FR3066731A1 - DEVICE AND METHOD FOR LIGHTING ASSISTANCE BASED ON THE POSITION OF A LIVING BEAM LOCATED IN FRONT OF A VEHICLE - Google Patents

Abstract

An assist device (DA) equips a vehicle (V) analyzing an area (ZA) in front of it to determine a first relative position of a living being (EV). This device (DA) comprises a source (SO) orientable and delivering a light beam (FL) pointing a sub-zone of this zone (ZA), and control means (MCT) determining a first orientation of the source (SO) ) adapted to the pointing of a sub-zone having a second relative position depending on the speed of the vehicle (V) and the angular position of the steering wheel (VV), in the absence of determination of the first relative position, a second source orientation (SO) providing illumination of a sub-zone having the first relative position when the latter has been determined and is located in a first lateral portion (PL11) adjoining a central portion (PC) where the vehicle will pass. (V).

Description

DEVICE AND METHOD FOR ORIENTABLE LIGHTING ASSISTANCE ACCORDING TO THE POSITION OF A LIVING BEING SITUATED IN FRONT OF A VEHICLE The invention relates to vehicles, possibly of the automobile type, and more specifically the assistance devices which equip such vehicles.

Certain vehicles, generally of the automobile type, include at least one driving assistance (or assistance) device intended to facilitate their driving by their driver. The invention relates more specifically to assistance devices which are intended to dynamically illuminate, by means of a narrow light beam, an obstacle (possibly a living being) detected in front of their vehicle in order to attract the driver's attention to it. and thus allow him to have more time to perform a maneuver intended to avoid it. Such assistance devices perform a function which is sometimes called "marking light".

As one skilled in the art knows, and as described in particular in patent document EP 2420986, the narrow light beam of this type of assistance device is generated by a source which is oriented as a function of the relative position. relative to the vehicle of the obstacle which has been detected by means of analysis of the vehicle in an area situated in front of the latter.

When the relative position of an obstacle has been determined by the analysis means, it is then necessary to position the light source in an orientation which is adapted to the pointing of this relative position. However, when the on-board analysis means can only correctly analyze a relatively small area, typically around thirty meters in front of the vehicle in the case of a digital camera, the distance separating the obstacle from the vehicle is small and l 'angle corresponding to this orientation of the source is very often important. As a result, it takes a relatively long time to obtain this orientation with the electric motor driving the source. As the vehicle approaches the obstacle while the source is positioned, the angle of orientation varies, and more precisely increases, and therefore the time necessary for positioning the source is increased. Consequently, there is no longer time to point the obstacle in order to illuminate it precisely, which makes lose the interest of the marking light function. This problem is even more marked when the digital camera is said to be “by day”.

In order to reduce the time required for positioning the source following the detection of an obstacle, it would be possible to systematically preposition the source so that it points, before detection, a direction parallel to the estimated trajectory of the vehicle. However, this only very slightly reduces the time necessary for positioning the source following the detection of an obstacle, since the latter almost always appears suddenly with a relatively large angle relative to the direction which is parallel to the estimated trajectory of the vehicle. In fact, the mobile obstacles that appear the latest for a camera are in most cases outside the clear visual zones, and, when the vehicle is traveling in the city, the mobile obstacles initially present on the sidewalks (pedestrians, cyclists, animals ) usually decide to cross the road at the last moment. One of the object of the invention is to improve the situation.

It proposes in particular for this purpose an assistance device, on the one hand, intended to equip a vehicle comprising a steering wheel and analysis means analyzing an area located in front of the vehicle in order to determine a first relative position of a living being relative to the latter, and, on the other hand, comprising an orientable source and delivering a light beam pointing to a sub-zone of this zone.

