FR3056806A1 - SYSTEM FOR MONITORING FREE SPACE AROUND A MOTOR VEHICLE - Google Patents

Abstract

The invention relates to a system (1) for monitoring a free space (E) around a motor vehicle (10) comprising: - at least two detection devices (D, D1, D2) configured to detect a respective zone detection device (Z, Z1, Z2) in an external environment of the motor vehicle (10), each detection device (D, D1, D2) generating a detection information (I, I1, I2), - a device for detecting display (6), characterized in that it comprises a device (4) for determining the free space (E) from an addition of the detection information (I, I1, I2), the display device (6) being intended to display an image (8) of the free space (E) resulting from the superposition. Application to motor vehicles.

Description

Holder (s): VALEO SCHALTER UND SENSOREN GMBH Simplified joint-stock company.

Extension request (s)

Agent (s): VALEO COMFORT AND DRIVING ASSISTANCE.

£> 4) SYSTEM FOR MONITORING A FREE SPACE AROUND A MOTOR VEHICLE.

FR 3 056 806 - A1 (5 /) The invention relates to a system (1) for monitoring a free space (E) around a motor vehicle (10) comprising:

at least two detection devices (D, D1, D2) configured to each detect a given detection area (Z, Z1, Z2) in an environment outside the motor vehicle (10), each detection device (D, D1, D2) generating detection information (I, 11,12),

- a display device (6), characterized in that it comprises a device for determining (4) the free space (E) from an addition of the detection information (I, 11, I2), the display device (6) being intended to display an image (8) of the free space (E) resulting from the superposition.

Application to motor vehicles.

D

NOT

SFR4231

SYSTEM FOR MONITORING A FREE SPACE AROUND A MOTOR VEHICLE

The field of the present invention is that of vehicle assistance equipment and more particularly the field of assistance systems for driving a motor vehicle. More specifically, the field of the present invention relates to information as to the detection of the free space available around the motor vehicle.

The driving assistance systems currently used mainly aim to display on a screen present in the passenger compartment of the vehicle at least a part of the objects present on the road scene when they are detected by detection devices. detections commonly used on a motor vehicle.

In known manner, each detection device is arranged to analyze a detection zone which is allocated to it. However, on a road scene, there are undetected parts inside each detection zone, called "non-detection zones". Indeed, depending on the orientation of the detection devices, their arrangement and the objects present on the road scene, the non-detection zones are becoming larger and dangers can be there. Thus, an object present on the road scene could not be detected, especially if it is hidden by another object and then finds itself in a non-detection area. Detection errors occur, especially when these objects enter or leave the detection area.

These non-detection zones, which generate detection errors, can then be perceived, by a user present in the vehicle, as a failure of the driving assistance system. The user could then think that the driver assistance system is fallible and that its use could potentially pose a safety risk.

In addition, in the case of application of this driving assistance system on an autonomous vehicle, such non-detection zones can cause the autonomous vehicle to take a decision which is dangerous for the safety of the user. For example, when determining the free space around the autonomous vehicle, the autonomous vehicle can make a decision to change lanes while an object, which does not have

SFR4231 was detected due to a detection error, is present.

The present invention aims to overcome the aforementioned drawbacks and to provide a driving assistance system which makes it possible to reduce the non-detection zones and to ensure the reliability of the zones detected to obtain the most navigational information. just possible, and in particular information regarding the free space around the vehicle.

The invention solves this technical problem by proposing a system for monitoring a free space around a motor vehicle comprising:

at least two detection devices configured to each detect a given detection area in an environment outside the motor vehicle, each detection device generating detection information,

- a display device, characterized in that it comprises a device for determining the free space from an addition of the detection information, the display device being intended to display an image of the free space from the overlay.

Thus, such a surveillance system makes it possible to reduce the non-detection zones as much as possible by adding them and then displaying an image representative of the free space thus determined. The invention therefore helps to reassure the driver of the vehicle by projecting an image of the road scene where it is easy to determine the areas in which the vehicle can move without risk. In the context of an autonomous or semi-autonomous vehicle, such an image promotes understanding of the actions operated automatically by the vehicle.

