and a traffic sign, said traffic light signaling and said traffic sign being downstream of said vehicle and at the same intersection, said method comprising the steps of:
- the method makes the behavior of the vehicle safe and acceptable, for the passengers of the vehicle, and close to the driving of a human.
- the method makes it possible to take into account the presence or absence of a line of effect of the traffic light, and/or the presence or absence of a line of effect of the traffic sign.
- the autonomous vehicle will stop in a deterministic and repetitive manner in the same situation (presence or not of a light, a sign, an effect line, etc.).
- the process is able to take into account the difficulty of recognizing ground markings which are barely visible, or which are too far away (generally greater than 10 meters).
- close threshold when the difference, in absolute value, between said fire distance and said line distance is less than a predetermined threshold, called close threshold:
- the autonomous vehicle always stops before the traffic light. If the line of effect is close to and upstream of the traffic light, the autonomous vehicle stops at the line of effect of the traffic light. Otherwise, the autonomous vehicle stops upstream of the light at a predetermined calibration distance.
- said stopping distance is equal to the difference between said fire distance and said calibration distance.
- the autonomous vehicle stops upstream of the light at a predetermined calibration distance, the detected line is considered not to be an effect line associated with the light because it is too far from the light and/or the panel.
- the method further comprises:
- said other line distance is a distance between said vehicle and a line of effect of said traffic light or of said traffic sign, in the case of a plurality of lines of effect effects, said other line distance is that determined using the effect line closest to said vehicle, and
- said stopping distance is equal to said other line distance; otherwise said stopping distance is equal to the difference between the panel distance and the calibration distance.
- the calibration distance has a value between 0 and 5 meters.
- the method comprises a step of receiving a value representative of a driving style, such as sporty or normal, called the driving style value, and in which the calibration distance is a function of the driving style value.
- the stopping distance from the light or sign depends on your driving style. For example, for a sporty driving style or in heavy traffic, the vehicle will stop very close to the light either to restart first, or to limit the spaces between cars. For example, for a normal driving style, the vehicle will stop at a respectable distance, for example 1.5 meters, upstream of the light.
- a second aspect of the invention relates to a device comprising a memory associated with at least one processor configured to implement the method according to the first aspect of the invention.
- the invention also relates to a vehicle comprising the device.
- the invention also relates to a computer program comprising instructions which, when the program is executed by the device according to the second aspect of the invention, lead it to implement the method according to the first aspect of the invention .
- FIG. 1 schematically illustrates a device, according to a particular embodiment of the present invention.
- FIG. 2 schematically illustrates a method for managing a stop of an autonomous vehicle traveling on a traffic lane, according to a particular embodiment of the present invention.
- the invention is described below in its non-limiting application to the case of an autonomous motor vehicle traveling on a road or on a lane.
- Other applications such as a robot in a storage warehouse or a motorcycle on a country road are also possible.
- Figure 1 represents an example of device 101 included in the vehicle, in a network (“cloud”) or in a server.
- This device 101 can be used as a centralized device in charge of at least certain steps of the method described below. after with reference to Figure 2. In one embodiment, it corresponds to an autonomous driving computer.
- the device 101 is included in the vehicle.
- This device 101 can take the form of a box comprising printed circuits, any type of computer or even a mobile telephone (“smartphone”).
- the device 101 comprises a RAM 102 for storing instructions for the implementation by a processor 103 of at least one step of the method as described above.
- the device also includes a mass memory 104 for storing data intended to be retained after implementation of the method.
- the device 101 may also include a digital signal processor (DSP) 105.
- This DSP 105 receives data to format, demodulate and amplify this data in a manner known per se.
- the device 101 also includes an input interface 106 for receiving the data implemented by the method according to the invention and an output interface 107 for transmitting the data implemented by the method according to the invention.
- the input interface 106 can receive the following data: position or geographic location of the vehicle, speed and/or acceleration of the vehicle, set or predetermined positions/speeds/accelerations, engine speed, position and/or travel of the clutch, brake and/or acceleration pedal, detection of other vehicles or objects, position or geographical location of other vehicles or objects detected, speed and/or acceleration of other vehicles or objects detected, states or meaning of objects detected, operating states of sensors, confidence index of data from or processed by sensors.
- sensor we mean devices capable of detecting or measuring physical phenomena, but also devices similar to device 101.
- the sensors capable of providing data are: GPS associated or not with mapping, odometers, tachometers, accelerometers, RADAR, LIDAR, lasers, ultrasound, camera, etc.
- These sensors are capable of providing additional information to using post-processing of data or information that they possess or receive from other sensors.
- These sensors are embedded in the vehicle and/or disembarked from the vehicle. In the case of sensors embedded in the vehicle, these sensors transmit information to the device 101 via wired or non-wired communication (for example by electromagnetic waves, by photons, etc.). In the case of sensors dismounted from the vehicle, these sensors transmit information to the device 101 via non-wired communication (for example by electromagnetic waves, by radio frequencies, by photons, etc.) or via another on-board sensor.
- the output interface can transmit information to a vehicle control unit, such as the engine(s), brakes, steering, suspensions, etc., to another device similar to the device 101, or to a ADAS system capable of controlling the vehicle.
- a vehicle control unit such as the engine(s), brakes, steering, suspensions, etc.
- Steering may include the ability to control or regulate a position, speed and/or acceleration of the vehicle.
- Figure 2 schematically illustrates a method for managing a stop of an autonomous vehicle traveling on a traffic lane, according to a particular embodiment of the present invention.
- Step 201, FR is a step of receiving a signal indicating that the traffic light is in a state requiring the vehicle to stop at the light. At this intersection there is a traffic light. Sensors, for example, using image processing acquired by a camera, detect the presence of this fire, locate it and manage to interpret the state in which the fire is. For example, the fire can be put out, and there is no obligation to stop. In another example, the light is in a state, in which the vehicle must stop in accordance with traffic rules, for example a red light on for a traffic light.
- Step, 202, DistF is a step of receiving a first distance, called the traffic light distance, between said vehicle and said traffic light.
- the sensors were able to determine the distance separating the vehicle from the light, and to transmit the light distance to the device 101, otherwise we no longer find us in an ambiguous situation with double signaling, light and sign, at the same time. intersection for the same direction of traffic.
- Step 203, DistP is a step of receiving a second distance, called panel distance, between said vehicle and said traffic sign.
- the sensors were able to detect the presence of a traffic sign, to determine the distance separating the vehicle from the sign, and to transmit the sign distance to the device 101.
- step 210 If a traffic sign is not detected, we move on to step 210.
- Step 204 DistF ⁇ DistP?, is a comparison test step between the fire distance and the panel distance.
- step 205 This means that the traffic light is closer to the vehicle than the traffic sign.
- step 210 we also go to step 205 when the fire distance is close to the panel distance, and to step 210 if the distances are not close. In this case, by close we mean a difference, in absolute value, in distance between 0 and 1 meter, or more for example.
- Step 205, DistL is a step of receiving a third distance, called line distance, said line distance being a distance between said vehicle and a line of effect of said traffic light or said traffic sign, in the event of plurality of lines of effect, said line distance is that determined using said line of effect closest to said vehicle.
- the sensors were able to detect markings on the ground, to determine that a marking is a line of effect of a traffic light or a traffic sign, to determine the distance separating the vehicle from the line, and transmitting the line distance to the device 101.
- the process can be restarted when the closest line of effect previously detected is no longer visible, when the closest line of effect is moved away from the fire distance , by distant we mean in this case more than 3 to 5 meters for example.
- the method transmits this distance to a control member of said vehicle in order to stop the vehicle at said stopping distance.
- Steps 206 to 209 describe an example of carrying out the determination of a stopping distance as a function of said line distance and said fire distance.
- Step 206 is a test step on the difference, in absolute value, between said fire distance and said line distance. If this difference is less than a predetermined threshold, called a near threshold, then we go to step 207, otherwise we go to step 209.
- a near threshold is a configurable distance worth from 1 to 10 meters, in particular between 3 and 8 meters, preferably around 5 meters.
- Step 207, DistL ⁇ DistF - Sc? is a test step to check if said line distance is less than the difference between said fire distance and a predetermined distance, called calibration distance.
- Said calibration distance has a value between 0 and 5 meters, but it can be higher.
- said calibration distance is between 0 and 2 meters.
- the method further comprises a step of receiving a value representative of a driving style, such as sporty or normal, called the driving style value, and in which the calibration distance is a function of the style value. driving. For example, in the case of a so-called sporty driving style or in the case of a traffic jam type driving style, said calibration distance is close to 0 meters.
- the vehicle after stopping the vehicle, when the traffic light no longer requires the vehicle to stop, the vehicle will be one of the first to leave. Also, this makes it possible to limit the distances between stopped vehicles to, for example, take up as little space as possible on the traffic lane and free up space for other vehicles or avoid blocking an intersection. previous due to an uninterrupted line of vehicles stopped at the traffic light.
- the calibration distance will be equal to 2 meters, other values are possible.
- step 208 If said line distance is less than the difference between said fire distance and said calibration distance, then we go to step 208, otherwise we go to step 209.