This assistance device is characterized by the fact that it comprises determining means of control: either a first orientation of the source adapted to the pointing of a sub-zone having a second position relative to the vehicle which is a function of '' a current speed of the vehicle and an angular position during the steering wheel, in the absence of determination of the first relative position, - i.e. a second orientation of the source ensuring illumination of a sub-zone having the first relative position, in the event of determination of the latter and when the latter is located in a first lateral portion of the area which adjoins a central portion of the area where the vehicle will soon pass, taking into account the current angular position of the steering wheel.

Thanks to this pre-positioning of the source, possibly accompanied by the generation of a light beam of illumination, the time necessary for positioning the source when a living being is located can be very significantly, or even almost entirely, reduced. in the central portion of the front area or in the immediate vicinity of this central portion.

The assistance device according to the invention may include other characteristics which can be taken separately or in combination, and in particular: - its control means can determine a second relative position located in front of the vehicle at a longitudinal distance which is a function of the speed in progress and a predefined first duration before collision and at a predefined transverse distance relative to an edge of the central portion; > the first predefined collision time can be between two seconds and five seconds; > the predefined transverse distance can be between one meter and two meters; - Its control means can determine a third orientation of the source suitable for pointing a sub-area having the first relative position, if the latter is determined and when the latter is located in a second lateral portion of the area which adjoins a first lateral portion and corresponds to a living being moving towards the latter; > its control means can determine the third orientation when, in addition to a distance separating the vehicle from a projection of the first relative position on an estimated trajectory of the vehicle, is greater than a longitudinal threshold depending on the current speed and a second predefined collision time; • the second predefined collision time can be between 0.5 seconds and 1.5 seconds; its control means can determine a first orientation of the source suitable for pointing a sub-area having the second relative position, in the event of reception of the first relative position and when the latter is located in a second lateral portion of the zone which adjoins a first lateral portion and corresponds to a living being which does not move towards the latter. The invention also provides a vehicle, possibly of the automobile type, and comprising a steering wheel, analysis means analyzing an area in front of the vehicle in order to determine a first relative position of a living being relative to the latter, and a assistance device of the type presented above. The invention also provides a method of assistance for a vehicle comprising a steering wheel, analysis means analyzing an area in front of the vehicle in order to determine a first relative position of a living being relative to the latter, and a source. orientable and delivering a light beam pointing to a sub-area of this area.

This assistance method is characterized by the fact that it comprises a step in which the vehicle determines: - either a first orientation of the source suitable for pointing a sub-area having a second position relative to the vehicle which is function of a current speed of the vehicle and an angular position during the steering wheel, in the absence of determination of the first relative position, - a second orientation of the source ensuring lighting of a sub-zone having the first relative position, if the latter is determined and when the latter is located in a first lateral portion of the area which adjoins a central portion of the area where the vehicle will soon pass, taking into account the current angular position of the steering wheel . Other characteristics and advantages of the invention will appear on examining the detailed description below, and the appended drawings, in which: - Figure 1 schematically and functionally illustrates a road comprising a traffic lane on which a vehicle comprising an embodiment of an assistance device according to the invention, and bordered by a sidewalk devoid of pedestrians, - Figure 2 schematically and functionally illustrates the road of Figure 1 with a pedestrian in danger detected on the sidewalk in a first lateral portion of the analysis area, - Figure 3 schematically and functionally illustrates the road in Figure 1 with a pedestrian detected on the sidewalk in a second lateral portion of the analysis area and preparing to join the first lateral portion, and - Figure 4 schematically and functionally illustrates the road of Figure 1 with a pedestrian d detected on the sidewalk in a second lateral portion of the analysis area but not preparing to join the first lateral portion. The purpose of the invention is in particular to propose an assistance device DA, and an associated assistance method, for a vehicle V comprising a steering wheel VV and analysis means MA responsible for analyzing a front part of its environment.

In what follows, it is considered, by way of nonlimiting example, that vehicle V is of the automobile type. It is for example a car, as shown without limitation in Figures 1 to 4. But the invention is not limited to this type of vehicle. It concerns in fact any type of vehicle which can circulate on land traffic lanes.