According to different characteristics of the invention taken alone or in combination, it can be provided that:

- at least one of the detection devices is a camera allowing acquisition of the external environment or a radar or a broad spectrum laser scanner or a laser detection device,

the system comprises at least three detection devices, a first detection device being a camera, a second detection device being a broad spectrum laser scanner, a third detection device being a radar,

SFR4231

- the detection zone extends up to two hundred meters from at least one of the detection devices,

the determination device is arranged to determine the presence of at least one object in each detection zone, such an object being displayed on the image of the free space,

- the system includes a communication device allowing system-object communication authorizing the use of at least one detection information acquired by the object located in the detection zone,

the display device is configured to display an individual free space 10 detected by a single detection device and / or to display a non-detection zone, on the image showing the free space. In other words, the image of the free space represents, in addition to the free space, an individual free space distinctly represented and detected by a single detection device and / or. The image advantageously also represents a zone of non-detection. Individual free space is a building block of free space,

- The detection devices are arranged so that the detection zones overlap at least in part defining at least one common detection zone. Thus, the free space is at least measured from two detection information items produced by at least two detection devices distinct from the vehicle. Such a measure makes the determination of free space more reliable by means of detection redundancy, which allows

0 to make the decision-making of the user who consults the display device more reliable, or to make the maneuvers operated automatically by an autonomous vehicle.

The invention also relates to a motor vehicle, characterized in that it comprises a system for monitoring a free space as defined above.

According to different characteristics of the invention taken alone or in combination,

5 may provide that:

- the display device is a head-up display device or a screen located on a dashboard or dashboard,

- the display device comprises a glazed surface of the motor vehicle on

SFR4231 which the image of free space is projected. The glazed surface may be a windshield, a rear-view mirror, a side window or a rear window of the motor vehicle,

- at least one of the detection devices is configured to be installed in a rear-view mirror or in an interior rear-view mirror or in a front bumper or in a rear bumper or in a front wing or in a rear wing or in a lighting device and / or signaling of the motor vehicle.

The invention also relates to a method for monitoring a free space around a motor vehicle implemented by a system for monitoring the free space as defined above.

The process includes:

- a detection step generating several distinct detection information, characterized in that it includes:

a step of adding the detection information generating an image of the free space, the free space being obtained from the addition of the detection information.

According to different implementations of the invention taken alone or in combination, it can be provided that:

- the detection information is specific to given detection zones.

- the free space is determined from the data detection zones subtracted from an object detected in at least one of said data detection zones.

- the detection zones overlap defining at least one common detection zone. More precisely, each detection information is specific to a given detection area,

- the free space is determined from the given detection zones subtracted from a non-detection zone. More specifically, several non-detection zones can be subtracted,

- the method comprises a step of displaying the image of the free space,

- each detection information is acquired by a detection device,

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- The method comprises a step of determining the presence of an object from at least one detection information. If the detection zones overlap, this determination step determines the presence of the object in the common detection zone from at least two detection information,

the method comprises a step of communicating with the object detected during the step of determining the presence of an object,

the method comprises a step of discriminating between a common free space detected by a plurality of detection devices and an individual free space detected by a single detection device.

Other characteristics, details and advantages of the invention will emerge more clearly on reading the description given below by way of indication in relation to the drawings in which:

FIG. 1 is a schematic representation of a system for monitoring a free space according to the present invention,

FIG. 2 is a top view of a vehicle equipped with the system for monitoring a free space according to the present invention,

FIG. 3 is an example of a free space image generated by the free space monitoring system fitted to the vehicle illustrated in FIG. 2,

- Figure 4 shows a flowchart of a space monitoring process

0 free implemented by the free space monitoring system according to the present invention.

It should first be noted that the figures show the invention in detail to implement the invention, said figures can of course be used to better define the invention if necessary. It should be noted that these figures show several possible embodiments of the invention without limiting the scope of the invention.

