WO2024028547A1 - Method and device for ensuring the safety of an autonomous driving functionality provided by a driver assistance system of a motor vehicle - Google Patents
Method and device for ensuring the safety of an autonomous driving functionality provided by a driver assistance system of a motor vehicle Download PDFInfo
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- WO2024028547A1 WO2024028547A1 PCT/FR2023/050984 FR2023050984W WO2024028547A1 WO 2024028547 A1 WO2024028547 A1 WO 2024028547A1 FR 2023050984 W FR2023050984 W FR 2023050984W WO 2024028547 A1 WO2024028547 A1 WO 2024028547A1
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- vehicle
- assistance system
- data characterizing
- autonomous driving
- modeling
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 claims description 15
- 238000013507 mapping Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000013500 data storage Methods 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 2
- 230000010365 information processing Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Definitions
- TITLE Method and device for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle
- the present invention relates to the field of autonomous vehicles, in particular that of the autonomous car.
- the invention relates in particular to a method for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle by means of a computer device on board the vehicle.
- the invention also relates to a device implementing such a method as well as a motor vehicle comprising such a device.
- the invention applies to motor vehicles such as land motor vehicles, in particular cars.
- certain driving assistance systems of current motor vehicles for example those fitted to certain cars, provide functionalities which enable the autonomous guidance of vehicles to be supported in certain particular driving environments. Thanks to these systems, the driver can, if he wishes, let go of the steering wheel while maintaining his vigilance as long as the driving assistance system takes over the guidance of the vehicle. And to provide such functionality, certain known driving assistance systems use modeling of the future trajectory of the vehicle which they determine by function of mapping and detection of ground marking elements, generally carried out by means of a camera.
- This modeling of the future trajectory of the vehicle is used in particular to estimate the risks of collisions taking into account the driving environment, in particular the mobile or static objects located there, and, depending on the existence or not of a risk of collision, authorize or prohibit the provision of autonomous driving functionality.
- the detection of the ground marking elements is faulty and that this leads to erroneous modeling of the future trajectory leading to an incorrect estimation of the existence of a risk of collision.
- certain known driving assistance systems are configured to react by immediately informing the driver of the need to regain control of the vehicle as quickly as possible, generally by causing the broadcast of a visual and/or audible indication in the passenger compartment of the vehicle.
- this indication is broadcast several seconds before the driving assistance system then causes the vehicle to stop on the lane.
- the driving assistance system must be able to manage the guidance of the vehicle in a safe manner.
- the invention aims to satisfy this need.
- the invention aims in particular to provide a method and a device which make it possible to maximize the safety of an autonomous driving functionality provided by a driving assistance system of a motor vehicle, in particular to allow guidance safe of the vehicle when recovery by the driver of the vehicle is necessary.
- the invention relates, according to a first aspect, to a method for securing an autonomous driving functionality provided by a driving assistance system of a first motor vehicle by means of a computer device on board the first vehicle, the method comprising the steps of: i) determining data characterizing the coordinates of several points of the trajectory followed by a second motor vehicle preceding the first vehicle on the same lane using a detection device; ii) determine whether data characterizing a first modeling of the future trajectory of the first vehicle used at the current time by the driving assistance system for providing the autonomous driving functionality implies a risk of collision; and, when it is established that this is the case, iii) cause the broadcast of a visual and/or audible indication in the passenger compartment of the first vehicle by interacting with a man-machine interface; iv) determine data characterizing a second modeling of the future trajectory of the first vehicle based on data characterizing the coordinates of several points of the trajectory followed by a second vehicle preceding the first vehicle on the same traffic
- step iv) can be carried out as long as the driver of the first vehicle has not placed his hands on the steering wheel and for a maximum of a pre-established duration.
- the preestablished duration can be equal to five seconds.
- the data characterizing a first modeling of the future trajectory of the first vehicle can be determined as a function of data characterizing at least one mapping element determined using a navigation system and data characterizing the location of at least one ground marking element determined using the detection device.
- the invention relates to a device for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle, the device comprising at least one data processing unit. information, comprising at least one processor, and a data storage medium configured to implement a method as described above.
- the invention relates to a computer program comprising program code instructions for executing the steps of a method as described above when said program is executed by at least one processor .
- the invention relates to a medium usable in a computer on which a program as described above is recorded.
- the invention relates to a motor vehicle comprising a device as described above.
- FIG. 1 is a diagram of a vehicle according to the invention operating in a driving situation in which the method according to the invention is implemented;
- FIG. 2 is a functional diagram of a device according to the invention.
- FIG. 3 is a flowchart of the steps of a process according to the invention.
- FIG. 1 illustrates a vehicle 1 according to the invention circulating in a driving situation in which the method according to the invention described below is implemented.
- the vehicle 1 according to the invention has a driving assistance system which provides an autonomous driving functionality as mentioned in the preamble and, advantageously, a device for securing an autonomous driving functionality provided by a system assistance for driving a motor vehicle according to the invention described below which implements the method according to the invention described below.
- the trajectory followed by another vehicle 2 preceding the autonomous vehicle 1 on the same traffic lane is periodically determined.
- the driving assistance system therefore advantageously guides the vehicle along the trajectory which is undeniably the safest possible since it is the one which was followed by the vehicle located just in front.
- the device 100 for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle according to the invention which is on board the vehicle 1 according to the invention is illustrated in the Figure 2.
- This is a computing device, which comprises at least one information processing unit 101, comprising one or more processors, a data storage medium 102, on which is recorded in particular a program which includes program code instructions for executing the steps of the method according to the invention described below, and an input and output interface 103 allowing the reception and transmission of data.
- the device 100 according to the invention is hosted on one or more computers, electronic control units or other telematics boxes of the vehicle 1.
- the device 100 according to the invention is hosted on an independent computer and it interacts via its input and output interface 103 and by means of a wired communication network of the vehicle 1 (eg CAN, Ethernet ) - shown in the figure by the two-way arrows - with a computer for the vehicle's driving assistance system 200.
- the device 100 according to the invention is an integral part of a computer of the driving assistance system 200 of the vehicle.
- the device 100 according to the invention is always able to interact, through its input and output interface 103, not only with the driving assistance system 200 of the vehicle, but also, via it, with any other device which equips and/or interacts with the driving assistance system 200. Thanks to these means, the device 100 according to the invention can therefore in particular cause the use by the driving assistance system 200 of data characterizing a particular modeling of the future trajectory of the vehicle to provide autonomous driving functionality.