There is schematically and functionally shown in Figures 1 to 4 a road comprising first VC1 and second VC2 traffic lanes. The first taxiway VC1 is here bordered on its right by a sidewalk TR1 and on its left by the second taxiway VC2. Furthermore, a vehicle V is traveling on the first taxiway VC1, to the left of the sidewalk TR1. The estimated trajectory TV of this vehicle V is shown by the dashed line. This estimated trajectory TV is determined within the vehicle V as a function of the current speed of the vehicle V and of the current angular position of the steering wheel VV. It will be noted that in FIGS. 1 to 4 the estimated trajectory TV is a straight line. But in the presence of a bend this estimated trajectory TV is curvilinear.

The analysis means MA of the vehicle V are responsible, at least, for acquiring and analyzing data which are representative of an area ZA situated in front of it (V) in order to detect obstacles and in particular living beings EV (humans and animals) and to estimate the relative positions of the latter (EV) with respect to the vehicle V. These means of analysis MA can, for example, comprise at least one digital camera. But they could include at least one infrared camera or at least one radar or at least one scanning laser.

In what follows, the term “analysis zone ZA” is used to designate the zone located in front of the vehicle V and in which the analysis means MA are capable of correctly detecting living beings EV and of determining the relative positions of the latter (EV ) with respect to vehicle V and their possible relative directions of movement. Furthermore, the first relative position p1 is the relative position of a living being EV, detected in the analysis zone ZA, with respect to the vehicle V.

As illustrated, the vehicle V comprises an assistance device DA according to the invention. The latter (DA) comprises an SO lighting source and MCT control means.

The light source SO is orientable in an orientation determined by the MCT control means, and delivers a light beam FL pointing a sub-area of the analysis area ZA when the MCT control means order it. The pointing direction dp of the light source SO coincides with the main direction of the light beam FL, when the latter (FL) is generated.

The light beam FL is either projected forward, via at least one lens, or reflected forward by a rotating mirror.

In the figures, the very narrow dotted triangle referenced dp only materializes (Figures 1, 3 and 4) the pointing direction without illumination by the light beam FL, while the less narrow triangle in gray and referenced FL materializes ( figure 2) the light beam FL (which points and lights in the main direction dp).

This SO lighting source comprises, for example, at least one light-emitting diode (or LED). Alternatively, it could include at least one laser diode or a gas laser or even a lamp (or bulb). Furthermore, this light source SO can include a lens responsible for transforming photons into a light beam FL intended to illuminate a living being EV detected, under certain conditions described below. It will be noted that this SO lighting source can possibly be mounted on a radiator intended to promote the dissipation of the calories that it produces when it generates photons.

In the example illustrated without limitation in FIGS. 1 to 4, the light source SO is part of an optical unit BO of the vehicle V. But it could be external to this optical unit BO, and independent of it (BO).

The control means MCT are arranged to determine: - either a first orientation of the light source SO adapted to the pointing of a sub-zone of the analysis zone ZA which has a second relative position p2 relative to the vehicle V function of the current speed of the vehicle V and of the current angular position of the steering wheel VV, in the absence of determination of a first relative position p1 (and therefore when no living being EV has been detected in the area analysis ZA by the analysis means MA - situation illustrated in FIG. 1), or a second orientation of the lighting source SO ensuring lighting of a sub-area having the first relative position p1, in the event for determining the latter (P1) and when the latter (p1) is located in a first lateral portion PL1j (j = 1 or 2) of the analysis area ZA which adjoins a central portion PC of the area ZA where is going soon pass vehicle V taking into account the current angular position of its steering wheel VV (situation illustrated in FIG. 2).

It will be understood that the central portion PC is defined as a function of the estimated trajectory TV of the vehicle V. For example, its transverse dimension can be equal to the width of the vehicle V plus a safety distance to the right and a distance of security on the left. Typically this transverse dimension can be between 2 meters and 4 meters.