- Step 208, STP(DistL), is a step where said stopping distance is determined as equal to said line distance, then said stopping distance is transmitted to a control member of said vehicle in order to stop the vehicle at said stopping distance thus determined.
- the line of effect is a line of effect of said traffic light, and this line of effect is upstream of said traffic light. You must therefore stop on the stop light line.
- the line of effect of the light upstream of the light provides a certain safety distance from a pedestrian crossing or from an airlock for cyclists.
- Step 209 STP (DistF-Sc), is a step where said stopping distance is determined as equal to the difference between said fire distance and said calibration distance, then said stopping distance is transmitted to a control unit. piloting said vehicle in order to stop the vehicle at said stopping distance thus determined.
- the first situation is where the line of effect is a line of effect of said traffic light. This line is close to the light, at a close threshold distance. In this case, you must therefore stop before the fire without exceeding the line of effect. This is why the calibration distance is taken into account, this distance being taken into account jointly in steps 207 and 209.
- the second situation is that where the line of effect is either a line of effect of the traffic sign, the line of effect being downstream of the light, or a line of effect of the traffic light, the line of effect then being upstream of the light. In this case, we stop well before the fire without passing it. In both situations, stopping upstream of the fire is well done.
- Step 210, DistL' is a step of receiving a fourth distance, called another line distance, said other line distance is a distance between said vehicle and a line of effect of said traffic light or of said traffic sign, in the case of a plurality of lines of effect, said other line distance is that determined using the line of effect closest to said vehicle
- the sensors were able to detect markings on the ground, to determine that a marking is a line of effect of a traffic light or a traffic sign, to determine the distance separating the vehicle from the line, and transmitting the line distance to the device 101.
- the process can be restarted when the closest line of effect previously detected is no longer visible, when the closest line of effect is moved away from the fire distance , by distant we mean in this case more than 3 to 5 meters for example.
- the method transmits this distance to a control member of said vehicle in order to stop the vehicle at said stopping distance.
- Steps 211 to 213 describe an exemplary embodiment of determining a stopping distance as a function of said other line distance and said panel distance.
- Step 211 when the panel is closer to the vehicle than the light.
- ⁇ Sp is a test step on the difference, in absolute value, between said panel distance and said other line distance. If this difference is less than a predetermined threshold, called a near threshold, then we go to step 212, otherwise we go to step 213.
- the near threshold is a configurable distance worth from 1 to 10 meters, in particular between 3 and 8 meters, preferably around 5 meters.
- the threshold close to step 211 may be different from the threshold close to step 206.
- Step 212 STP(DistL'), is a step where said stopping distance is determined as equal to said other line distance, then said stopping distance is transmitted to a control member of said vehicle in order to stop the vehicle at said stopping distance thus determined.
- the line of effect is a line of effect of said traffic sign, and this line of effect is upstream or downstream of said traffic sign. You must therefore stop at the stop line on the sign.
- Step 213, STP is a step where said stopping distance is determined as equal to the difference between the panel distance and the calibration distance, then said stopping distance is transmitted to a control unit. piloting said vehicle in order to stop the vehicle at said stopping distance thus determined.
- the first situation is where the line of effect is a line of effect of said traffic sign. This line is located close to the panel, at a close threshold distance, upstream or downstream of the panel. In this case, we must therefore stop at the line of effect.
- the second situation is where the line of effect is not close to the sign and the line of effect is downstream of the sign.
- the panel being in front of the light, following the test in step 204, the signage on the panel must be respected, preferably at a calibration distance. In both situations, the stop at the panel is well done.
- tests by comparison or in relation to thresholds are described.
- these comparisons can be less strict or adapted by taking a neighboring threshold, or take into account a hysteresis effect.
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Abstract
The invention relates to a method and a device for managing the stopping of an autonomous vehicle travelling along a traffic lane, the traffic lane comprising traffic lights and a road sign, the traffic lights and the road sign being downstream of the vehicle and at one and the same intersection. The method receives a signal (201) indicating that the traffic lights are in a state requiring that the vehicle stop at the traffic lights, a distance (202) between the vehicle and the traffic lights, a distance (203) between the vehicle and the road sign, a distance (205), referred to as the line distance, between the vehicle and a stop line of the traffic lights or of the road sign, and then determines (206, 207, 208, 209) a stopping distance depending on the line distance and the traffic light distance.
Description
DESCRIPTION DESCRIPTION
Titre : Procédé et dispositif de gestion d’un arrêt d’un véhicule autonome circulant sur une voie de circulation. Title: Method and device for managing a stop of an autonomous vehicle traveling on a traffic lane.
La présente invention revendique la priorité de la demande française 2207187 déposée le 13.07.2022 dont le contenu (texte, dessins et revendications) est ici incorporé par référence. The present invention claims priority from French application 2207187 filed on 07/13/2022, the content of which (text, drawings and claims) is herein incorporated by reference.
L’invention est dans le domaine des systèmes d’aide à la conduite de véhicule autonome. En particulier, l’invention concerne un procédé et un dispositif de gestion d’un arrêt d’un véhicule autonome circulant sur une voie de circulation, ladite voie de circulation comprenant un feu de signalisation et un panneau de signalisation, ledit feu de signalisation et ledit panneau de signalisation étant en aval dudit véhicule et au niveau d’une même intersection. The invention is in the field of autonomous vehicle driving assistance systems. In particular, the invention relates to a method and a device for managing a stop of an autonomous vehicle traveling on a traffic lane, said traffic lane comprising a traffic light and a traffic sign, said traffic light and said traffic sign being downstream of said vehicle and at the same intersection.
On entend par « véhicule » tout type de véhicule tel qu’un véhicule automobile, un cyclomoteur, une motocyclette, un robot de stockage dans un entrepôt, etc. On entend par « conduite autonome » d’un « véhicule autonome » tout procédé apte à assister la conduite du véhicule. Le procédé peut ainsi consister à diriger partiellement ou totalement le véhicule ou à apporter tout type d’aide à une personne physique conduisant le véhicule. Le procédé couvre ainsi toute conduite autonome, du niveau 0 au niveau 5 dans le barème de l’OICA, pour Organisation International des Constructeurs Automobiles. “Vehicle” means any type of vehicle such as a motor vehicle, a moped, a motorcycle, a storage robot in a warehouse, etc. “Autonomous driving” of an “autonomous vehicle” means any process capable of assisting the driving of the vehicle. The method may thus consist of partially or totally steering the vehicle or providing any type of assistance to a natural person driving the vehicle. The process thus covers all autonomous driving, from level 0 to level 5 in the OICA scale, for International Organization of Automobile Manufacturers.
On entend par « en aval », respectivement « en amont », du véhicule circulant sur une voie de circulation ce qui est devant, respectivement derrière, le véhicule qui circule dans le sens de la circulation. The term “downstream”, respectively “upstream”, of the vehicle traveling on a traffic lane is understood to mean that which is in front of, respectively behind, the vehicle traveling in the direction of traffic.
On entend par en amont d’un objet, l’espace entre l’objet et le véhicule, le véhicule circulant sur une voie de circulation dans le sens de la circulation. On entend par en en aval d’un objet l’espace situé après l’objet dans le sens de la circulation du véhicule.
On entend par « feu de signalisation », ou « feu », l’ensemble des feux de circulation implantés et utilisés de façon permanente ou temporaire sur les routes pour réglementer la circulation des véhicules. A titre d’exemple non limitatif, les feux de signalisation sont les signaux lumineux d’intersection, les feux de contrôle de flot ou de contrôle individuel et les signaux d’arrêt modifiant les règles normales de circulation, communément appelé feux tricolores ou signal d’arrêt. Un feu de signalisation indiquant un arrêt est un feu de circulation dont la couleur et/ou la fréquence de clignotement impose réglementairement de marquer l’arrêt du véhicule. By upstream of an object we mean the space between the object and the vehicle, the vehicle traveling on a lane in the direction of traffic. The term downstream of an object means the space located after the object in the direction of vehicle movement. The term “traffic light”, or “light”, means all traffic lights installed and used permanently or temporarily on the roads to regulate the movement of vehicles. By way of non-limiting example, traffic lights are intersection light signals, flow control or individual control lights and stop signals modifying normal traffic rules, commonly called traffic lights or traffic signals. 'stop. A traffic light indicating a stop is a traffic light whose color and/or flashing frequency legally requires the vehicle to be stopped.
On entend par « panneau de signalisation », ou « panneau », l’ensemble des panneaux indiquant une intersection et réglementant la circulation. A titre d’exemple non limitatif, un panneau de signalisation est un panneau « priorité à droite », « priorité ponctuelle », « cédez le passage », « STOP », « carrefour à sens giratoire », ... “Traffic sign” or “sign” means all signs indicating an intersection and regulating traffic. As a non-limiting example, a traffic sign is a “priority on the right”, “punctual priority”, “give way”, “STOP”, “roundabout”, etc. sign.