- the driving assistance system 200 of the vehicle 1 conventionally comprises at least one detection device 201 (eg lidar, radar, camera, ultrasonic sensor, etc.), which 'it uses to perceive the driving environment around the vehicle, in particular the ground marking elements, and one or more calculators, computers and/or processors 202, which, based on data generated by the detection device 201, can control the operation of certain vehicle components that govern its movement (eg electronic power steering, electronic trajectory correction, ABS, cruise control, etc.) in order to provide autonomous driving functionality.
- detection device 201 eg lidar, radar, camera, ultrasonic sensor, etc.
- calculators e.g., a calculators, computers and/or processors 202, which, based on data generated by the detection device 201, can control the operation of certain vehicle components that govern its movement (eg electronic power steering, electronic trajectory correction, ABS, cruise control, etc.) in order to provide autonomous driving functionality.
- vehicle components eg electronic power steering, electronic trajectory correction, ABS, cruise control, etc.
- the driving assistance system 200 provides the autonomous driving functionality by primarily using a modeling of the future trajectory of the vehicle which it determines based on data characterizing at least one mapping element determined using the system navigation 203 of the vehicle and data characterizing the location of at least one ground marking element determined using the detection device 201, preferably a camera.
- the device 100 by interacting with or being an integral part of such a driving assistance system, the device 100 according to the invention is in particular able to determine the location of a preceding vehicle which is traveling on the same lane. .
- it can also determine whether a modeling of the future trajectory of the vehicle used at the current time by the driving assistance system for providing the autonomous driving functionality involves a risk of collision.
- the device 100 according to the invention also comprises hardware and software means for interacting with a man-machine interface 204 of the vehicle , which conventionally comprises a screen 205 and a speaker 206 to allow the broadcast of visual and/or audible indications in the passenger compartment of the vehicle 1. Thanks to these means, the device 100 according to the invention is advantageously able to cause the broadcast of a visual and/or audible indication in the passenger compartment of the vehicle.
- the device 100 according to the invention determines data characterizing the coordinates of several points of the trajectory followed by the second vehicle 2 preceding the first vehicle 1 on the same lane of traffic.
- the device 100 according to the invention interacts with the driving assistance system 200, which uses its detection device 201, preferably a radar, to constantly model the driving environment around the first vehicle 1, in particular the static or mobile objects located there and, in particular, the second vehicle 2 which is traveling just ahead on the same lane.
- the device 100 according to the invention determines during this first step 301 the coordinates of several points of the trajectory followed by the second vehicle 2, for example the coordinates of the six points shown in Figure 1.
- the device 100 according to the invention determines whether data characterizing a first modeling of the future trajectory of the first vehicle used at the current time by the system driving assistance for the provision of autonomous driving functionality involves a risk of collision. For this, the device 100 according to the invention interacts again preferentially with the driving assistance system 200. In fact, the latter provides at this stage the autonomous driving functionality by using a modeling of the future trajectory of the first vehicle (TRAJi) which is determined based on the mapping and detection of ground marking elements, preferably carried out by means of a camera.
- TRAJi modeling of the future trajectory of the first vehicle
- the driving assistance system 200 proceeds in a conventional manner by merging this modeling of the future trajectory of the first vehicle (TRAJi) with a modeling of the current driving environment determined at means of the detection device 201, preferably a radar.
- the device 100 according to the invention can identify the modeling of the future trajectory of the vehicle which is used at the current time by the driving assistance system 200 to provide the autonomous driving functionality and, since the driving assistance system 200 establishes that a risk of collision is induced by this current modeling of the future trajectory of the first vehicle 1, the device 100 according to the invention also establishes it.
- the device 100 according to the invention carries out the following steps of the method according to the invention described below.
- the device 100 according to the invention causes the broadcast of a visual and/or audible indication in the passenger compartment of the first vehicle 1.
- the device 100 according to the invention proceeds in a conventional manner by interacting with the man-machine interface 204.
- the device 100 has established that a risk of collision exists in connection with a current modeling of the future trajectory of the vehicle and, consequently, it conventionally carries out a step consisting of alerting the driver.
- the device 100 according to the invention advantageously determines data characterizing a second modeling of the future trajectory of the first vehicle as a function of the data characterizing the coordinates of several points of the trajectory followed by a second vehicle preceding the first vehicle on the same traffic lane.
- the device 100 according to the invention proceeds at this stage using the coordinates of the trajectory followed by the second vehicle 2 which were determined during the first step 301 of the method to determine a new modeling of the future trajectory of the first vehicle (TRAJ2), for example by interpolation of the six previously determined points illustrated in Figure 1.
- the device 100 according to the invention causes the use by the driving assistance system 200 of the data characterizing the second modeling of the future trajectory of the first vehicle for the provision of autonomous driving functionality.
- the device 100 according to the invention instructs the driving assistance system 200 so that it uses the second modeling, that determined in the previous step of the method which only depends on the past trajectory of the second vehicle 2, to guide the vehicle from this moment.
- this fifth step of the method the first vehicle 1 is guided along a trajectory which is completely different from that used until then, not only from the point of view of the way of determining it (mapping and marking elements with ground vs. past trajectory of the preceding vehicle) but also with regard to the detection devices that are used (camera for ground marking elements vs. radar for the trajectory of the preceding vehicle).
- this fifth step of the method is carried out until the driver places his hands on the steering wheel of the vehicle, a state of affairs that the device 100 according to the invention determines, for example, by interacting with a sensor in the steering wheel. or a camera in the passenger compartment, and at most for a pre-established duration, for example five seconds.
- the device 100 can, for example, carry out an additional step during which it causes the vehicle to stop on the lane (or emergency lane).
- the first vehicle 1 is advantageously guided according to the safest possible trajectory since it is the one which was followed by the second vehicle 2 which is located just in front .
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Abstract
The invention relates to a method for ensuring the safety of an autonomous driving functionality provided by a driver assistance system of a motor vehicle (1), by means of a vehicle-mounted computer device. The invention also relates to a device for implementing such a method, and to a motor vehicle (1) comprising such a device.
Description
DESCRIPTION DESCRIPTION
TITRE : Procédé et dispositif de sécurisation d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite d’un véhicule automobile TITLE: Method and device for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle
La présente invention revendique la priorité de la demande française 2207953 déposée le 01.08.2022 dont le contenu (texte, dessins et revendications) est ici incorporé par référence. The present invention claims the priority of French application 2207953 filed on 01.08.2022, the content of which (text, drawings and claims) is here incorporated by reference.