Figure 1 schematically shows a system 1 for monitoring a free space. The system 1 here comprises two detection devices D1, D2 configured to each detect a given detection area Z1, Z2. In other words, the first device

DI detection SFR4231 is configured to analyze a first detection zone ZI and the second detection device D2 is configured to analyze a second detection zone Z2. It is therefore understood that the detection devices D1, D2 are distinct from each other. The detection devices D1, D2 are here arranged so that their detection zones D1, D2 overlap at least in part. A common detection zone C1 is then defined, analyzed both by the first detection device D1 and by the second detection device D2.

Each detection device Dl, D2, then generates detection information II, 12 relating to their respective detection zones Zl, Z2. More precisely, each detection item II, 12 relates to an individual free space Z0 measured in each detection area Z1, Z2. The detection information II, 12 can also relate to the presence of an object 01, 02, 03 in each detection zone Zl, Z2, the distance which separates the vehicle equipped with the system 1 according to the invention from the object, the speed of the object and / or the position of the object.

According to the example illustrated in FIG. 1, a first object 01 is present in the first detection zone Zl. This first object 01 is here detected only by the first detection device D1. A second object 02 is present in the second detection zone Z2. This second object 02 is here detected only by the second detection device D2. A third object 03 is present in the common detection zone C1, thus this third object 03 is detected both by the first detection device D1 and by the second detection device D2. It should be noted that the presence of objects 01, 02, 03 hides part of the detection zone from the detection devices D1, D2. These undetected parts are defined as non-detection zones N.

The free space monitoring system 1 then comprises a device 4 for determining the free space which determines the free space from an addition of the detection information II, 12. In general, the free space around the vehicle corresponds to a volume, even to a surface, not occupied by an obstacle. Thus, the free space E according to the invention is at least determined from two detection information II, 12 from at least two detection devices Dl, D2. More precisely, the free space E corresponds to all of the detection zones Z1, Z2 subtracted from an object possibly detected and / or subtracted from a non-detection zone N. The device

SFR4231 of determination 4 is thus configured to determine the presence of one or more O objects in all of the detection zones Z1, Z2. We then understand that by increasing the number of detection devices D, the detection zones Z are multiplied, which makes it possible to offer a greater amount of information and to reduce the non-detection zones N. H should be noted, that the more there are common detection zones C1, the more reliable the free space E measured.

The determination device 4 is for example an electronic card, a CPU (acronym for “central processing unit”), a microcontroller, a controller or a programmable logic circuit of the ASIC type (acronym for “application specifies integrated circuit”).

The system 1 for monitoring the free space illustrated in FIG. 1 also includes a display device 6. The display device 6 is, here, intended to display an image 8 of the free space E coming from the addition performed by the determination device 4. Image 8, represented in FIG. 1, represents the free space E comprising both the common detection zone C1 and the individual free spaces Z0 detected by a single detection device Dl , D2. Image 8 also includes a representation of the first object 01, the second object 02 and the third object 03.

Image 8 then makes it possible to view the free space E determined from the addition of the detection information II, 12. The free space E is represented here by an extent comprising chevrons, as displayed on the device display 6. Of course, the free space E can be represented in any other way, such as a highlight, a color attracting the driver's eye, or by other particular patterns.

In the context of its application to a motor vehicle, the display device 6 corresponds, for example, to a head-up display device. Of course, the display device 6 can also be a screen located on the dashboard of the vehicle. According to an alternative embodiment, the display device 6 comprises a glazed surface of the motor vehicle on which the image 8 of the free space is projected. The glazed surface may, for example, be a windshield, a rear-view mirror, a side window or a rear window of the motor vehicle.

SFR4231

Similarly, in the context of its application to a motor vehicle, the system 1 for monitoring free space can comprise a communication device allowing vehicle-object communication authorizing the use of at least one acquired detection information by the object located in the detection zone Z. Thus, the exchange of detection information makes it possible to reduce or even eliminate the non-detection zones N masked by the presence of the object (s). More specifically, the object detected is, for example, a vehicle having detection means and a communication means authorizing the exchange of detection information to the motor vehicle equipped with the system 1 for monitoring free space according to the invention.