On entend par « marquage au sol », ou marquage, l’ensemble des les lignes, transversales par rapport à la voie de circulation, continues ou discontinues, sur chaussée qui ont pour but d’indiquer sans ambiguïté la conduite que doivent observer les usagers. On entend par « ligne d’effet », un marquage associé à un feu de signalisation ou un panneau de signalisation, indiquant l’endroit où s’applique la règle de circulation du feu de signalisation ou du panneau de signalisation. A titre d’exemple non limitatif, les marquages sont des lignes d’effets des feux de signalisation, des lignes d’effet des panneaux de signalisation, ... The term “ground marking”, or marking, means all the lines, transverse to the traffic lane, continuous or discontinuous, on the roadway which are intended to indicate unambiguously the conduct that users must observe. . “Effect line” means a marking associated with a traffic light or a traffic sign, indicating the place where the traffic rule of the traffic light or traffic sign applies. By way of non-limiting example, the markings are lines of effect of traffic lights, lines of effect of traffic signs, etc.
Par exemple, une ligne d’effet d’un panneau STOP est une ligne transversale continue s'étend sur toute la largeur des voies affectées à la circulation des véhicules qui doivent marquer l'arrêt imposé par le panneau STOP. Cette ligne n'est pas forcément le prolongement des bordures de la chaussée prioritaire. Elle doit être implantée de façon que les véhicules à l'arrêt aient la meilleure visibilité possible du trafic de la chaussée prioritaire, sans gêner en aucune façon ce dernier. Cette ligne est donc être placée sur la voie de circulation à quelques mètres en amont ou en aval, dans le sens de la circulation, du panneau STOP. For example, a line of effect of a STOP sign is a continuous transverse line extending over the entire width of the lanes assigned to the circulation of vehicles which must mark the stop imposed by the STOP sign. This line is not necessarily an extension of the edges of the priority roadway. It must be installed in such a way that stopped vehicles have the best possible visibility of traffic on the priority roadway, without hindering the latter in any way. This line should therefore be placed on the traffic lane a few meters upstream or downstream, in the direction of traffic, from the STOP sign.
Par exemple, une ligne d'effet des feux de signalisation est une ligne transversale qui ne s'étend que sur les voies affectées à la circulation des véhicules auxquels s'adressent les signaux des feux. Elle est souvent tracée lorsque les véhicules
doivent s’arrêter en amont des signaux ou en amont d’un passage pour piétons ou d’un sas pour vélo s’ils existent. For example, a line of effect of traffic lights is a transverse line which extends only on the lanes assigned to the circulation of vehicles to which the light signals are addressed. It is often traced when vehicles must stop upstream of the signals or upstream of a pedestrian crossing or a bicycle lock if they exist.
On entend par « distance », une distance longitudinale, dans le sens d’une voie de circulation sur laquelle le véhicule autonome circule, entre un repère dudit véhicule autonome et un repère d’un objet détecté. A titre d’exemple non limitatif, un objet détecté est un feu de signalisation, un panneau de signalisation, un marquage au sol, ou tout autre objet, détecté et reconnu par un capteur embarqué dudit véhicule ou un capteur débarqué à l’extérieur dudit véhicule. A titre d’exemple non limitatif, un repère du véhicule est un point situé au centre de gravité du véhicule, au milieu d’un essieu avant ou arrière, une projection verticale, ou autre, d’un des points précités sur le sol, sur un plan horizontal ou autre. A titre d’exemple non limitatif, un repère de l’objet détecté est un point situé au centre de gravité dudit objet, un point dudit objet le plus proche par rapport au dit véhicule, une projection verticale, ou sensiblement vertical, d’un des points précités sur le sol, sur un plan horizontal ou autre. By “distance” is meant a longitudinal distance, in the direction of a traffic lane on which the autonomous vehicle is traveling, between a marker of said autonomous vehicle and a marker of a detected object. By way of non-limiting example, a detected object is a traffic light, a traffic sign, a ground marking, or any other object, detected and recognized by an on-board sensor of said vehicle or a sensor mounted outside said vehicle. vehicle. By way of non-limiting example, a vehicle landmark is a point located at the center of gravity of the vehicle, in the middle of a front or rear axle, a vertical projection, or other, of one of the aforementioned points on the ground, on a horizontal plane or other. By way of non-limiting example, a mark of the detected object is a point located at the center of gravity of said object, a point of said object closest to said vehicle, a vertical projection, or substantially vertical, of a aforementioned points on the ground, on a horizontal plane or otherwise.
Les procédés aptes à assister la conduite du véhicule sont aussi nommés ADAS (de l’acronyme anglais « Advanced Driver Assistance Systems »), systèmes ADAS ou systèmes d’aide à la conduite. Parmi les systèmes ADAS, sont connus les systèmes aptes à faire arrêter un véhicule au niveau d’un feu de signalisation ou d’un panneau de signalisation en absence de ligne d’effet. Sont également connus les systèmes aptes à faire arrêter un véhicule au niveau d’une ligne d’effet d’un feu de signalisation ou d’un panneau de signalisation. The processes capable of assisting the driving of the vehicle are also called ADAS (from the English acronym “Advanced Driver Assistance Systems”), ADAS systems or driving assistance systems. Among ADAS systems, systems capable of stopping a vehicle at a traffic light or a traffic sign in the absence of an effect line are known. Also known are systems capable of stopping a vehicle at the level of a line of effect of a traffic light or a traffic sign.
Cependant, lorsque des panneaux de signalisations sont placés à une intersection équipée de feux de signalisation, la situation devient ambigüe. En particulier, cela est le cas lorsqu’une ligne d’effet d’un feu de signalisation est placée plusieurs mètres en amont du feu, et/ou lorsqu’une ligne d’effet d’un panneau de signalisation est placée plusieurs mètres en amont ou en aval du panneau. Par exemple, pour une même intersection, un véhicule pourrait s’arrêter au niveau de la ligne d’effet d’un feu plusieurs mètres en amont du feu (par exemple avant un passage pour piéton, avant un sas pour les cyclistes), puis, s’arrêter de nouveau quelques mètres en aval, au niveau de la ligne d’effet d’un panneau de signalisation. Dans un autre exemple, dans le cas où il n’existe qu’une seule ligne d’effet pour une intersection en présence d’un feu de signalisation et d’un panneau de signalisation, il est aussi ambigu pour
savoir où s’arrêter (au niveau du feu, au niveau du panneau, au niveau de la ligne d’effet, au niveau de la ligne d’effet si le feu est éteint, ...). However, when traffic signs are placed at an intersection equipped with traffic lights, the situation becomes ambiguous. In particular, this is the case when a line of effect of a traffic light is placed several meters upstream of the light, and/or when a line of effect of a traffic sign is placed several meters in front of the light. upstream or downstream of the panel. For example, for the same intersection, a vehicle could stop at the line of effect of a light several meters upstream of the light (for example before a pedestrian crossing, before an airlock for cyclists), then , stop again a few meters downstream, at the line of effect of a traffic sign. In another example, in the case where there is only one line of effect for an intersection in the presence of a traffic light and a traffic sign, it is also ambiguous for know where to stop (at the fire, at the sign, at the line of effect, at the line of effect if the fire is out, etc.).
Un objet de la présente invention est de remédier au problème précité, en particulier de proposer une gestion de l’arrêt d’un véhicule autonome à une intersection équipée d’un feu de signalisation et d’un panneau de signalisation, en présence ou non de ligne d’effet. An object of the present invention is to remedy the aforementioned problem, in particular to propose management of the stopping of an autonomous vehicle at an intersection equipped with a traffic light and a traffic sign, in the presence or not of effect line.
A cet effet, un premier aspect de l’invention concerne un procédé de gestion d’un arrêt d’un véhicule autonome circulant sur une voie de circulation, ladite voie de circulation comprenant un feu de signalisation et un panneau de signalisation, ledit feu de signalisation et ledit panneau de signalisation étant en aval dudit véhicule et au niveau d’une même intersection, ledit procédé comportant les étapes de : To this end, a first aspect of the invention relates to a method for managing a stop of an autonomous vehicle traveling on a traffic lane, said traffic lane comprising a traffic light and a traffic sign, said traffic light signaling and said traffic sign being downstream of said vehicle and at the same intersection, said method comprising the steps of:
• réception d’un signal indiquant que le feu de signalisation est dans un état requérant l’arrêt du véhicule au niveau du feu ; • reception of a signal indicating that the traffic light is in a state requiring the vehicle to stop at the light;
• réception d’une première distance, dite distance feu, entre ledit véhicule et ledit feu de signalisation ; • reception of a first distance, called the traffic light distance, between said vehicle and said traffic light;
• réception d’une deuxième distance, dite distance panneau, entre ledit véhicule et ledit panneau de signalisation ; • reception of a second distance, called the sign distance, between said vehicle and said traffic sign;
• lorsque ladite distance feu est inférieure ou égale à ladite distance panneau, réception d’une troisième distance, dite distance ligne, ladite distance ligne étant une distance entre ledit véhicule et une ligne d’effet dudit feu de signalisation ou dudit panneau de signalisation, en cas de pluralité de lignes d’effets, ladite distance ligne est celle déterminée en utilisant ladite ligne d’effet la plus proche dudit véhicule ; • when said light distance is less than or equal to said sign distance, reception of a third distance, called line distance, said line distance being a distance between said vehicle and a line of effect of said traffic light or said traffic sign, in the case of a plurality of lines of effect, said line distance is that determined using said line of effect closest to said vehicle;
• puis détermination d’une distance d’arrêt en fonction de ladite distance ligne et de ladite distance feu, ladite distance d’arrêt étant transmise à un organe de pilotage dudit véhicule afin d’arrêter le véhicule à ladite distance d’arrêt, lesdites réceptions étant reçues par une interface d’entrée d’un dispositif, selon un deuxième aspect de l’invention, dudit véhicule autonome.