Domaine technique de l’invention Technical field of the invention
[0001] La présente invention concerne le domaine du véhicule autonome, notamment celui de la voiture autonome. L’invention porte en particulier sur un procédé de sécurisation d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite d’un véhicule automobile au moyen d’un dispositif informatique embarqué à bord du véhicule. L’invention concerne également un dispositif mettant en œuvre un tel procédé ainsi qu’un véhicule automobile comprenant un tel dispositif. L’invention s’applique aux véhicules automobiles tels que les véhicules terrestres à moteur, notamment les voitures. [0001] The present invention relates to the field of autonomous vehicles, in particular that of the autonomous car. The invention relates in particular to a method for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle by means of a computer device on board the vehicle. The invention also relates to a device implementing such a method as well as a motor vehicle comprising such a device. The invention applies to motor vehicles such as land motor vehicles, in particular cars.
Etat de la technique antérieure State of the prior art
[0002] Il est connu que certains systèmes d’aide à la conduite de véhicules automobiles actuels, par exemple ceux équipant certaines voitures, fournissent des fonctionnalités qui permettent la prise en charge du guidage autonome des véhicules dans certains environnements de conduite particuliers. Grâce à ces systèmes, le conducteur peut donc s’il le souhaite lâcher le volant tout en maintenant sa vigilance dès lors que le système d’aide à la conduite assume le guidage du véhicule. Et pour fournir une telle fonctionnalité, certains systèmes d’aide à la conduite connus utilisent une modélisation de la trajectoire future du véhicule qu’ils déterminent en
fonction de la cartographie et d’une détection des éléments de marquage au sol, généralement réalisée au moyen d’une caméra. Cette modélisation de la trajectoire future du véhicule est notamment utilisée pour estimer les risques de collisions compte tenu de l’environnement de conduite, en particulier des objets mobiles ou statiques qui s’y trouvent, et, selon l’existence ou non d’un risque de collision, autoriser ou interdire la fourniture de la fonctionnalité de conduite autonome. Or, il peut arriver que la détection des éléments de marquage au sol soit défaillante et que cela entraîne une modélisation erronée de la trajectoire future induisant une estimation incorrecte de l’existence d’un risque de collision. Lorsque cela se produit, certains systèmes d’aide à la conduite connus sont configurés pour réagir en informant immédiatement le conducteur de la nécessité de reprendre au plus vite le contrôle du véhicule, généralement en provoquant la diffusion d’une indication visuelle et/ou sonore dans l’habitacle du véhicule. Et afin de laisser le temps au conducteur de s’exécuter, cette indication est diffusée plusieurs secondes avant que le système d’aide à la conduite ne provoque ensuite l’arrêt sur voie du véhicule. Ainsi, pendant ce laps de temps entre la diffusion de l’indication et la reprise en main pas le conducteur, le système d’aide à la conduite doit être en mesure de gérer le guidage du véhicule de manière sûre. [0002] It is known that certain driving assistance systems of current motor vehicles, for example those fitted to certain cars, provide functionalities which enable the autonomous guidance of vehicles to be supported in certain particular driving environments. Thanks to these systems, the driver can, if he wishes, let go of the steering wheel while maintaining his vigilance as long as the driving assistance system takes over the guidance of the vehicle. And to provide such functionality, certain known driving assistance systems use modeling of the future trajectory of the vehicle which they determine by function of mapping and detection of ground marking elements, generally carried out by means of a camera. This modeling of the future trajectory of the vehicle is used in particular to estimate the risks of collisions taking into account the driving environment, in particular the mobile or static objects located there, and, depending on the existence or not of a risk of collision, authorize or prohibit the provision of autonomous driving functionality. However, it may happen that the detection of the ground marking elements is faulty and that this leads to erroneous modeling of the future trajectory leading to an incorrect estimation of the existence of a risk of collision. When this happens, certain known driving assistance systems are configured to react by immediately informing the driver of the need to regain control of the vehicle as quickly as possible, generally by causing the broadcast of a visual and/or audible indication in the passenger compartment of the vehicle. And in order to give the driver time to do so, this indication is broadcast several seconds before the driving assistance system then causes the vehicle to stop on the lane. Thus, during this period of time between the broadcast of the indication and the driver taking control, the driving assistance system must be able to manage the guidance of the vehicle in a safe manner.
Résumé de l’invention Summary of the invention
[0003] L’invention vise à satisfaire ce besoin. L’invention a en particulier pour but de fournir un procédé et un dispositif qui permettent de maximiser la sécurité d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite d’un véhicule automobile, en particulier pour permettre un guidage sûr du véhicule lorsqu’une reprise en main par le conducteur du véhicule s’avère nécessaire. [0003] The invention aims to satisfy this need. The invention aims in particular to provide a method and a device which make it possible to maximize the safety of an autonomous driving functionality provided by a driving assistance system of a motor vehicle, in particular to allow guidance safe of the vehicle when recovery by the driver of the vehicle is necessary.
[0004] Afin d’atteindre ce but, l’invention concerne, selon un premier aspect, un procédé de sécurisation d’une fonctionnalité de conduite autonome
fournie par un système d’aide à la conduite d’un premier véhicule automobile au moyen d’un dispositif informatique embarqué à bord du premier véhicule, le procédé comprenant les étapes de : i) déterminer des données caractérisant les coordonnées de plusieurs points de la trajectoire suivie par un deuxième véhicule automobile précédant le premier véhicule sur la même voie de circulation en utilisant un appareil de détection ; ii) déterminer si des données caractérisant une première modélisation de la trajectoire future du premier véhicule utilisée à l’instant courant par le système d’aide à la conduite pour la fourniture de la fonctionnalité de conduite autonome implique un risque de collision ; et, lorsqu’il est établi que tel est le cas, iii) provoquer la diffusion d’une indication visuelle et/ou sonore dans l’habitacle du premier véhicule en interagissant avec une interface homme- machine ; iv) déterminer des données caractérisant une deuxième modélisation de la trajectoire future du premier véhicule en fonction des données caractérisant les coordonnées de plusieurs points de la trajectoire suivie par un deuxième véhicule précédant le premier véhicule sur la même voie de circulation ; et v) provoquer l’utilisation par le système d’aide à la conduite des données caractérisant la deuxième modélisation de la trajectoire future du premier véhicule pour la fourniture de la fonctionnalité de conduite autonome. [0004] In order to achieve this goal, the invention relates, according to a first aspect, to a method for securing an autonomous driving functionality provided by a driving assistance system of a first motor vehicle by means of a computer device on board the first vehicle, the method comprising the steps of: i) determining data characterizing the coordinates of several points of the trajectory followed by a second motor vehicle preceding the first vehicle on the same lane using a detection device; ii) determine whether data characterizing a first modeling of the future trajectory of the first vehicle used at the current time by the driving assistance system for providing the autonomous driving functionality implies a risk of collision; and, when it is established that this is the case, iii) cause the broadcast of a visual and/or audible indication in the passenger compartment of the first vehicle by interacting with a man-machine interface; iv) determine data characterizing a second modeling of the future trajectory of the first vehicle based on data characterizing the coordinates of several points of the trajectory followed by a second vehicle preceding the first vehicle on the same traffic lane; and v) causing the driver assistance system to use the data characterizing the second modeling of the future trajectory of the first vehicle for providing the autonomous driving functionality.