In order to increase the accuracy of the first p1 and second p2 relative positions, the accuracy of the estimated trajectory TV (and therefore of the position of the central portion PC) can be improved, not only by determining it as a function of the speed and angular position. in progress but also cartographic information (defining the profiles of the roads) associated with the current position of the vehicle V (for example determined from information transmitted by a satellite navigation system (possibly of GPS type)).

In the first alternative (FIG. 1), the light source SO is pre-positioned so that its pointing direction dp points to a sub-zone of the analysis zone ZA, located at a second relative position p2 where we believes that there is the greatest probability of seeing a living being EV lead, given the current speed and angular position. As no living being EV has been detected in the analysis zone ZA, the control means MCT do not authorize the light source SO to generate its light beam FL. Thus, if a living being EV is suddenly detected by the analysis means MA in the vicinity of the second relative position p2, the reorientation of the pointing direction dp of the lighting source SO can be done very quickly, since the angular variation will be low, even very low.

In the second alternative (FIG. 2), the light source SO is pre-positioned so that its pointing direction dp points to a sub-zone of the analysis zone ZA which is located at the first relative position p1 (in PL1j (here PL11)) where a living EV has been detected which is considered to be in danger because it is very close to the central portion PC and is heading towards the latter (PC). In addition, the control means MCT order the light source SO to generate its light beam FL so that it illuminates this living being EV. Thus, the living being EV detected by the means of analysis MA can be followed dynamically for at least a predefined duration. This predefined duration can, for example, be equal to one or two seconds in order to avoid an unpleasant stroboscopic effect for the driver of the vehicle V when the light beam FL passes too quickly from a first living being to another living being coming from 'be detected by the MA analysis means. It will be understood that if the analysis means MA do not detect any other living being, the light beam FL continues to follow dynamically the living being EV detected after the predefined duration thanks to the orientations which are successively determined by the control means MCT .

It will be noted that in the first alternative (FIG. 1) the MCT control means can be arranged so as to determine a second relative position p2 which is located in front of the vehicle V at a longitudinal distance dl which is a function of the current speed and d a first predefined collision time d1 and at a predefined transverse distance dt relative to an edge of the central portion PC. The term "first duration before collision d1" is understood here to mean the time separating the instant considered (where the second relative position p2 is illuminated) from the instant when the vehicle V will arrive at the longitudinal position of p2 and therefore could enter into collision with a living being EV leading to the central portion PC from p2.

For example, the first predefined collision time d1 can be between two seconds and five seconds. So you can, for example, choose it equal to 2.5 seconds (especially in the presence of a day camera).

Also for example, the predefined transverse distance dt can be between one meter and two meters. Thus, one can, for example, choose it equal to 1.6 meters.

It will also be noted that in the first alternative (FIG. 1) it is preferable to impose a limit value for the angle made by the pointing direction dp with respect to the longitudinal direction of the vehicle V. By way of nonlimiting example, when the pointing direction dp can make an angle of plus or minus 30 ° relative to the longitudinal direction of the vehicle V, we can choose a limit value of plus or minus 18 °, depending on whether the main risk of seeing a living being lead EV is on the right or on the left (which is discriminated by analysis of the images acquired by the means of analysis MA). This analysis can, for example, consist in determining the first lateral portion PL1 j which comprises the nearest sidewalk and / or the first lateral portion PL1 j which is visually the most open.

It will also be noted that the control means MCT can also be arranged so as to determine a third orientation of the light source SO which is suitable for pointing a sub-area of the analysis area ZA having the first relative position p1, if the latter (p1) has been determined and when the latter (p1) is, on the one hand, located in a second lateral portion PL2j of the zone ZA which adjoins a first lateral portion PL1j, and, on the other share, corresponds to a living being EV which goes towards the latter (PL1j). In this situation, which is illustrated diagrammatically in FIG. 3, the control means MCT do not authorize the light source SO to generate its light beam FL.