Ainsi, en cas de pluralité de signalisations routières différentes concernant une même intersection et une même voie de circulation, le procédé rend le comportement du véhicule sécuritaire et acceptable, pour les passagers du véhicule, et proche de la conduite d’un humain. Le procédé permet de prendre en compte la présence ou non d’une ligne d’effet du feu de signalisation, et/ou la présence ou non d’une ligne d’effet du panneau de signalisation. On peut alors éviter de dépasser la ligne d’effet et de s’arrêter au niveau du feu, quand la ligne d’effet se trouve en amont du feu, et de s’arrêter en amont de la ligne d’effet en s’arrêtant au niveau du panneau de signalisation, lorsque la ligne d’effet se trouve en aval du panneau. Ainsi, le véhicule autonome va s’arrêter de manière déterministe et répétitive dans une même situation (présence ou non d’un feu, d’un panneau, d’une ligne d’effet ...). En plus, le procédé est apte à prendre en compte la difficulté de reconnaissance des marquages au sol qui ne sont ou très peu visible, ou qui sont trop éloigné (généralement supérieure à 10 mètres). • then determining a stopping distance as a function of said line distance and said traffic light distance, said stopping distance being transmitted to a control member of said vehicle in order to stop the vehicle at said stopping distance, said receptions being received by an input interface of a device, according to a second aspect of the invention, of said autonomous vehicle. Thus, in the event of a plurality of different road signs concerning the same intersection and the same traffic lane, the method makes the behavior of the vehicle safe and acceptable, for the passengers of the vehicle, and close to the driving of a human. The method makes it possible to take into account the presence or absence of a line of effect of the traffic light, and/or the presence or absence of a line of effect of the traffic sign. We can then avoid going beyond the line of effect and stopping at the level of the fire, when the line of effect is upstream of the fire, and stopping upstream of the line of effect by stopping at the traffic sign, when the line of effect is downstream of the sign. Thus, the autonomous vehicle will stop in a deterministic and repetitive manner in the same situation (presence or not of a light, a sign, an effect line, etc.). In addition, the process is able to take into account the difficulty of recognizing ground markings which are barely visible, or which are too far away (generally greater than 10 meters).
Avantageusement, lorsque la différence, en valeur absolue, entre ladite distance feu et ladite distance ligne est inférieure à un seuil prédéterminé, dit seuil proche : Advantageously, when the difference, in absolute value, between said fire distance and said line distance is less than a predetermined threshold, called close threshold:
• si ladite distance ligne est inférieure à la différence entre ladite distance feu et une distance prédéterminée, dite distance de calibration, ladite distance d’arrêt est égale à ladite distance ligne ; • if said line distance is less than the difference between said fire distance and a predetermined distance, called calibration distance, said stopping distance is equal to said line distance;
• sinon ladite distance d’arrêt est égale à la différence entre ladite distance feu et ladite distance de calibration. • otherwise said stopping distance is equal to the difference between said fire distance and said calibration distance.
Ainsi, le véhicule autonome s’arrête toujours en amont du feu de signalisation. Si la ligne d’effet est proche et en amont du feu de signalisation, le véhicule autonome s’arrête au niveau de la ligne d’effet du feu de signalisation. Sinon, le véhicule autonome s’arrête en amont du feu à une distance de calibration prédéterminée. Thus, the autonomous vehicle always stops before the traffic light. If the line of effect is close to and upstream of the traffic light, the autonomous vehicle stops at the line of effect of the traffic light. Otherwise, the autonomous vehicle stops upstream of the light at a predetermined calibration distance.
Avantageusement, lorsque la différence, en valeur absolue, entre ladite distance feu et ladite distance ligne est supérieure ou égale audit seuil proche, ladite distance d’arrêt est égale à la différence entre ladite distance feu et ladite distance de calibration.
Ainsi, le véhicule autonome s’arrête en amont du feu à une distance de calibration prédéterminée, la ligne détectée est considérée comme n’étant pas une ligne d’effet associée au feu car trop éloignée du feu et/ou du panneau. Advantageously, when the difference, in absolute value, between said fire distance and said line distance is greater than or equal to said near threshold, said stopping distance is equal to the difference between said fire distance and said calibration distance. Thus, the autonomous vehicle stops upstream of the light at a predetermined calibration distance, the detected line is considered not to be an effect line associated with the light because it is too far from the light and/or the panel.
Avantageusement, lorsque ladite distance feu est supérieure à la distance panneau, le procédé comporte en outre : Advantageously, when said fire distance is greater than the panel distance, the method further comprises:
• une étape de réception d’une quatrième distance, dite autre distance ligne, ladite autre distance ligne est une distance entre ledit véhicule et une ligne d’effet dudit feu de signalisation ou dudit panneau de signalisation, en cas de pluralité de lignes d’effets, ladite autre distance ligne est celle déterminée en utilisant la ligne d’effet la plus proche dudit véhicule, et • a step of receiving a fourth distance, called another line distance, said other line distance is a distance between said vehicle and a line of effect of said traffic light or of said traffic sign, in the case of a plurality of lines of effect effects, said other line distance is that determined using the effect line closest to said vehicle, and
• une étape de détermination d’une distance d’arrêt en fonction de ladite autre distance ligne et de ladite distance panneau. • a step of determining a stopping distance as a function of said other line distance and said panel distance.
Ainsi, on prend en compte le cas où le panneau est en amont du feu. Le panneau est plus proche du véhicule que le feu. On arrive alors à gérer le comportement du véhicule et déterminer son arrêt soit relativement par rapport au panneau soit relativement par rapport à la ligne d’effet du panneau ou du feu. Thus, we take into account the case where the panel is upstream of the fire. The sign is closer to the vehicle than the light. We are then able to manage the behavior of the vehicle and determine its stop either relatively to the sign or relatively to the line of effect of the sign or the light.
Avantageusement, lorsque la différence, en valeur absolue, entre ladite distance panneau et ladite autre distance ligne est inférieure à un autre seuil prédéterminé, dit autre seuil proche, ladite distance d’arrêt est égale à ladite autre distance ligne ; sinon ladite distance d’arrêt est égale à la différence entre la distance panneau et la distance de calibration. Advantageously, when the difference, in absolute value, between said panel distance and said other line distance is less than another predetermined threshold, called another close threshold, said stopping distance is equal to said other line distance; otherwise said stopping distance is equal to the difference between the panel distance and the calibration distance.
Avantageusement, la distance de calibration a pour valeur une valeur comprise en 0 et 5 mètres. Advantageously, the calibration distance has a value between 0 and 5 meters.
Avantageusement, le procédé comporte une étape de réception d’une valeur représentative d’un style de conduite, tel que sportif ou normal, dite valeur de style de conduite, et dans lequel la distance de calibration est fonction de la valeur de style de conduite.
Ainsi, la distance d’arrêt par rapport au feu ou au panneau est fonction d’un style de conduite. Par exemple, pour un style de conduite de type sportif ou en circulation dense, le véhicule va s’arrêter très proche du feu soit pour redémarrer en premier, soit pour limiter les espaces entre voitures. Par exemple, pour un style de conduite de type normal, le véhicule va s’arrêter à une distance respectable, par exemple 1 ,5 mètres, en amont du feu. Advantageously, the method comprises a step of receiving a value representative of a driving style, such as sporty or normal, called the driving style value, and in which the calibration distance is a function of the driving style value. . Thus, the stopping distance from the light or sign depends on your driving style. For example, for a sporty driving style or in heavy traffic, the vehicle will stop very close to the light either to restart first, or to limit the spaces between cars. For example, for a normal driving style, the vehicle will stop at a respectable distance, for example 1.5 meters, upstream of the light.
Un deuxième aspect de l’invention concerne un dispositif comprenant une mémoire associée à au moins un processeur configuré pour mettre en œuvre le procédé selon le premier aspect de l’invention. A second aspect of the invention relates to a device comprising a memory associated with at least one processor configured to implement the method according to the first aspect of the invention.
L’invention concerne aussi un véhicule comportant le dispositif. The invention also relates to a vehicle comprising the device.
L’invention concerne aussi un programme d'ordinateur comprenant des instructions qui, lorsque le programme est exécuté par le dispositif selon le deuxième aspect de l’invention, conduisent celui-ci à mettre en œuvre le procédé selon le premier aspect de l’invention. The invention also relates to a computer program comprising instructions which, when the program is executed by the device according to the second aspect of the invention, lead it to implement the method according to the first aspect of the invention .
D’autres caractéristiques et avantages de l’invention ressortiront de la description des modes de réalisation non limitatifs de l’invention ci-après, en référence aux figures annexées, sur lesquelles : Other characteristics and advantages of the invention will emerge from the description of the non-limiting embodiments of the invention below, with reference to the appended figures, in which:
[Fig. 1] illustre schématiquement un dispositif, selon un exemple particulier de réalisation de la présente invention. [Fig. 1] schematically illustrates a device, according to a particular embodiment of the present invention.