[0005] Selon une variante, l’étape iv) peut être réalisée tant que le conducteur du premier véhicule n’a pas posé ses mains sur le volant et au maximum pendant une durée préétablie. [0005] According to a variant, step iv) can be carried out as long as the driver of the first vehicle has not placed his hands on the steering wheel and for a maximum of a pre-established duration.
[0006] Selon une autre variante, la durée préétablie peut être égale à cinq secondes.
[0007] Selon encore une autre variante, les données caractérisant une première modélisation de la trajectoire future du premier véhicule peuvent être déterminées en fonction de données caractérisant au moins un élément de cartographie déterminées en utilisant un système de navigation et de données caractérisant la localisation d’au moins un élément de marquage au sol déterminées en utilisant l’appareil de détection. [0006] According to another variant, the preestablished duration can be equal to five seconds. [0007] According to yet another variant, the data characterizing a first modeling of the future trajectory of the first vehicle can be determined as a function of data characterizing at least one mapping element determined using a navigation system and data characterizing the location of at least one ground marking element determined using the detection device.
[0008] Selon un deuxième aspect, l’invention concerne un dispositif de sécurisation d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite d’un véhicule automobile, le dispositif comprenant au moins une unité de traitement d’informations, comprenant au moins un processeur, et un support de stockage de données configurés pour mettre en œuvre un procédé tel que décrit ci-dessus. [0008] According to a second aspect, the invention relates to a device for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle, the device comprising at least one data processing unit. information, comprising at least one processor, and a data storage medium configured to implement a method as described above.
[0009] Selon un troisième aspect, l’invention concerne un programme d’ordinateur comprenant des instructions de code de programme pour l’exécution des étapes d’un procédé tel que décrit ci- dessus lorsque ledit programme est exécuté par au moins un processeur. [0009] According to a third aspect, the invention relates to a computer program comprising program code instructions for executing the steps of a method as described above when said program is executed by at least one processor .
[0010] Selon un quatrième aspect, l’invention concerne un support utilisable dans un ordinateur sur lequel un programme tel que décrit ci- dessus est enregistré. [0010] According to a fourth aspect, the invention relates to a medium usable in a computer on which a program as described above is recorded.
[0011] Selon un cinquième aspect, l’invention concerne un véhicule automobile comprenant un dispositif tel que décrit ci-dessus. [0011] According to a fifth aspect, the invention relates to a motor vehicle comprising a device as described above.
Brève description des figures Brief description of the figures
[0012] D'autres caractéristiques et avantages de l'invention apparaîtront à l'examen de la description détaillée ci-après, et des dessins annexés, sur lesquels :
[0013] [Fig- 1] est un schéma d’un véhicule selon l’invention évoluant dans une situation de conduite dans laquelle le procédé selon l’invention est mis en œuvre ; Other characteristics and advantages of the invention will appear on examination of the detailed description below, and the appended drawings, in which: [0013] [Fig-1] is a diagram of a vehicle according to the invention operating in a driving situation in which the method according to the invention is implemented;
[0014] [Fig. 2] est un diagramme fonctionnel d’un dispositif selon l’invention ; et [0014] [Fig. 2] is a functional diagram of a device according to the invention; And
[0015] [Fig. 3] est un organigramme des étapes d’un procédé selon l’invention. [0015] [Fig. 3] is a flowchart of the steps of a process according to the invention.
Description détaillée de l’invention Detailed description of the invention
[0016] La figure 1 illustre un véhicule 1 selon l’invention circulant dans une situation de conduite dans laquelle le procédé selon l’invention décrit ci- après est mis en œuvre. Le véhicule 1 selon l’invention embarque un système d’aide à la conduite qui fournit une fonctionnalité de conduite autonome telle qu’évoquée en préambule et, de manière avantageuse, un dispositif de sécurisation d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite d’un véhicule automobile selon l’invention décrit ci-dessous qui met en œuvre le procédé selon l’invention décrit ci-après. Lors de la mise en œuvre du procédé selon l’invention, la trajectoire suivie par un autre véhicule 2 précédant le véhicule autonome 1 sur la même voie de circulation est périodiquement déterminée. Ensuite, lorsqu’il est établi que la modélisation courante de la trajectoire future du véhicule (TRAJi) qui est utilisée par le système d’aide à la conduite pour fournir la fonctionnalité de conduite autonome implique un risque de collision, c’est alors une autre modélisation de la trajectoire future (TRAJ2) déterminée en fonction de la trajectoire passée du véhicule précédant 2 qui est utilisée par le système d’aide à la conduite pour continuer à fournir la fonctionnalité de conduite autonome pendant le laps de temps qui permet au conducteur de reprendre la main. En d’autres termes, la trajectoire future du véhicule ne dépend donc plus à ce stade ni de la cartographie ni de la détection des éléments de marquage au sol mais uniquement de la trajectoire passée du véhicule
précédant. Tant que le conducteur n’a pas repris la main, le système d’aide à la conduite guide donc avantageusement le véhicule selon la trajectoire qui est indéniablement la plus sûre qui soit puisque c’est celle qui a été suivie par le véhicule situé juste devant. [0016] Figure 1 illustrates a vehicle 1 according to the invention circulating in a driving situation in which the method according to the invention described below is implemented. The vehicle 1 according to the invention has a driving assistance system which provides an autonomous driving functionality as mentioned in the preamble and, advantageously, a device for securing an autonomous driving functionality provided by a system assistance for driving a motor vehicle according to the invention described below which implements the method according to the invention described below. During the implementation of the method according to the invention, the trajectory followed by another vehicle 2 preceding the autonomous vehicle 1 on the same traffic lane is periodically determined. Then, when it is established that the current modeling of the future trajectory of the vehicle (TRAJi) which is used by the driver assistance system to provide the autonomous driving functionality involves a risk of collision, it is then a other modeling of the future trajectory (TRAJ2) determined based on the past trajectory of the preceding vehicle 2 which is used by the driving assistance system to continue providing the autonomous driving functionality during the period of time which allows the driver to regain control. In other words, the future trajectory of the vehicle therefore no longer depends at this stage on either the mapping or the detection of ground marking elements but only on the past trajectory of the vehicle. preceding. As long as the driver has not regained control, the driving assistance system therefore advantageously guides the vehicle along the trajectory which is undeniably the safest possible since it is the one which was followed by the vehicle located just in front.