In this option, we consider that the living being EV is not in danger because it is currently located in a second lateral portion PL2j, but that it could suddenly become in danger if it suddenly changed course. and / or speed of movement. Consequently, we dynamically point (or follow) the living being EV with the light source SO without lighting it, in order to be instantly ready to light it if its status changes from "harmless" (illustrated on the figure 3) to "endangered" (illustrated in figure 2).

In the presence of this last option, the control means MCT can, for example, determine the third orientation when, in addition to the distance separating the vehicle V from a projection, preferably orthogonal, of the first relative position p1 on the estimated trajectory TV of vehicle V is greater than a longitudinal threshold if which is a function of the current speed and of a second predefined collision time d2. The term “second duration before collision d2” is understood here to mean the time separating the instant considered (where the first relative position p1 is pointed) from the instant when the vehicle V will reach the longitudinal position corresponding to the longitudinal threshold if and therefore could collide with a living being EV leading to the central portion PC.

For example, the second predefined collision time d2 can be between 0.5 seconds and 1.5 seconds. So we can, for example, choose it equal to 1 second.

In the presence of this last option, it could also be provided to point the living being EV detected only on condition that its first relative position p1 corresponds to a predefined transverse distance dt ', in order to avoid that the angle made by the pointing direction dp relative to the longitudinal direction of the vehicle V is too large. By way of example, this predefined transverse distance dt ’can be between 1.5 meters and 2.5 meters. So you can, for example, choose it equal to 1.8 meters.

It will also be noted that the control means MCT can also be arranged so as to determine a first orientation of the light source SO which is suitable for pointing a sub-zone of the analysis zone ZA having the second relative position p2, in the event of reception of the first relative position p1 and when the latter (p1), on the one hand, is located in a second lateral portion PL2j of the zone ZA which adjoins a first lateral portion PL1j and, on the other hand , corresponds to a living being EV which does not go towards the latter (PL1 j).

In this situation, which is illustrated diagrammatically in FIG. 4, the control means MCT do not authorize the light source SO to generate its light beam FL.

We consider in this option that the living being EV is not at all in danger because it is currently located in a second lateral portion PL2j and that its behavior suggests that it does not plan to join the first lateral portion PL2j (and even less the central portion PC). Consequently, we only point the second relative position p2 (defined above (with reference to FIG. 1)) without illuminating it, in order to allow a reorientation of the pointing direction dp of the light source SO very rapid in the event of a sudden detection of a living being EV by the analysis means MA in the vicinity of this second relative position p2.

It will also be noted that when several living beings are detected simultaneously in the analysis zone ZA, it is the one located at the smallest relative distance from the vehicle V which is taken into account for a pointing and possibly lighting.

It will also be noted that in the example illustrated without limitation in FIGS. 1 to 4, the MCT control means are installed in a computer CA of the vehicle V, which possibly performs at least one other function. But the DA assistance device could include its own computer including its MCT control means or constituting the latter (MCT). Consequently, the MCT control means can be produced in the form of software modules (or computer or even "software"), or a combination of software modules and electrical or electronic components (or "hardware").

It is important to note that the invention can also be considered from the angle of an assistance process, which can in particular be implemented by means of a DA assistance device of the type presented above. The functionalities offered by the implementation of the method according to the invention being identical to those offered by the DA assistance device presented above, only the combination of main functionalities offered by the method is presented below.

This assistance method comprises a step in which the vehicle V (and more precisely the control means MCT of its assistance device DA) determines (s): - either a first orientation of the light source SO adapted to the pointing a sub-area having a second relative position p2 with respect to the vehicle V which is a function of the current speed of the vehicle V and of the current angular position of the steering wheel VV, in the absence of determination of the first relative position p1, - either a second orientation of the light source SO ensuring lighting of a sub-area having the first relative position p1, if the latter is determined (p1) and when the latter (p1) is located in a first lateral portion PL1 j of the analysis area ZA which adjoins a central portion PC of the analysis area ZA where the vehicle V will soon pass given the current angular position of the steering wheel VV. The invention makes it possible to improve safety on the roads, and in particular in the cities, in particular when the means of environmental analysis include at least one day camera.