[Fig. 2] illustre schématiquement un procédé de gestion d’un arrêt d’un véhicule autonome circulant sur une voie de circulation, selon un exemple particulier de réalisation de la présente invention. [Fig. 2] schematically illustrates a method for managing a stop of an autonomous vehicle traveling on a traffic lane, according to a particular embodiment of the present invention.
L’invention est décrite ci-après dans son application, non limitative, au cas d’un véhicule automobile autonome circulant sur une route ou sur une voie de circulation. D’autres applications telles qu’un robot dans un entrepôt de stockage ou encore une motocyclette sur une route de campagne sont également envisageables. The invention is described below in its non-limiting application to the case of an autonomous motor vehicle traveling on a road or on a lane. Other applications such as a robot in a storage warehouse or a motorcycle on a country road are also possible.
La figure 1 représente un exemple de dispositif 101 compris dans le véhicule, dans un réseau (« cloud ») ou dans un serveur. Ce dispositif 101 peut être utilisé en tant que dispositif centralisé en charge d’au moins certaines étapes du procédé décrit ci-
après en référence à la figure 2. Dans un mode de réalisation, il correspond à un calculateur de conduite autonome. Figure 1 represents an example of device 101 included in the vehicle, in a network (“cloud”) or in a server. This device 101 can be used as a centralized device in charge of at least certain steps of the method described below. after with reference to Figure 2. In one embodiment, it corresponds to an autonomous driving computer.
Dans la présente invention, le dispositif 101 est compris dans le véhicule. In the present invention, the device 101 is included in the vehicle.
Ce dispositif 101 peut prendre la forme d’un boitier comprenant des circuits imprimés, de tout type d’ordinateur ou encore d’un téléphone mobile (« smartphone »). This device 101 can take the form of a box comprising printed circuits, any type of computer or even a mobile telephone (“smartphone”).
Le dispositif 101 comprend une mémoire vive 102 pour stocker des instructions pour la mise en œuvre par un processeur 103 d’au moins une étape du procédé tel que décrit ci-avant. Le dispositif comporte aussi une mémoire de masse 104 pour le stockage de données destinées à être conservées après la mise en œuvre du procédé. The device 101 comprises a RAM 102 for storing instructions for the implementation by a processor 103 of at least one step of the method as described above. The device also includes a mass memory 104 for storing data intended to be retained after implementation of the method.
Le dispositif 101 peut en outre comporter un processeur de signal numérique (DSP) 105. Ce DSP 105 reçoit des données pour mettre en forme, démoduler et amplifier, de façon connue en soi ces données. The device 101 may also include a digital signal processor (DSP) 105. This DSP 105 receives data to format, demodulate and amplify this data in a manner known per se.
Le dispositif 101 comporte également une interface d’entrée 106 pour la réception des données mises en œuvre par le procédé selon l’invention et une interface de sortie 107 pour la transmission des données mises en œuvre par le procédé selon l’invention. The device 101 also includes an input interface 106 for receiving the data implemented by the method according to the invention and an output interface 107 for transmitting the data implemented by the method according to the invention.
Par exemple, l’interface d’entrée 106 peut réceptionner les données suivantes : position ou localisation géographique du véhicule, vitesse et/ou accélération du véhicule, positions/vitesses/accélérations consignes ou prédéterminées, régime moteur, position et/ou course de la pédale d’embrayage, de frein et/ou d’accélération, détection d’autres véhicules ou objets, position ou localisation géographique des autres véhicules ou objets détectés, vitesse et/ou accélération des autres véhicules ou objets détectés, états ou signification des objets détectés, états de fonctionnement de capteurs, indice de confiance de données issues ou traitées par des capteurs. On entend par capteur des dispositifs aptes à détecter ou mesurer des phénomènes physiques, mais également dispositifs similaires au dispositif 101 . Par exemple, les capteurs aptes à fournir des données sont : GPS associé ou non à une cartographie, odomètres, tachymètres, accéléromètres, RADAR, LIDAR, lasers, ultra-sons, caméra ... Ces capteurs sont aptes à fournir des informations supplémentaires à l’aide d’un post-traitement des données ou des informations qu’ils possèdent ou réceptionnent par d’autres capteurs. Ces capteurs sont embarqués
dans le véhicule et/ou débarqués du véhicule. Dans le cas de capteurs embarqués dans le véhicule, ces capteurs transmettent des informations au dispositif 101 via une communication filaire, ou non filaire (par exemple par ondes électromagnétiques, par des photons, ...). Dans le cas de capteurs débarqués du véhicule, ces capteurs transmettent des informations au dispositif 101 via une communication non filaire (par exemple par ondes électromagnétiques, par radiofréquences, par des photons, ...) ou via un autre capteur embarqué. For example, the input interface 106 can receive the following data: position or geographic location of the vehicle, speed and/or acceleration of the vehicle, set or predetermined positions/speeds/accelerations, engine speed, position and/or travel of the clutch, brake and/or acceleration pedal, detection of other vehicles or objects, position or geographical location of other vehicles or objects detected, speed and/or acceleration of other vehicles or objects detected, states or meaning of objects detected, operating states of sensors, confidence index of data from or processed by sensors. By sensor we mean devices capable of detecting or measuring physical phenomena, but also devices similar to device 101. For example, the sensors capable of providing data are: GPS associated or not with mapping, odometers, tachometers, accelerometers, RADAR, LIDAR, lasers, ultrasound, camera, etc. These sensors are capable of providing additional information to using post-processing of data or information that they possess or receive from other sensors. These sensors are embedded in the vehicle and/or disembarked from the vehicle. In the case of sensors embedded in the vehicle, these sensors transmit information to the device 101 via wired or non-wired communication (for example by electromagnetic waves, by photons, etc.). In the case of sensors dismounted from the vehicle, these sensors transmit information to the device 101 via non-wired communication (for example by electromagnetic waves, by radio frequencies, by photons, etc.) or via another on-board sensor.
Par exemple, l’interface de sortie peut transmettre des informations vers un organe de pilotage du véhicule, comme le ou les moteurs, les freins, la direction, les suspensions ..., vers un autre dispositif similaire au dispositif 101 , ou vers un système ADAS apte à piloter le véhicule. Le pilotage peut comprendre la capacité à contrôler ou réguler une position, une vitesse et/ou une accélération du véhicule. For example, the output interface can transmit information to a vehicle control unit, such as the engine(s), brakes, steering, suspensions, etc., to another device similar to the device 101, or to a ADAS system capable of controlling the vehicle. Steering may include the ability to control or regulate a position, speed and/or acceleration of the vehicle.
La figure 2 illustre schématiquement un procédé de gestion d’un arrêt d’un véhicule autonome circulant sur une voie de circulation, selon un exemple particulier de réalisation de la présente invention. Figure 2 schematically illustrates a method for managing a stop of an autonomous vehicle traveling on a traffic lane, according to a particular embodiment of the present invention.
Dans les étapes décrites ci-après, on est dans un exemple où le véhicule circule sur une voie de circulation et s’approche d’une intersection. In the steps described below, we are in an example where the vehicle is traveling on a lane and approaching an intersection.
L’étape 201 , FR, est une étape de réception d’un signal indiquant que le feu de signalisation est dans un état requérant l’arrêt du véhicule au niveau du feu. A cette intersection un feu de signalisation est présent. Des capteurs, par exemple, à l’aide d’un traitement d’images acquises par une caméra, détectent la présence de ce feu, le localisent et arrivent à interpréter l’état dans lequel est le feu. Par exemple, le feu peut être éteint, et il n’y a pas d’obligation de s’arrêter. Dans un autre exemple, le feu est dans un état, dans lequel le véhicule doit s’arrêter conformément aux règles de circulations par exemple un feu rouge allumé pour un feu tricolore. Step 201, FR, is a step of receiving a signal indicating that the traffic light is in a state requiring the vehicle to stop at the light. At this intersection there is a traffic light. Sensors, for example, using image processing acquired by a camera, detect the presence of this fire, locate it and manage to interpret the state in which the fire is. For example, the fire can be put out, and there is no obligation to stop. In another example, the light is in a state, in which the vehicle must stop in accordance with traffic rules, for example a red light on for a traffic light.
En absence de de réception d’un signal indiquant que le feu de signalisation est dans un état requérant l’arrêt du véhicule au niveau du feu, on passe par l’étape 203 puis par l’étape 210 si un panneau de signalisation est détecté.
L’étape, 202, DistF, est une étape de réception d’une première distance, dite distance feu, entre ledit véhicule et ledit feu de signalisation. Par exemple, les capteurs ont été aptes à déterminer la distance séparant le véhicule au feu, et à transmettre la distance feu au dispositif 101 , sinon on ne se retrouve plus dans une situation ambigüe avec une double signalisation, feu et panneau, à une même intersection pour une même direction de circulation. In the absence of reception of a signal indicating that the traffic light is in a state requiring the vehicle to stop at the light, we go through step 203 then through step 210 if a traffic sign is detected . Step, 202, DistF, is a step of receiving a first distance, called the traffic light distance, between said vehicle and said traffic light. For example, the sensors were able to determine the distance separating the vehicle from the light, and to transmit the light distance to the device 101, otherwise we no longer find ourselves in an ambiguous situation with double signaling, light and sign, at the same time. intersection for the same direction of traffic.