[0017] Le dispositif 100 de sécurisation d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite d’un véhicule automobile selon l’invention qui est embarqué à bord du véhicule 1 selon l’invention est illustré sur la figure 2. Il s’agit d’un appareil informatique, qui comprend au moins une unité de traitement d’informations 101, comportant un ou plusieurs processeurs, un support de stockage de données 102, sur lequel est notamment enregistré un programme qui comprend des instructions de code de programme pour l’exécution des étapes du procédé selon l’invention décrit ci-après, et une interface d’entrée et sortie 103 permettant la réception et l’émission de données. [0017] The device 100 for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle according to the invention which is on board the vehicle 1 according to the invention is illustrated in the Figure 2. This is a computing device, which comprises at least one information processing unit 101, comprising one or more processors, a data storage medium 102, on which is recorded in particular a program which includes program code instructions for executing the steps of the method according to the invention described below, and an input and output interface 103 allowing the reception and transmission of data.
[0018] Selon un mode de réalisation de l’invention, le dispositif 100 selon l’invention est hébergé sur un ou plusieurs calculateurs, unités de commande électroniques ou autres boitiers télématiques du véhicule 1. Selon le mode de réalisation préféré, celui illustré sur la figure 2, le dispositif 100 selon l’invention est hébergé sur un calculateur indépendant et il interagit par le biais de son interface d’entrée et sortie 103 et au moyen d’un réseau de communication filaire du véhicule 1 (e.g. CAN, Ethernet) - matérialisé sur la figure par les flèches à double sens — avec un calculateur du système d’aide à la conduite 200 du véhicule. Selon un autre mode de réalisation, le dispositif 100 selon l’invention fait partie intégrante d’un calculateur du système d’aide à la conduite 200 du véhicule. Ainsi, quel que soit le mode de réalisation, le dispositif 100 selon l’invention est toujours en mesure d’interagir, par le biais de son interface d’entrée et sortie 103, non seulement avec le système d’aide à la conduite 200 du véhicule, mais également, via celui-ci, avec tout autre
appareil qui équipe et/ou interagit avec le système d’aide à la conduite 200. Grâce à ces moyens, le dispositif 100 selon l’invention peut donc notamment provoquer l’utilisation par le système d’aide à la conduite 200 de données caractérisant une modélisation particulière de la trajectoire future du véhicule pour fournir la fonctionnalité de conduite autonome. [0018] According to one embodiment of the invention, the device 100 according to the invention is hosted on one or more computers, electronic control units or other telematics boxes of the vehicle 1. According to the preferred embodiment, that illustrated on Figure 2, the device 100 according to the invention is hosted on an independent computer and it interacts via its input and output interface 103 and by means of a wired communication network of the vehicle 1 (eg CAN, Ethernet ) - shown in the figure by the two-way arrows - with a computer for the vehicle's driving assistance system 200. According to another embodiment, the device 100 according to the invention is an integral part of a computer of the driving assistance system 200 of the vehicle. Thus, whatever the embodiment, the device 100 according to the invention is always able to interact, through its input and output interface 103, not only with the driving assistance system 200 of the vehicle, but also, via it, with any other device which equips and/or interacts with the driving assistance system 200. Thanks to these means, the device 100 according to the invention can therefore in particular cause the use by the driving assistance system 200 of data characterizing a particular modeling of the future trajectory of the vehicle to provide autonomous driving functionality.
[0019] En outre, le système d’aide à la conduite 200 du véhicule 1 selon l’invention comprend de manière conventionnelle au moins un appareil de détection 201 (e.g. lidar, radar, caméra, capteur à ultrasons, etc.), qu’il utilise pour percevoir l’environnement de conduite autour du véhicule, notamment les éléments de marquage au sol, et un ou plusieurs calculateurs, ordinateurs et/ou processeurs 202, qui, en fonction de données générées par l’appareil de détection 201, peuvent contrôler le fonctionnement de certains composants du véhicule qui gouvernent son déplacement (e.g. direction assistée électronique, correcteur électronique de trajectoire, ABS, régulateur de vitesse, etc.) afin de fournir la fonctionnalité de conduite autonome. De manière préférentielle, le système d’aide à la conduite 200 fournit la fonctionnalité de conduite autonome en utilisant prioritairement une modélisation de la trajectoire future du véhicule qu’il détermine en fonction de données caractérisant au moins un élément de cartographie déterminées en utilisant le système de navigation 203 du véhicule et de données caractérisant la localisation d’au moins un élément de marquage au sol déterminées en utilisant l’appareil de détection 201, préférentiellement une caméra. Ainsi, en interagissant avec ou en faisant partie intégrante d’un tel système d’aide à la conduite, le dispositif 100 selon l’invention est notamment en mesure de déterminer la localisation d’un véhicule précédant qui circule sur la même voie de circulation. En outre, il peut aussi déterminer si une modélisation de la trajectoire future du véhicule utilisée à l’instant courant par le système d’aide à la conduite pour la fourniture de la fonctionnalité de conduite autonome implique un risque de collision.
[0020] De plus, pour mettre en œuvre au moins une étape du procédé selon l’invention décrit ci-dessous, le dispositif 100 selon l’invention comprend également des moyens matériels et logiciels pour interagir avec une interface homme-machine 204 du véhicule, qui comprend conventionnellement un écran 205 et un haut-parleur 206 pour permettre la diffusion d’indications visuelles et/ou sonores dans l’habitacle du véhicule 1. Grâce à ces moyens, le dispositif 100 selon l’invention est avantageusement en mesure de provoquer la diffusion d’une indication visuelle et/ou sonore dans l’habitacle du véhicule. [0019] Furthermore, the driving assistance system 200 of the vehicle 1 according to the invention conventionally comprises at least one detection device 201 (eg lidar, radar, camera, ultrasonic sensor, etc.), which 'it uses to perceive the driving environment around the vehicle, in particular the ground marking elements, and one or more calculators, computers and/or processors 202, which, based on data generated by the detection device 201, can control the operation of certain vehicle components that govern its movement (eg electronic power steering, electronic trajectory correction, ABS, cruise control, etc.) in order to provide autonomous driving functionality. Preferably, the driving assistance system 200 provides the autonomous driving functionality by primarily using a modeling of the future trajectory of the vehicle which it determines based on data characterizing at least one mapping element determined using the system navigation 203 of the vehicle and data characterizing the location of at least one ground marking element determined using the detection device 201, preferably a camera. Thus, by interacting with or being an integral part of such a driving assistance system, the device 100 according to the invention is in particular able to determine the location of a preceding vehicle which is traveling on the same lane. . In addition, it can also determine whether a modeling of the future trajectory of the vehicle used at the current time by the driving assistance system for providing the autonomous driving functionality involves a risk of collision. [0020] Furthermore, to implement at least one step of the method according to the invention described below, the device 100 according to the invention also comprises hardware and software means for interacting with a man-machine interface 204 of the vehicle , which conventionally comprises a screen 205 and a speaker 206 to allow the broadcast of visual and/or audible indications in the passenger compartment of the vehicle 1. Thanks to these means, the device 100 according to the invention is advantageously able to cause the broadcast of a visual and/or audible indication in the passenger compartment of the vehicle.