Claims (10)

1. Assistance device (DA) for a vehicle (V) comprising a steering wheel (VV) and analysis means (MA) analyzing an area (ZA) located in front of said vehicle (V) in order to determine a first relative position of a living being (EV) relative to the latter (V), said device (DA) comprising a directional source (SO) and delivering a light beam (FL) pointing to a sub-area of said area (ZA), characterized in that it further comprises control means (MCT) determining either a first orientation of said source (SO) suitable for pointing a sub-area having a second position relative to said vehicle (V) function of a current speed of said vehicle (V) and a current angular position of said steering wheel (VV), in the absence of determination of said first relative position, ie a second orientation of said source (SO) providing illumination of a sub-area having said first relative position, in the event for determining the latter and when the latter is located in a first lateral portion (PL1 j) of said zone (ZA) adjoining a central portion (PC) of said zone (ZA) where said vehicle (V) will shortly pass given of said current angular position. 2. Device according to claim 1, characterized in that said control means (MCT) determine a second relative position located in front of said vehicle (V) at a longitudinal distance depending on said current speed and a first predefined collision time and at a predefined transverse distance from an edge of said central portion (PC). 3. Device according to claim 2, characterized in that said first predefined duration before collision is between two seconds and five seconds. 4. Device according to claim 2 or 3, characterized in that said predefined transverse distance is between one meter and two meters. 5. Device according to one of claims 1 to 4, characterized in that said control means (MCT) determine a third orientation of said source (SO) suitable for pointing a sub-area having said first relative position, in case of determination of the latter and when the latter is located in a second lateral portion (PL2j) of said zone (ZA) adjoining a first lateral portion (PL1 j) and corresponds to a living being (EV) moving towards the latter ( PL1 j). 6. Device according to claim 5, characterized in that said control means (MCT) determine said third orientation when in addition a distance separating said vehicle (V) from a projection of said first relative position on an estimated trajectory of said vehicle (V) is greater than a longitudinal threshold which is a function of said current speed and of a second predefined collision time. 7. Device according to claim 6, characterized in that said second predefined duration before collision is between 0.5 seconds and 1.5 seconds. 8. Device according to one of claims 1 to 7, characterized in that said control means (MCT) determine a first orientation of said source (SO) suitable for pointing a sub-area having said second relative position, in case of reception of said first relative position and when the latter is located in a second lateral portion (PL2j) of said zone (ZA) adjoining a first lateral portion (PL1 j) and corresponds to a living being (EV) which is not moving not towards the latter (PL1 j). 9. Vehicle (V) comprising a steering wheel (VV) and analysis means (MA) analyzing an area (ZA) located in front of said vehicle (V) in order to determine a first relative position of a living being (EV) by relative to the latter (V), characterized in that it further comprises an assistance device (DA) according to one of the preceding claims. 10. Assistance method for a vehicle (V) comprising a steering wheel (VV), analysis means (MA) analyzing an area (ZA) located in front of said vehicle (V) in order to determine a first relative position of a living being (EV) with respect to the latter (V), and a directional source (SO) and delivering a light beam (FL) pointing to a sub-area of said area (ZA), characterized in that it comprises a step wherein said vehicle (V) determines either a first orientation of said source (SO) suitable for pointing a sub-area having a second position relative to said vehicle (V) as a function of a current speed of said vehicle (V ) and of an angular position in progress of said flywheel (VV), in the absence of determination of said first relative position, that is to say a second orientation of said source (SO) ensuring a lighting of a sub-zone having said first position relative, if the latter is determined re and when the latter is located in a first lateral portion (PL1 j) of said zone (ZA) adjoining a central portion (PC) of said zone (ZA) where said vehicle (V) will shortly pass taking into account said angular position In progress.