L’étape 203, DistP, est une étape de réception d’une deuxième distance, dite distance panneau, entre ledit véhicule et ledit panneau de signalisation. Par exemple, les capteurs ont été aptes à détecter la présence d’un panneau de signalisation, à déterminer la distance séparant le véhicule au panneau, et à transmettre la distance panneau au dispositif 101 . Step 203, DistP, is a step of receiving a second distance, called panel distance, between said vehicle and said traffic sign. For example, the sensors were able to detect the presence of a traffic sign, to determine the distance separating the vehicle from the sign, and to transmit the sign distance to the device 101.
En absence de détection d’un panneau de signalisation, on passe à l’étape 210. If a traffic sign is not detected, we move on to step 210.
L’étape 204, DistF<DistP?, est une étape de test de comparaison entre la distance feu et la distance panneau. Lorsque ladite distance feu est inférieure ou égale à ladite distance panneau, on passe à l’étape 205. Cela signifie que le feu de signalisation est plus proche du véhicule que le panneau de signalisation. Lorsque ladite distance feu est supérieure à la distance panneau, on passe à l’étape 210. Dans un autre mode de réalisation, on passe également à l’étape 205 lorsque la distance feu est proche de la distance panneau, et à l’étape 210 si les distances ne sont pas proches. Dans ce cas, par proche ont entend une différence, en valeur absolue, de distance entre 0 et 1 mètre, ou plus par exemple. Step 204, DistF<DistP?, is a comparison test step between the fire distance and the panel distance. When said light distance is less than or equal to said panel distance, we move on to step 205. This means that the traffic light is closer to the vehicle than the traffic sign. When said fire distance is greater than the panel distance, we go to step 210. In another embodiment, we also go to step 205 when the fire distance is close to the panel distance, and to step 210 if the distances are not close. In this case, by close we mean a difference, in absolute value, in distance between 0 and 1 meter, or more for example.
L’étape 205, DistL, est une étape de réception d’une troisième distance, dite distance ligne, ladite distance ligne étant une distance entre ledit véhicule et une ligne d’effet dudit feu de signalisation ou dudit panneau de signalisation, en cas de pluralité de lignes d’effets, ladite distance ligne est celle déterminée en utilisant ladite ligne d’effet la plus proche dudit véhicule. Step 205, DistL, is a step of receiving a third distance, called line distance, said line distance being a distance between said vehicle and a line of effect of said traffic light or said traffic sign, in the event of plurality of lines of effect, said line distance is that determined using said line of effect closest to said vehicle.
Par exemple, les capteurs ont été aptes à détecter les marquages au sol, à déterminer qu’un marquage est une ligne d’effet d’un feu de signalisation ou d’un panneau de signalisation, à déterminer la distance séparant le véhicule à la ligne, et à transmettre la distance ligne au dispositif 101 .
En cas de pluralité de lignes d’effets, par exemple, le procédé peut être relancé lorsque la ligne d’effet la plus proche précédemment détectée n’est plus visible, lorsque la ligne d’effet la plus proche est éloignée de la distance feu, par éloigné on entend dans ce cas de plus de 3 à 5 mètres par exemple. For example, the sensors were able to detect markings on the ground, to determine that a marking is a line of effect of a traffic light or a traffic sign, to determine the distance separating the vehicle from the line, and transmitting the line distance to the device 101. In the case of a plurality of lines of effect, for example, the process can be restarted when the closest line of effect previously detected is no longer visible, when the closest line of effect is moved away from the fire distance , by distant we mean in this case more than 3 to 5 meters for example.
Arrivée à cette étape, il est possible de déterminer une distance d’arrêt en fonction de ladite distance ligne. La distance d’arrêt étant déterminée, le procédé transmet cette distance à un organe de pilotage dudit véhicule afin d’arrêter le véhicule à ladite distance d’arrêt. Arriving at this stage, it is possible to determine a stopping distance based on said line distance. The stopping distance being determined, the method transmits this distance to a control member of said vehicle in order to stop the vehicle at said stopping distance.
Les étapes 206 à 209 décrivent un exemple de réalisation de la détermination d’une distance d’arrêt en fonction de ladite distance ligne et de ladite distance feu. Steps 206 to 209 describe an example of carrying out the determination of a stopping distance as a function of said line distance and said fire distance.
L’étape 206, |DistF-DistL|<Sp, est une étape de test sur la différence, en valeur absolue, entre ladite distance feu et ladite distance ligne. Si cette différence est inférieure à un seuil prédéterminé, dit seuil proche, alors on passe à l’étape 207, sinon on passe à l’étape 209. Par exemple le seuil proche est une distance paramétrable valant de 1 à 10 mètres, notamment entre 3 et 8 mètres, de préférence de 5 mètres environ. Step 206, |DistF-DistL|<Sp, is a test step on the difference, in absolute value, between said fire distance and said line distance. If this difference is less than a predetermined threshold, called a near threshold, then we go to step 207, otherwise we go to step 209. For example the near threshold is a configurable distance worth from 1 to 10 meters, in particular between 3 and 8 meters, preferably around 5 meters.
L’étape 207, DistL<DistF - Sc ?, est une étape de test pour vérifier si ladite distance ligne est inférieure à la différence entre ladite distance feu et une distance prédéterminée, dite distance de calibration. Ladite distance de calibration a pour valeur une valeur comprise en 0 et 5 mètres, mais elle peut être plus élevée. De préférence, ladite distance de calibration est comprise entre 0 et 2 mètres. Avantageusement, le procédé comporte en outre une étape de réception d’une valeur représentative d’un style de conduite, tel que sportif ou normal, dite valeur de style de conduite, et dans lequel la distance de calibration est fonction de la valeur de style de conduite. Par exemple, dans le cas d’un style de conduite dit sportif ou dans le cas d’un style de conduite de type en embouteillage, ladite distance de calibration est proche de 0 mètres. Ainsi, après l’arrêt du véhicule, lorsque le feu de signalisation ne requiert plus un arrêt du véhicule, le véhicule sera l’un des premiers à partir. Également, cela permet de limiter les distances entre véhicules à l’arrêt pour, par exemple, permettre d’occuper le moins de place sur la voie de circulation et libérer de la place pour d’autres véhicule ou éviter de bloquer une intersection
précédente à cause d’une file ininterrompue de véhicule arrêté au feu de signalisation. Step 207, DistL<DistF - Sc?, is a test step to check if said line distance is less than the difference between said fire distance and a predetermined distance, called calibration distance. Said calibration distance has a value between 0 and 5 meters, but it can be higher. Preferably, said calibration distance is between 0 and 2 meters. Advantageously, the method further comprises a step of receiving a value representative of a driving style, such as sporty or normal, called the driving style value, and in which the calibration distance is a function of the style value. driving. For example, in the case of a so-called sporty driving style or in the case of a traffic jam type driving style, said calibration distance is close to 0 meters. Thus, after stopping the vehicle, when the traffic light no longer requires the vehicle to stop, the vehicle will be one of the first to leave. Also, this makes it possible to limit the distances between stopped vehicles to, for example, take up as little space as possible on the traffic lane and free up space for other vehicles or avoid blocking an intersection. previous due to an uninterrupted line of vehicles stopped at the traffic light.
Par exemple, en cas de style de conduite de type normal ou prudent, la distance de calibration sera égale à 2 mètres, d’autres valeurs sont possibles. For example, in the case of a normal or cautious driving style, the calibration distance will be equal to 2 meters, other values are possible.
Si ladite distance ligne est inférieure à la différence entre ladite distance feu et ladite distance de calibration, alors on passe à l’étape 208, sinon on passe à l’étape 209. If said line distance is less than the difference between said fire distance and said calibration distance, then we go to step 208, otherwise we go to step 209.
L’étape 208, STP(DistL), est une étape où on détermine ladite distance d’arrêt comme égale à ladite distance ligne, puis ladite distance d’arrêt est transmise à un organe de pilotage dudit véhicule afin d’arrêter le véhicule à ladite distance d’arrêt ainsi déterminée. Step 208, STP(DistL), is a step where said stopping distance is determined as equal to said line distance, then said stopping distance is transmitted to a control member of said vehicle in order to stop the vehicle at said stopping distance thus determined.
Cela revient à une situation où la ligne d’effet est une ligne d’effet dudit feu de signalisation, et cette ligne d’effet se trouve en amont dudit feu de signalisation. Il faut donc s’arrêter sur la ligne d’arrêt du feu. En effet, la ligne d’effet du feu en amont du feu, prévoit une certaine distance de sécurité par rapport à un passage pour piéton ou par rapport à un sas pour cyclistes. This amounts to a situation where the line of effect is a line of effect of said traffic light, and this line of effect is upstream of said traffic light. You must therefore stop on the stop light line. In fact, the line of effect of the light upstream of the light provides a certain safety distance from a pedestrian crossing or from an airlock for cyclists.