[0021] Selon l’invention, tous les éléments décrits ci-dessus contribuent pour permettre la mise en œuvre d’un procédé de sécurisation d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite d’un véhicule automobile, tel que décrit ci- dessous en lien avec les figures 1 et 3. [0021] According to the invention, all the elements described above contribute to enabling the implementation of a method for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle , as described below in connection with Figures 1 and 3.
[0022] Selon une première étape 301 du procédé selon l’invention, le dispositif 100 selon l’invention détermine des données caractérisant les coordonnées de plusieurs points de la trajectoire suivie par le deuxième véhicule 2 précédant le premier véhicule 1 sur la même voie de circulation. Pour ce faire, le dispositif 100 selon l’invention interagit avec le système d’aide à la conduite 200, qui utilise son appareil de détection 201, préférentiellement un radar, pour modéliser constamment l’environnement de conduite autour du premier véhicule 1, notamment les objets statiques ou mobiles qui s’y trouvent et, en particulier, le deuxième véhicule 2 qui circule juste devant sur la même voie de circulation. Ainsi, en interrogeant de manière périodique le système d’aide à la conduite 200, le dispositif 100 selon l’invention détermine au cours de cette première étape 301 les coordonnées de plusieurs points de la trajectoire suivie par le deuxième véhicule 2, par exemple les coordonnées des six points illustrés sur la figure 1.
[0023] Ensuite, selon une deuxième étape 302 du procédé selon l’invention, le dispositif 100 selon l’invention détermine si des données caractérisant une première modélisation de la trajectoire future du premier véhicule utilisée à l’instant courant par le système d’aide à la conduite pour la fourniture de la fonctionnalité de conduite autonome implique un risque de collision. Pour cela, le dispositif 100 selon l’invention interagit de nouveau préférentiellement avec le système d’aide à la conduite 200. En effet, celui-ci fournit à ce stade la fonctionnalité de conduite autonome en utilisant une modélisation de la trajectoire future du premier véhicule (TRAJi) qui est déterminée en fonction de la cartographie et d’une détection des éléments de marquage au sol, préférentiellement réalisée au moyen d’une caméra. Et pour continuellement déterminer si un risque de collision existe, le système d’aide à la conduite 200 procède de manière conventionnelle en fusionnant cette modélisation de la trajectoire future du premier véhicule (TRAJi) avec une modélisation de l’environnement de conduite courant déterminée au moyen de l’appareil de détection 201, préférentiellement un radar. Ainsi, le dispositif 100 selon l’invention peut identifier la modélisation de la trajectoire future du véhicule qui est utilisée à l’instant courant par le système d’aide à la conduite 200 pour fournir la fonctionnalité de conduite autonome et, dès lors que le système d’aide à la conduite 200 établit qu’un risque de collision est induit par cette modélisation courante de la trajectoire future du premier véhicule 1, le dispositif 100 selon l’invention l’établit également. [0022] According to a first step 301 of the method according to the invention, the device 100 according to the invention determines data characterizing the coordinates of several points of the trajectory followed by the second vehicle 2 preceding the first vehicle 1 on the same lane of traffic. To do this, the device 100 according to the invention interacts with the driving assistance system 200, which uses its detection device 201, preferably a radar, to constantly model the driving environment around the first vehicle 1, in particular the static or mobile objects located there and, in particular, the second vehicle 2 which is traveling just ahead on the same lane. Thus, by periodically interrogating the driving assistance system 200, the device 100 according to the invention determines during this first step 301 the coordinates of several points of the trajectory followed by the second vehicle 2, for example the coordinates of the six points shown in Figure 1. [0023] Then, according to a second step 302 of the method according to the invention, the device 100 according to the invention determines whether data characterizing a first modeling of the future trajectory of the first vehicle used at the current time by the system driving assistance for the provision of autonomous driving functionality involves a risk of collision. For this, the device 100 according to the invention interacts again preferentially with the driving assistance system 200. In fact, the latter provides at this stage the autonomous driving functionality by using a modeling of the future trajectory of the first vehicle (TRAJi) which is determined based on the mapping and detection of ground marking elements, preferably carried out by means of a camera. And to continually determine whether a risk of collision exists, the driving assistance system 200 proceeds in a conventional manner by merging this modeling of the future trajectory of the first vehicle (TRAJi) with a modeling of the current driving environment determined at means of the detection device 201, preferably a radar. Thus, the device 100 according to the invention can identify the modeling of the future trajectory of the vehicle which is used at the current time by the driving assistance system 200 to provide the autonomous driving functionality and, since the driving assistance system 200 establishes that a risk of collision is induced by this current modeling of the future trajectory of the first vehicle 1, the device 100 according to the invention also establishes it.
[0024] Ensuite, lorsqu’il a établi qu’une première modélisation de la trajectoire future du premier véhicule utilisée à l’instant courant par le système d’aide à la conduite 200 pour la fourniture de la fonctionnalité de conduite autonome implique un risque de collision, le dispositif 100 selon l’invention réalise les étapes suivantes du procédé selon l’invention décrites ci-dessous.
[0025] Selon une troisième étape 303 du procédé selon l’invention, le dispositif 100 selon l’invention provoque la diffusion d’une indication visuelle et/ou sonore dans l’habitacle du premier véhicule 1. Pour ce faire, le dispositif 100 selon l’invention procède de manière conventionnelle en interagissant avec l’interface homme-machine 204. En effet, comme cela a été évoqué en préambule, la plupart des systèmes d’aide à la conduite connus sont déjà en mesure de provoquer la diffusion d’indications dans l’habitacle des véhicules, en particulier pour inciter le conducteur à reprendre la main. Ainsi, le dispositif 100 selon l’invention a établi qu’un risque de collision existe en lien avec une modélisation courante de la trajectoire future du véhicule et, en conséquence, il réalise de manière conventionnelle une étape consistant à alerter le conducteur. Then, when it has been established that a first modeling of the future trajectory of the first vehicle used at the current time by the driving assistance system 200 for the provision of the autonomous driving functionality involves a risk collision, the device 100 according to the invention carries out the following steps of the method according to the invention described below. [0025] According to a third step 303 of the method according to the invention, the device 100 according to the invention causes the broadcast of a visual and/or audible indication in the passenger compartment of the first vehicle 1. To do this, the device 100 according to the invention proceeds in a conventional manner by interacting with the man-machine interface 204. Indeed, as mentioned in the preamble, most of the known driving assistance systems are already able to cause the diffusion of indications in the passenger compartment of vehicles, in particular to encourage the driver to take control. Thus, the device 100 according to the invention has established that a risk of collision exists in connection with a current modeling of the future trajectory of the vehicle and, consequently, it conventionally carries out a step consisting of alerting the driver.