FIG. 2 shows a motor vehicle 10, of the car type, comprising the system 1 for monitoring free space. It should be noted that the vehicle 10 can be an autonomous or assisted driving vehicle. More precisely, an autonomous vehicle is defined as a motor vehicle capable of driving without driver intervention.

The free space monitoring system 1, fitted to the vehicle 10, here comprises nine detection devices D analyzing nine detection zones Z located in an environment outside the motor vehicle 10. It should be noted that the zones detected around the vehicle increase, as a function of the number of detection device D equipping the vehicle 10, their position and their nature.

More specifically, a distinction is made between the nine detection devices D, a first group of detection devices comprising at least one camera allowing image acquisition of the external environment, a second group comprising at least one radar and a third group comprising at least minus a broad spectrum laser scanner or at least one laser detector.

In the embodiment illustrated in FIG. 2, among the first group of detection devices comprising cameras, there are side cameras compared to front cameras or cameras of the front or rear type.

The CL side cameras, here two in number, have an opening angle of

About 120 degrees, and analyze the outside environment for about five meters. It should be noted that the designation “side camera” does not limit the location of the camera on vehicle 10. The same applies to the so-called “front” camera or the

SFR4231 front or rear type cameras.

According to this exemplary embodiment, one of the side cameras CL is positioned in a left exterior mirror 11 of the vehicle 10 and the second side camera CL is located in a right exterior mirror 12 of the vehicle 10.

A front camera CF, having an opening angle of approximately 50 degrees and analyzing the external environment over approximately 150 to 200 meters, is located inside the interior mirror 13 of the vehicle 10 and is oriented, here, so as to detecting the external environment located in front of the vehicle 10, in a direction of travel.

Front and rear cameras have an opening angle of about 170 degrees and analyze the outside environment for about thirty meters. More specifically, a front-type camera 21 is located inside a front logo of the vehicle 10 so as to detect the external environment located in front of the vehicle 10, in a direction of advance. Likewise, a rear type camera 22 is located inside a rear logo of the vehicle 10 so as to detect the external environment located behind the vehicle 10, in a direction of advance.

The second group here comprises at least four radars 20, each being located at an angle of the front bumper 14 or the rear bumper 15, also known as the front bumper or rear bumper. The radars 20 have an opening angle of 360 degrees and analyze the outside environment over approximately 150 meters. It should nevertheless be noted that this opening angle of 360 degrees is reduced by the integration of such a radar 20 on the vehicle 10, for example in the front bumper 14 or rear 15.

The third group here comprises at least one broad-spectrum laser scanner 30, having an opening angle of approximately 145 degrees and analyzing the external environment over approximately 200 meters. The broad spectrum laser scanner 30 is located here in the front bumper 14 or front bumper. More specifically, the broad spectrum laser scanner 30 is located in the middle of the front bumper. The broad spectrum laser scanner 30, also called SCALA, has a higher detection range than the detection range of a laser detector such as a LIDAR.

Of course, the various detection devices can be installed on any part of the vehicle, in particular on the front wings 16 and the rear wings 17 of the

SFR4231 vehicle 10.

FIG. 3 represents the image 8 displayed by the vehicle 10 in a driving situation on a road 40 with three lanes of traffic. Three car-type vehicles are detected. A first car 41 is detected on the right-hand traffic lane at the right rear wing of the vehicle 10 equipped with the monitoring system 1, a second car 42 is detected in front of the vehicle 10 and a third car 43 is detected on the left-hand traffic lane.

A common free space C measured only in the common detection zones Cl is here represented by a chevron pattern. The non-detection zones N, hidden by the three cars 41, 42, 43, are crossed out and the zones of individual free space Z0 detected by only one of the detection devices are represented by patterns comprising dots. It will therefore be understood that the free space E according to the invention is represented both by the zones of individual free space Z0 and by the common free space C. Of course, the manner of representing the free space E, the individual free space zones Z0 and the non-detection zones N is not limiting. For example, the common free space C can be colored in green, the non-detection zones N without colors and the individual free space zones Z0 colored in a dark green. More specifically, a color gradient can be implemented depending on the number of devices detecting a free space. Thus, if a free space is detected by a single detection device, this individual free space Z0 will be darker than a common free space detected by three detection devices which itself will be darker than a common free space detected by five detection devices, and so on.