L’étape 209, STP(DistF-Sc), est une étape où on détermine ladite distance d’arrêt comme égale à la différence entre ladite distance feu et ladite distance de calibration, puis ladite distance d’arrêt est transmise à un organe de pilotage dudit véhicule afin d’arrêter le véhicule à ladite distance d’arrêt ainsi déterminée. Step 209, STP (DistF-Sc), is a step where said stopping distance is determined as equal to the difference between said fire distance and said calibration distance, then said stopping distance is transmitted to a control unit. piloting said vehicle in order to stop the vehicle at said stopping distance thus determined.
Cela revient à deux situations alternatives. La première situation est celle où la ligne d’effet est une ligne d’effet dudit feu de signalisation. Cette ligne se trouve proche du feu, à une distance seuil proche. Dans ce cas, il faut donc s’arrêter avant le feu sans dépasser la ligne d’effet. C’est pour cela qu’on prend en compte la distance de calibration, cette distance étant prise en compte conjointement à l’étape 207 et 209. La seconde situation est celle où la ligne d’effet est soit une ligne d’effet du panneau de signalisation, la ligne d’effet étant en aval du feu, soit une ligne d’effet du feu de signalisation, la ligne d’effet étant alors en amont du feu. Dans ce cas, on s’arrête bien avant le feu sans le dépasser. Dans les deux situations, l’arrêt en amont du feu est bien réalisé. This comes down to two alternative situations. The first situation is where the line of effect is a line of effect of said traffic light. This line is close to the light, at a close threshold distance. In this case, you must therefore stop before the fire without exceeding the line of effect. This is why the calibration distance is taken into account, this distance being taken into account jointly in steps 207 and 209. The second situation is that where the line of effect is either a line of effect of the traffic sign, the line of effect being downstream of the light, or a line of effect of the traffic light, the line of effect then being upstream of the light. In this case, we stop well before the fire without passing it. In both situations, stopping upstream of the fire is well done.
L’étape 210, DistL’, est une étape de réception d’une quatrième distance, dite autre distance ligne, ladite autre distance ligne est une distance entre ledit véhicule et une
ligne d’effet dudit feu de signalisation ou dudit panneau de signalisation, en cas de pluralité de lignes d’effets, ladite autre distance ligne est celle déterminée en utilisant la ligne d’effet la plus proche dudit véhicule Step 210, DistL', is a step of receiving a fourth distance, called another line distance, said other line distance is a distance between said vehicle and a line of effect of said traffic light or of said traffic sign, in the case of a plurality of lines of effect, said other line distance is that determined using the line of effect closest to said vehicle
Par exemple, les capteurs ont été aptes à détecter les marquages au sol, à déterminer qu’un marquage est une ligne d’effet d’un feu de signalisation ou d’un panneau de signalisation, à déterminer la distance séparant le véhicule à la ligne, et à transmettre la distance ligne au dispositif 101 . For example, the sensors were able to detect markings on the ground, to determine that a marking is a line of effect of a traffic light or a traffic sign, to determine the distance separating the vehicle from the line, and transmitting the line distance to the device 101.
En cas de pluralité de lignes d’effets, par exemple, le procédé peut être relancé lorsque la ligne d’effet la plus proche précédemment détectée n’est plus visible, lorsque la ligne d’effet la plus proche est éloignée de la distance feu, par éloigné on entend dans ce cas de plus de 3 à 5 mètres par exemple. In the case of a plurality of lines of effect, for example, the process can be restarted when the closest line of effect previously detected is no longer visible, when the closest line of effect is moved away from the fire distance , by distant we mean in this case more than 3 to 5 meters for example.
Arrivée à cette étape, il est possible de déterminer une distance d’arrêt en fonction de ladite autre distance ligne et de ladite distance panneau. La distance d’arrêt étant déterminée, le procédé transmet cette distance à un organe de pilotage dudit véhicule afin d’arrêter le véhicule à ladite distance d’arrêt. Arriving at this step, it is possible to determine a stopping distance based on said other line distance and said panel distance. The stopping distance being determined, the method transmits this distance to a control member of said vehicle in order to stop the vehicle at said stopping distance.
Les étapes 211 à 213 décrivent un exemple de réalisation de la détermination d’une distance d’arrêt en fonction de ladite autre distance ligne et de ladite distance panneau. Steps 211 to 213 describe an exemplary embodiment of determining a stopping distance as a function of said other line distance and said panel distance.
On arrive dans l’étape 211 , lorsque le panneau est plus proche du véhicule que le feu. L’étape 211 , | DistP-DistL’ |<Sp, est une étape de test sur la différence, en valeur absolue, entre ladite distance panneau et ladite autre distance ligne. Si cette différence est inférieure à un seuil prédéterminé, dit seuil proche, alors on passe à l’étape 212, sinon on passe à l’étape 213. Par exemple le seuil proche est une distance paramétrable valant de 1 à 10 mètres, notamment entre 3 et 8 mètres, de préférence de 5 mètres environ. Dans un mode de réalisation, le seuil proche de l’étape 211 peut être différent du seuil proche de l’étape 206. We arrive at step 211, when the panel is closer to the vehicle than the light. Step 211, | DistP-DistL’ |<Sp, is a test step on the difference, in absolute value, between said panel distance and said other line distance. If this difference is less than a predetermined threshold, called a near threshold, then we go to step 212, otherwise we go to step 213. For example, the near threshold is a configurable distance worth from 1 to 10 meters, in particular between 3 and 8 meters, preferably around 5 meters. In one embodiment, the threshold close to step 211 may be different from the threshold close to step 206.
L’étape 212, STP(DistL’), est une étape où on détermine ladite distance d’arrêt comme égale à ladite autre distance ligne, puis ladite distance d’arrêt est transmise à un organe de pilotage dudit véhicule afin d’arrêter le véhicule à ladite distance d’arrêt ainsi déterminée.
Cela revient à une situation où la ligne d’effet est une ligne d’effet dudit panneau de signalisation, et cette ligne d’effet se trouve en amont ou en aval dudit panneau de signalisation. Il faut donc s’arrêter sur la ligne d’arrêt du panneau. Step 212, STP(DistL'), is a step where said stopping distance is determined as equal to said other line distance, then said stopping distance is transmitted to a control member of said vehicle in order to stop the vehicle at said stopping distance thus determined. This amounts to a situation where the line of effect is a line of effect of said traffic sign, and this line of effect is upstream or downstream of said traffic sign. You must therefore stop at the stop line on the sign.
L’étape 213, STP(DistP-Sc), est une étape où on détermine ladite distance d’arrêt comme égale à la différence entre la distance panneau et la distance de calibration, puis ladite distance d’arrêt est transmise à un organe de pilotage dudit véhicule afin d’arrêter le véhicule à ladite distance d’arrêt ainsi déterminée. Step 213, STP (DistP-Sc), is a step where said stopping distance is determined as equal to the difference between the panel distance and the calibration distance, then said stopping distance is transmitted to a control unit. piloting said vehicle in order to stop the vehicle at said stopping distance thus determined.
Cela revient à deux situations alternatives. La première situation est celle où la ligne d’effet est une ligne d’effet dudit panneau de signalisation. Cette ligne se trouve proche du panneau, à une distance seuil proche, en amont ou en aval du panneau. Dans ce cas, il faut donc s’arrêter à la ligne d’effet. La seconde situation est celle où la ligne d’effet n’est pas proche du panneau et la ligne d’effet est en aval du panneau de signalisation. Le panneau étant devant le feu, par suite du test de l’étape 204, il faut respecter la signalisation du panneau, de préférence à une distance de calibration. Dans les deux situations, l’arrêt au niveau du panneau est bien réalisé. This comes down to two alternative situations. The first situation is where the line of effect is a line of effect of said traffic sign. This line is located close to the panel, at a close threshold distance, upstream or downstream of the panel. In this case, we must therefore stop at the line of effect. The second situation is where the line of effect is not close to the sign and the line of effect is downstream of the sign. The panel being in front of the light, following the test in step 204, the signage on the panel must be respected, preferably at a calibration distance. In both situations, the stop at the panel is well done.
La présente invention ne se limite pas aux formes de réalisation décrites ci-avant à titre d’exemples ; elle s’étend à d’autres variantes. The present invention is not limited to the embodiments described above by way of examples; it extends to other variants.
En effet, il est décrit une succession d’étapes. Certaines étapes, comme celles de réception, peuvent être inversées, être traitées en parallèle, ou être traités dans un autre sens. In fact, a succession of steps is described. Certain steps, such as reception, can be reversed, processed in parallel, or processed in another direction.
Également, il est décrit des tests par comparaison ou par rapport à des seuils. Dans une variante, ces comparaisons peuvent être moins strictes ou adaptées en prenant un seuil voisin, ou prendre un compte un effet d’hystérésis.
Also, tests by comparison or in relation to thresholds are described. In a variant, these comparisons can be less strict or adapted by taking a neighboring threshold, or take into account a hysteresis effect.