[0026] Ensuite, selon une quatrième étape 304 du procédé selon l’invention, le dispositif 100 selon l’invention détermine avantageusement des données caractérisant une deuxième modélisation de la trajectoire future du premier véhicule en fonction des données caractérisant les coordonnées de plusieurs points de la trajectoire suivie par un deuxième véhicule précédant le premier véhicule sur la même voie de circulation. En d’autres termes, le dispositif 100 selon l’invention procède à ce stade en utilisant les coordonnées de la trajectoire suivie par le deuxième véhicule 2 qui ont été déterminées au cours de la première étape 301 du procédé pour déterminer une nouvelle modélisation de la trajectoire future du premier véhicule (TRAJ2), par exemple par interpolation des six points précédemment déterminés illustrés sur la figure 1. Et comme on l’a vu, cela a pour avantage que la trajectoire future du premier véhicule est dès lors basée non plus sur la cartographie et la détection des éléments de marquage au sol mais uniquement sur la trajectoire passée du deuxième véhicule 2.
[0027] Ensuite, selon une cinquième étape 305 du procédé selon l’invention, le dispositif 100 selon l’invention provoque l’utilisation par le système d’aide à la conduite 200 des données caractérisant la deuxième modélisation de la trajectoire future du premier véhicule pour la fourniture de la fonctionnalité de conduite autonome. En d’autres termes, le dispositif 100 selon l’invention instruit le système d’aide à la conduite 200 pour qu’il utilise la deuxième modélisation, celle déterminée à l’étape précédente du procédé qui ne dépend que de la trajectoire passée du deuxième véhicule 2, pour guider le véhicule à partir de cet instant. Ainsi, au terme de cette cinquième étape du procédé, le premier véhicule 1 est guidé selon une trajectoire qui est complètement différente de celle utilisée jusqu’alors, non seulement du point de vue de la manière de la déterminer (cartographie et éléments de marquage au sol vs. trajectoire passée du véhicule précédant) mais également en ce qui concerne les appareils de détection qui sont utilisés (caméra pour les éléments de marquage au sol vs. radar pour la trajectoire du véhicule précédant). De préférence, cette cinquième étape du procédé est réalisée jusqu’à ce que le conducteur pose ses mains sur le volant du véhicule, état de fait que le dispositif 100 selon l’invention détermine, par exemple, en interagissant avec un capteur dans le volant ou une caméra dans l’habitacle, et au maximum pendant une durée préétablie, par exemple cinq secondes. Ensuite, si le conducteur n’a toujours pas repris le contrôle, le dispositif 100 selon l’invention peut, par exemple, réaliser une étape additionnelle au cours de laquelle il provoque un arrêt sur voie (ou voie d’urgence) du véhicule. Ainsi, durant le laps de temps qui précède la reprise en main du conducteur, le premier véhicule 1 est avantageusement guidé selon la trajectoire la plus sûre qui soit puisque c’est celle qui a été suivie par le deuxième véhicule 2 qui est situé juste devant. [0026] Then, according to a fourth step 304 of the method according to the invention, the device 100 according to the invention advantageously determines data characterizing a second modeling of the future trajectory of the first vehicle as a function of the data characterizing the coordinates of several points of the trajectory followed by a second vehicle preceding the first vehicle on the same traffic lane. In other words, the device 100 according to the invention proceeds at this stage using the coordinates of the trajectory followed by the second vehicle 2 which were determined during the first step 301 of the method to determine a new modeling of the future trajectory of the first vehicle (TRAJ2), for example by interpolation of the six previously determined points illustrated in Figure 1. And as we have seen, this has the advantage that the future trajectory of the first vehicle is therefore no longer based on mapping and detection of ground marking elements but only on the past trajectory of the second vehicle 2. [0027] Then, according to a fifth step 305 of the method according to the invention, the device 100 according to the invention causes the use by the driving assistance system 200 of the data characterizing the second modeling of the future trajectory of the first vehicle for the provision of autonomous driving functionality. In other words, the device 100 according to the invention instructs the driving assistance system 200 so that it uses the second modeling, that determined in the previous step of the method which only depends on the past trajectory of the second vehicle 2, to guide the vehicle from this moment. Thus, at the end of this fifth step of the method, the first vehicle 1 is guided along a trajectory which is completely different from that used until then, not only from the point of view of the way of determining it (mapping and marking elements with ground vs. past trajectory of the preceding vehicle) but also with regard to the detection devices that are used (camera for ground marking elements vs. radar for the trajectory of the preceding vehicle). Preferably, this fifth step of the method is carried out until the driver places his hands on the steering wheel of the vehicle, a state of affairs that the device 100 according to the invention determines, for example, by interacting with a sensor in the steering wheel. or a camera in the passenger compartment, and at most for a pre-established duration, for example five seconds. Then, if the driver has still not regained control, the device 100 according to the invention can, for example, carry out an additional step during which it causes the vehicle to stop on the lane (or emergency lane). Thus, during the period of time which precedes the driver taking control, the first vehicle 1 is advantageously guided according to the safest possible trajectory since it is the one which was followed by the second vehicle 2 which is located just in front .
[0028] Ainsi, grâce au procédé et au dispositif selon l’invention décrits ci- dessus, une solution est fournie pour maximiser la sécurité d’une
fonctionnalité de conduite autonome fournie par un système d’aide à la conduite d’un véhicule automobile, notamment pour permettre une conduite autonome sûre lorsque qu’une reprise en main du conducteur est nécessaire.
[0028] Thus, thanks to the method and the device according to the invention described above, a solution is provided to maximize the security of a autonomous driving functionality provided by a driving assistance system of a motor vehicle, in particular to enable safe autonomous driving when the driver takes control.