It should be noted that image 8 displays here both the common free space C, the individual free space zones Z0, the non-detection zones N and the object (s) 41, 42, 43 detected. . These different surfaces E, Z0, N, 41, 42, 43 are represented in a different way so that a user can distinguish them from each other. Thus, such a display allows the user to process the indications present in these various zones E, Z0, N, O in different ways. Of course, the common free space C and the individual free space zones Z0 can also be represented in the same way, in particular to lighten the number of information displayed on the display device 6.

We will now describe in more detail a method 100 implemented by the

SFR4231 system 1 for monitoring a free space, according to the present invention, on board a motor vehicle. Illustrated in FIG. 4, schematically, an example of implementation of the method 100.

The method 100 comprises a detection step 102 generating at least two detection information II, 12. This detection information II, 12 is acquired by each of the detection devices D of the surveillance system 1 for their respective detection zones. Thus, the detection information II, 12 are specific to the detection zones allocated to the detection devices. More precisely, each detection information II, 12 is specific to each detection zone. In other words, there is as much detection information II, 12 as there are number of detection devices D or number of detection zones.

The method 100 subsequently comprises a step 104 of adding the detection information II, 12. This addition or superposition is carried out using the determination device 4. The addition of the detection information II, 12 allows creating an image 8 of free space E. In fact, the free space E is determined from the addition of the detection information II, 12, this in particular making it possible to reduce the non-detection zones N. L image 8 of free space E then represents the addition of detection information II, 12.

The method 100 then comprises a step 106 of displaying the image of the free space. The display of the free space image is then carried out using the display device 6.

The method 100 may comprise a step 103 of determining the presence of an object O from at least one detection information item II, 12. In the event of the presence of an object O in the detection area, the object O is then represented on the image 8 of free space E displayed during step 106.

The method 100 can then include a step of communication 105 with the object detected in the common area during step 103. This step of communication 105 allows the detection information acquired by the object detected to be used to complete the free space image displayed. Thus, the detection area initially planned increases, the non-detection areas are then reduced to a minimum, which allows the system 1 for monitoring free space to display situations that the user is not yet viewing,

SFR4231 thus reinforcing the confidence that the user can have in the system 1 for monitoring the free space fitted to his vehicle.

Such confidence is important in particular in the case of an autonomous vehicle where it is advisable to display any information which leads to reassuring the user of the vehicle, in particular regarding the actions which the vehicle carries out automatically.

The method 100 can also include a step 108 of discrimination between the common free space C detected by several detection devices and the individual free space Z0 detected by a single detection device. At the end of this step 108, the image 8 displayed during step 106 represents differently the common free space C and the individual free space Z0.

The foregoing description clearly explains how the invention makes it possible to achieve the objectives which it has set for itself, and in particular to propose a system for monitoring free space whose information which is communicated to the user is reliable and enabling anticipate situations not yet visible by its own detection devices. The invention finds many advantageous applications, in particular in the field of autonomous or assistance vehicles.

Of course, various modifications can be made by a person skilled in the art to the system for monitoring free space, to the vehicle equipped with such a system or, to the method implemented by this system, which have just been described in example title no

0 limiting, since at least one common detection zone is used, at least one device for determining the free space and at least one display device.

In any event, the invention cannot be limited to the embodiment specifically described in this document, and extends in particular to all equivalent systems and to any technically operating combination of these systems.

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Claims (20)