Claims
1 . Procédé de gestion d’un arrêt d’un véhicule autonome circulant sur une voie de circulation, ladite voie de circulation comprenant un feu de signalisation et un panneau de signalisation, ledit feu de signalisation et ledit panneau de signalisation étant en aval dudit véhicule et au niveau d’une même intersection, ledit procédé comportant les étapes de : 1. Method for managing a stop of an autonomous vehicle traveling on a traffic lane, said traffic lane comprising a traffic light and a traffic sign, said traffic light and said traffic sign being downstream of said vehicle and at level of the same intersection, said method comprising the steps of:
• réception (201 ) d’un signal indiquant que le feu de signalisation est dans un état requérant l’arrêt du véhicule au niveau du feu ; • reception (201) of a signal indicating that the traffic light is in a state requiring the vehicle to stop at the light;
• réception (202) d’une première distance, dite distance feu, entre ledit véhicule et ledit feu de signalisation ; • reception (202) of a first distance, called the traffic light distance, between said vehicle and said traffic light;
• réception (203) d’une deuxième distance, dite distance panneau, entre ledit véhicule et ledit panneau de signalisation ; • reception (203) of a second distance, called panel distance, between said vehicle and said traffic sign;
• lorsque (204) ladite distance feu est inférieure ou égale à ladite distance panneau, réception (205) d’une troisième distance, dite distance ligne, ladite distance ligne étant une distance entre ledit véhicule et une ligne d’effet dudit feu de signalisation ou dudit panneau de signalisation, en cas de pluralité de lignes d’effets, ladite distance ligne est celle déterminée en utilisant ladite ligne d’effet la plus proche dudit véhicule ; • when (204) said light distance is less than or equal to said panel distance, reception (205) of a third distance, called line distance, said line distance being a distance between said vehicle and a line of effect of said traffic light or said traffic sign, in the case of a plurality of effect lines, said line distance is that determined using said effect line closest to said vehicle;
• puis détermination (206, 207, 208, 209) d’une distance d’arrêt en fonction de ladite distance ligne et de ladite distance feu, ladite distance d’arrêt étant transmise à un organe de pilotage dudit véhicule afin d’arrêter le véhicule à ladite distance d’arrêt, lesdites réceptions étant reçues par une interface d’entrée (106) d’un dispositif (101) dudit véhicule autonome. • then determination (206, 207, 208, 209) of a stopping distance as a function of said line distance and said traffic light distance, said stopping distance being transmitted to a control member of said vehicle in order to stop the vehicle at said stopping distance, said receptions being received by an input interface (106) of a device (101) of said autonomous vehicle.
2. Procédé selon la revendication précédente, dans lequel, lorsque (206) la différence, en valeur absolue, entre ladite distance feu et ladite distance ligne est inférieure à un seuil prédéterminé, dit seuil proche : 2. Method according to the preceding claim, in which, when (206) the difference, in absolute value, between said fire distance and said line distance is less than a predetermined threshold, called close threshold:
• si (207, 208) ladite distance ligne est inférieure à la différence entre ladite distance feu et une distance prédéterminée, dite distance de calibration, ladite distance d’arrêt est égale à ladite distance ligne ;
sinon (207, 209) ladite distance d’arrêt est égale à la différence entre ladite distance feu et ladite distance de calibration. • if (207, 208) said line distance is less than the difference between said traffic light distance and a predetermined distance, called calibration distance, said stopping distance is equal to said line distance; otherwise (207, 209) said stopping distance is equal to the difference between said fire distance and said calibration distance.
3. Procédé selon l’une des revendications précédentes, dans lequel, lorsque (206, 209) la différence, en valeur absolue, entre ladite distance feu et ladite distance ligne est supérieure ou égale audit seuil proche, ladite distance d’arrêt est égale à la différence entre ladite distance feu et ladite distance de calibration. 3. Method according to one of the preceding claims, in which, when (206, 209) the difference, in absolute value, between said fire distance and said line distance is greater than or equal to said near threshold, said stopping distance is equal to the difference between said fire distance and said calibration distance.
4. Procédé selon l’une des revendications précédentes, dans lequel, lorsque (204) ladite distance feu est supérieure à la distance panneau, le procédé comporte en outre : 4. Method according to one of the preceding claims, in which, when (204) said fire distance is greater than the panel distance, the method further comprises:
• une étape de réception (210) d’une quatrième distance, dite autre distance ligne, ladite autre distance ligne est une distance entre ledit véhicule et une ligne d’effet dudit feu de signalisation ou dudit panneau de signalisation, en cas de pluralité de lignes d’effets, ladite autre distance ligne est celle déterminée en utilisant la ligne d’effet la plus proche dudit véhicule, et • a step of receiving (210) a fourth distance, called another line distance, said other line distance is a distance between said vehicle and a line of effect of said traffic light or said traffic sign, in the case of a plurality of lines of effect, said other line distance is that determined using the line of effect closest to said vehicle, and
• une étape de détermination (211 , 212, 213) d’une distance d’arrêt en fonction de ladite autre distance ligne et de la dite distance panneau. • a step of determining (211, 212, 213) a stopping distance as a function of said other line distance and said panel distance.
5. Procédé selon la revendication précédente, dans lequel, lorsque (211 , 212) la différence, en valeur absolue, entre ladite distance panneau et ladite autre distance ligne est inférieure à un autre seuil prédéterminé, dit autre seuil proche, ladite distance d’arrêt est égale à ladite autre distance ligne ; sinon (211 , 213) ladite distance d’arrêt est égale à la différence entre la distance panneau et la distance de calibration. 5. Method according to the preceding claim, in which, when (211, 212) the difference, in absolute value, between said panel distance and said other line distance is less than another predetermined threshold, said other close threshold, said distance of stop is equal to said other line distance; otherwise (211, 213) said stopping distance is equal to the difference between the panel distance and the calibration distance.
6. Procédé selon l’une des revendications 2 à 5, dans lequel la distance de calibration a pour valeur une valeur comprise en 0 et 5 mètres. 6. Method according to one of claims 2 to 5, in which the calibration distance has a value between 0 and 5 meters.
7. Procédé selon la revendication précédente, dans lequel le procédé comporte une étape de réception d’une valeur représentative d’un style de conduite, tel que sportif ou normal, dite valeur de style de conduite, et dans lequel la distance de calibration est fonction de la valeur de style de conduite.
7. Method according to the preceding claim, in which the method comprises a step of receiving a value representative of a driving style, such as sporty or normal, called the driving style value, and in which the calibration distance is depending on the driving style value.
8. Dispositif (101 ) comprenant une mémoire (102) associée à au moins un processeur (103) configuré pour mettre en œuvre le procédé selon l’une des revendications précédentes. 8. Device (101) comprising a memory (102) associated with at least one processor (103) configured to implement the method according to one of the preceding claims.
9. Véhicule comportant le dispositif selon la revendication précédente. 9. Vehicle comprising the device according to the preceding claim.
10. Programme d'ordinateur comprenant des instructions qui, lorsque le programme est exécuté par le dispositif (101 ), conduisent celui-ci à mettre en œuvre le procédé selon l’une des revendication 1 à 7.
10. Computer program comprising instructions which, when the program is executed by the device (101), lead it to implement the method according to one of claims 1 to 7.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR2207187 | 2022-07-13 | ||
FR2207187A FR3137982A1 (en) | 2022-07-13 | 2022-07-13 | Method and device for managing a stop of an autonomous vehicle traveling on a traffic lane. |
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WO2024013437A1 true WO2024013437A1 (en) | 2024-01-18 |
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Family Applications (1)
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PCT/FR2023/050788 WO2024013437A1 (en) | 2022-07-13 | 2023-06-05 | Method and device for managing the stopping of an autonomous vehicle travelling along a traffic lane |
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WO (1) | WO2024013437A1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2207187A1 (en) | 1972-11-20 | 1974-06-14 | Du Pont | |
US20140330479A1 (en) * | 2013-05-03 | 2014-11-06 | Google Inc. | Predictive Reasoning for Controlling Speed of a Vehicle |
EP3441908A1 (en) * | 2017-08-09 | 2019-02-13 | Samsung Electronics Co., Ltd. | Method and apparatus for controlling driving of vehicle |
US20200148179A1 (en) * | 2017-07-13 | 2020-05-14 | Bayerische Motoren Werke Aktiengesellschaft | System and Method for Automatically Longitudinally Guiding a Motor Vehicle to a Standstill |
DE102020126673A1 (en) * | 2020-10-12 | 2022-04-14 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle guidance system and method for outputting information relating to a signaling unit |
-
2022
- 2022-07-13 FR FR2207187A patent/FR3137982A1/en active Pending
-
2023
- 2023-06-05 WO PCT/FR2023/050788 patent/WO2024013437A1/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2207187A1 (en) | 1972-11-20 | 1974-06-14 | Du Pont | |
US20140330479A1 (en) * | 2013-05-03 | 2014-11-06 | Google Inc. | Predictive Reasoning for Controlling Speed of a Vehicle |
US20200148179A1 (en) * | 2017-07-13 | 2020-05-14 | Bayerische Motoren Werke Aktiengesellschaft | System and Method for Automatically Longitudinally Guiding a Motor Vehicle to a Standstill |
EP3441908A1 (en) * | 2017-08-09 | 2019-02-13 | Samsung Electronics Co., Ltd. | Method and apparatus for controlling driving of vehicle |
DE102020126673A1 (en) * | 2020-10-12 | 2022-04-14 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle guidance system and method for outputting information relating to a signaling unit |
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