Claims
REVENDICATIONS : CLAIMS:
1. Procédé de sécurisation d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite (200) d’un premier véhicule automobile (1) au moyen d’un dispositif informatique (100) embarqué à bord du premier véhicule, caractérisé en ce que le procédé comprend les étapes de : i) déterminer (301) des données caractérisant les coordonnées de plusieurs points de la trajectoire suivie par un deuxième véhicule automobile (2) précédant le premier véhicule sur la même voie de circulation en utilisant un appareil de détection (201) ; ii) déterminer (302) si des données caractérisant une première modélisation de la trajectoire future du premier véhicule utilisée à l’instant courant par le système d’aide à la conduite pour la fourniture de la fonctionnalité de conduite autonome implique un risque de collision ; et, lorsqu’il est établi que tel est le cas, iii) provoquer (303) la diffusion d’une indication visuelle et/ou sonore dans l’habitacle du premier véhicule en interagissant avec une interface homme-machine (204) ; iv) déterminer (304) des données caractérisant une deuxième modélisation de la trajectoire future du premier véhicule en fonction des données caractérisant les coordonnées de plusieurs points de la trajectoire suivie par un deuxième véhicule précédant le premier véhicule sur la même voie de circulation ; et v) provoquer (305) l’utilisation par le système d’aide à la conduite (200) des données caractérisant la deuxième modélisation de la trajectoire future du premier véhicule pour la fourniture de la fonctionnalité de conduite autonome.
Procédé selon la revendication 1, caractérisé en ce que l’étape iv) est réalisée tant que le conducteur du premier véhicule n’a pas posé ses mains sur le volant et au maximum pendant une durée préétablie. Procédé selon la revendication 2, caractérisé en ce que la durée préétablie est égale à cinq secondes. Procédé selon l’une des revendications précédentes, caractérisé en ce que les données caractérisant une première modélisation de la trajectoire future du premier véhicule sont déterminées en fonction de données caractérisant au moins un élément de cartographie déterminées en utilisant un système de navigation (203) et de données caractérisant la localisation d’au moins un élément de marquage au sol déterminées en utilisant l’appareil de détection (201). Dispositif (100) de sécurisation d’une fonctionnalité de conduite autonome fournie par un système d’aide à la conduite (200) d’un véhicule automobile, caractérisé en ce que le dispositif comprend au moins une unité de traitement d’informations (101), comprenant au moins un processeur, et un support de stockage de données (102) configurés pour mettre en œuvre un procédé selon l’une quelconque des revendications précédentes. Programme d’ordinateur comprenant des instructions de code de programme pour l’exécution des étapes d’un procédé selon l’une quelconque des revendications 1 à 4 lorsque ledit programme est exécuté par au moins un processeur. Support utilisable dans un ordinateur, caractérisé en ce qu’un programme selon la revendication 6 y est enregistré.
1. Method for securing an autonomous driving functionality provided by a driving assistance system (200) of a first motor vehicle (1) by means of a computer device (100) on board the first vehicle , characterized in that the method comprises the steps of: i) determining (301) data characterizing the coordinates of several points of the trajectory followed by a second motor vehicle (2) preceding the first vehicle on the same lane using a detection apparatus (201); ii) determine (302) whether data characterizing a first modeling of the future trajectory of the first vehicle used at the current time by the driving assistance system for providing the autonomous driving functionality implies a risk of collision; and, when it is established that this is the case, iii) causing (303) the broadcast of a visual and/or audible indication in the passenger compartment of the first vehicle by interacting with a man-machine interface (204); iv) determine (304) data characterizing a second modeling of the future trajectory of the first vehicle based on data characterizing the coordinates of several points of the trajectory followed by a second vehicle preceding the first vehicle on the same lane; and v) causing (305) the use by the driving assistance system (200) of the data characterizing the second modeling of the future trajectory of the first vehicle for the provision of the autonomous driving functionality. Method according to claim 1, characterized in that step iv) is carried out as long as the driver of the first vehicle has not placed his hands on the steering wheel and at most for a pre-established duration. Method according to claim 2, characterized in that the preestablished duration is equal to five seconds. Method according to one of the preceding claims, characterized in that the data characterizing a first modeling of the future trajectory of the first vehicle are determined as a function of data characterizing at least one mapping element determined using a navigation system (203) and data characterizing the location of at least one ground marking element determined using the detection device (201). Device (100) for securing an autonomous driving functionality provided by a driving assistance system (200) of a motor vehicle, characterized in that the device comprises at least one information processing unit (101 ), comprising at least one processor, and a data storage medium (102) configured to implement a method according to any one of the preceding claims. A computer program comprising program code instructions for executing the steps of a method according to any one of claims 1 to 4 when said program is executed by at least one processor. Medium usable in a computer, characterized in that a program according to claim 6 is recorded there.
8. Véhicule automobile, caractérisé en ce qu’il comprend un dispositif (100) selon la revendication 5.
8. Motor vehicle, characterized in that it comprises a device (100) according to claim 5.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR2207953A FR3138400A1 (en) | 2022-08-01 | 2022-08-01 | Method and device for securing an autonomous driving functionality provided by a driving assistance system of a motor vehicle |
FRFR2207953 | 2022-08-01 |
Publications (1)
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WO2024028547A1 true WO2024028547A1 (en) | 2024-02-08 |
Family
ID=83900299
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/FR2023/050984 WO2024028547A1 (en) | 2022-08-01 | 2023-06-28 | Method and device for ensuring the safety of an autonomous driving functionality provided by a driver assistance system of a motor vehicle |
Country Status (2)
Country | Link |
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FR (1) | FR3138400A1 (en) |
WO (1) | WO2024028547A1 (en) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2207953A1 (en) | 1972-11-24 | 1974-06-21 | Teijin Ltd | |
US20180292834A1 (en) * | 2017-04-06 | 2018-10-11 | Toyota Jidosha Kabushiki Kaisha | Trajectory setting device and trajectory setting method |
US10372130B1 (en) * | 2017-05-19 | 2019-08-06 | Zoox, Inc. | Communicating reasons for vehicle actions |
US20190302777A1 (en) * | 2018-03-28 | 2019-10-03 | Toyota Jidosha Kabushiki Kaisha | Autonomous driving trajectory determination device |
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2022
- 2022-08-01 FR FR2207953A patent/FR3138400A1/en active Pending
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2023
- 2023-06-28 WO PCT/FR2023/050984 patent/WO2024028547A1/en unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2207953A1 (en) | 1972-11-24 | 1974-06-21 | Teijin Ltd | |
US20180292834A1 (en) * | 2017-04-06 | 2018-10-11 | Toyota Jidosha Kabushiki Kaisha | Trajectory setting device and trajectory setting method |
US10372130B1 (en) * | 2017-05-19 | 2019-08-06 | Zoox, Inc. | Communicating reasons for vehicle actions |
US20190302777A1 (en) * | 2018-03-28 | 2019-10-03 | Toyota Jidosha Kabushiki Kaisha | Autonomous driving trajectory determination device |
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FR3138400A1 (en) | 2024-02-02 |
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