1. System (1) for monitoring a free space (E) around a motor vehicle (10) comprising: - at least two detection devices (D, Dl, D2) configured to each detect a given detection area (Z, Zl, Z2) in an environment outside the motor vehicle (10), each detection device (D, Dl, D2) generating detection information (I, II, 12), - a display device (6), characterized in that it comprises a device for determining (4) the free space (E) from an addition of the detection information (I, II, 12), the display device (6) being intended to display an image (8) of the free space (E) resulting from the addition. 2. System according to claim 1, characterized in that at least one of the detection devices (D, Dl, D2) is a camera (CL, 21, 22, CF) allowing an acquisition of the external environment or a radar (20) or a broad spectrum laser scanner (30) or a laser detection device. 3. System according to claim 1 or 2, characterized in that it comprises at least three detection devices (D, Dl, D2), a first detection device being a camera (CL, 21, 22, CF), a second detection device being a broad spectrum laser scanner (30), a third detection device being a radar (20). 4. System according to any one of the preceding claims, characterized in that the detection zone (Z, Zl, Z2) extends up to two hundred meters from at least one of the detection devices (D, Dl, D2, CL, 21, 22, CF, 20, 30). 5. System according to any one of the preceding claims, characterized in that the determination device (4) is arranged to determine the presence of at least one object (O, 01, 02, 03) in each detection zone, such an object being displayed on the image (8) of the free space (E). 6. System according to any one of the preceding claims, characterized in that it SFR4231 includes a communication device allowing a system communication (1) object (O, 01, 02, 03) authorizing the use of at least one detection information acquired by the object (O, 01, 02, 03) located in the detection zone (Z, Zl, Z2). 7. System according to any one of the preceding claims, characterized in that the display device (6) is configured to display an individual free space (ZO) detected by a single detection device (D), and / or for display a non-detection zone (N), on the image (8) showing the free space (E). 8. System according to any one of the preceding claims, characterized in that the detection devices (D, Dl, D2) are arranged so that the detection zones (Z, Zl, Z2) overlap at least in part defining at least one common detection zone (Cl). 9. Motor vehicle (10) characterized in that it comprises a system (1) for monitoring a free space (E) as defined in any one of the preceding claims. 10. Vehicle according to the preceding claim, characterized in that the display device (6) is a head-up display device or a screen located on a dashboard. 11. Vehicle according to claim 9, characterized in that the display device (6) comprises a glazed surface of the motor vehicle on which the image (8) of the free space (E) is projected. 12. Vehicle according to any one of claims 9 to 11, characterized in that at least one of the detection devices (D, Dl, D2) is configured to be installed in a rear view mirror (11, 12) or in a rear view mirror interior (13) or in a front bumper (14) or in a rear bumper (15) or in a front wing (16) or in a rear wing (17) or in a vehicle lighting and / or signaling device automotive (10). 13. Method (100) for monitoring a free space (E) around a motor vehicle SFR4231 (10) implemented by a system (1) for monitoring the free space (E) as defined according to any one of claims 1 to 8 comprising: - a detection step (102) generating several distinct detection information (I, II, 12), characterized in that it comprises: a step of adding (104) detection information (I, II, 12) generating an image (8) of the free space (E), the free space (E) being derived from the addition of the information detection (II, 12). 14. Method according to the preceding claim, characterized in that the detection information (I, II, 12) is specific to given detection zones (Z, Zl, Z2), the free space (E) being determined from data detection zones (Z, Zl, Z2) subtracted from an object (01, 02, 03) detected in at least one of said data detection zones (Z, Zl, Z2). 15. The method of claim 13 or 14, characterized in that the free space (E) is determined from the given detection zones (Z, Zl, Z2) subtracted from a non-detection zone (N). 16. Method according to any one of claims 13 to 15, characterized in that it comprises a step of displaying (106) the image (8) of the free space (E). 17. Method according to any one of claims 13 to 16, characterized in that each detection information (I, II, 12) is acquired by a detection device (D, Dl, D2, CL, 21, 22, CF , 20, 30). 18. Method according to any one of claims 13 to 17, characterized in that it comprises a step (103) of determining the presence of an object (O, 01, 02, 03) from at minus detection information (II, 12). 19. Method according to the preceding claim, characterized in that it comprises a step (105) of communication with the object (O, 01, 02, 03) detected during the step (103) of determining a presence object (O, 01, 02, 03). SFR4231 20. Method according to any one of claims 13 to 19, characterized in that it comprises a discrimination step (108) between a common free space (C) detected by a plurality of detection devices (D, Dl, D2 ) and an individual free space (Z0) 5 detected by a single detection device (D, Dl, D2). 1/4 D NOT