FR3121255A1 - Method and device for signaling a reversing maneuver of an autonomous vehicle. - Google Patents

Abstract

The invention relates to a method and a device for signaling a reversing maneuver of an autonomous vehicle (201), called ego vehicle, traveling on a first lane (202) to warn a vehicle (208) traveling on a second lane (207), said ego vehicle (201) not being visible to said vehicle (208) and said ego vehicle (201) heading on said second lane (207) in front of said vehicle (208), said method being performed implemented by a driving assistance system of the said ego vehicle and comprising the steps of: Detection of an impossibility to continue to circulate in forward gear; Determining a trajectory (205) in reverse; Determination of a signal; Signal communication; Reverse movement of said ego vehicle (201). Figure for abstract: Figure 2

Description

Method and device for signaling a reversing maneuver of an autonomous vehicle.

The invention is in the field of autonomous vehicle driving assistance systems. In particular, the invention relates to a method and device for signaling a reversing maneuver of an autonomous vehicle traveling on a first lane to warn a vehicle traveling on a second lane.

“Vehicle” means any type of vehicle such as a motor vehicle, moped, motorcycle, warehouse storage robot, etc. “Autonomous driving” of an “autonomous vehicle” means any process capable of assisting the driving of the vehicle. The method can thus consist in partially or totally directing the vehicle or providing any type of assistance to a natural person driving the vehicle. The process thus covers all autonomous driving, from level 0 to level 5 in the OICA scale, for Organization International des Constructeurs Automobiles.

The processes capable of assisting the driving of the vehicle are also called ADAS (from the English acronym “Advanced Driver Assistance Systems”), ADAS systems or driver assistance systems. Some ADAS are capable of moving a vehicle forward in a lane without driver intervention, some are capable of performing a forward lane change on the road after the driver's consent, and others are capable of parking when reversing a vehicle but with active monitoring of the driver (the latter controls the speed by action on the accelerator pedal or action on an active man-machine interface).

Currently, the sensors and actuators on board an autonomous vehicle are not intended to circulate an autonomous vehicle in reverse gear as well as to circulate the vehicle in forward gear. Indeed, the sensors can only perceive an environment close to the rear of the vehicle (up to about 2 meters instead of 200 m for the front). Thus, an autonomous vehicle that travels in reverse only does so for a few meters (less than 5 meters). This does not cause traffic disruption.

In this situation, for example in town when the autonomous vehicle is engaged in a first lane which is blocked, the autonomous vehicle will have to reverse for several tens of meters and will have to turn off in reverse on a second lane, generally perpendicular to the first way. This vehicle will not be visible, because of the buildings, by another vehicle traveling forward on the second lane and on steering in the direction of an intersection between the first lane and the second lane. The relative speed between the two vehicles will be very negative and the risk of an accident is great.

An object of the present invention is to remedy the aforementioned problem, in particular to unlock an autonomous vehicle without the obligation of a driver to take control of it and to avoid an accident between an autonomous vehicle which is backing up and another vehicle which is advancing towards the autonomous vehicle, the autonomous vehicle not being visible to the other vehicle.

To this end, a first aspect of the invention relates to a method for signaling a reversing maneuver of an autonomous vehicle, called ego vehicle, traveling on a first lane to warn a vehicle traveling on a second lane, said ego vehicle not being visible by said vehicle and said ego vehicle heading on said second lane in front of said vehicle, said method being implemented by a driving assistance system of said ego vehicle and comprising the steps of:

• Detection by sensors of said driving assistance system of an impossibility of continuing to travel forward on said first lane;
• Determination by said driver assistance system of a trajectory in reverse, the trajectory having as its destination a place on said second lane;
• Determination of a signal comprising information on a reversing maneuver of said ego vehicle and information on the place of destination;
• Communication of the signal by a communication system embedded in said vehicle ego;
• Movement in reverse of said ego vehicle towards the place of destination, the movement being controlled by the driving assistance system.

Thus, the autonomous vehicle is no longer blocked in its lane by, for example, an obstacle in the lane. The ego vehicle then backs up safely to another lane, warning surrounding vehicles. Surrounding vehicles are warned of a dangerous and unusual maneuver even if the vehicle ego is not initially visible. These vehicles around knowing the destination location of the ego vehicle are then able to adapt their trajectories to avoid an accident. Moreover, there is no longer any need for a driver to take control of said ego vehicle to get around the obstacle.

Advantageously, the determination of the trajectory in reverse gear is obtained from a recording of the trajectory of said ego vehicle before the detection of an impossibility of continuing to travel in forward gear on said first lane.

Thus, the trajectory in reverse is very simply calculated. The driver assistance system is able to move said ego vehicle in reverse along the same trajectory that the ego vehicle took before detecting an impossibility to continue to travel in forward gear on said first lane.

Advantageously, the first lane is substantially perpendicular to the second lane.

In particular, for example, in city centers, some lanes are temporarily blocked on the lane without the possibility of bypassing the obstacle using a parallel lane. For example, a blockage that can be an obstacle, a container, work, a broken down vehicle, an accident, a truck being unloaded, etc.

Advantageously, the movement is carried out as long as a free space at the rear of the vehicle ego is determined using at least one of the sensors of a parking assistance system.

Thus, existing sensors are reused at no additional cost. Since the objective is to reverse over a short distance, for example 100m, at low speed, for example 30 km/h, there is no need to instrument the rear of the vehicle ego with far-view cameras , for example 200 meters, radar and/or lidar to perceive the rear of the vehicle ego.

Advantageously, the determination of the signal also includes a line crossing alert.

Advantageously, the determination of the signal also includes an alert for violation of a rule of conduct.

A second aspect of the invention relates to a device comprising a memory associated with at least one processor configured to implement the method according to the first aspect of the invention.

The invention also relates to a vehicle comprising the device.

The invention also relates to a computer program comprising instructions adapted for the execution of the steps of the method, according to the first aspect of the invention, when said program is executed by at least one processor.

Other characteristics and advantages of the invention will emerge from the description of the non-limiting embodiments of the invention below, with reference to the appended figures, in which:

schematically illustrates a device, according to a particular embodiment of the present invention.

schematically illustrates a driving situation, according to a particular embodiment of the present invention.

schematically illustrates a method for signaling a reversing maneuver of an autonomous vehicle, according to a particular embodiment of the present invention.

The invention is described below in its non-limiting application to the case of an autonomous motor vehicle traveling on a road or on a traffic lane. Other applications such as a robot in a storage warehouse or a motorcycle on a country road are also possible.

There represents an example of a device 101 included in the vehicle, in a network (“cloud”) or in a server. This device 101 can be used as a centralized device in charge of at least certain steps of the method described below with reference to the . In one embodiment, it corresponds to an autonomous driving computer.

In the present invention, the device 101 is included in the vehicle.

This device 101 can take the form of a box comprising printed circuits, of any type of computer or even of a mobile telephone (“smartphone”).

The device 101 comprises a random access memory 102 for storing instructions for the implementation by a processor 103 of at least one step of the method as described above. The device also comprises a mass memory 104 for storing data intended to be kept after the implementation of the method.

The device 101 may also include a digital signal processor (DSP) 105. This DSP 105 receives data to shape, demodulate and amplify, in a manner known per se, this data.

Device 101 also includes an input interface 106 for receiving data implemented by the method according to the invention and an output interface 107 for transmitting data implemented by the method according to the invention.

There schematically illustrates a driving situation, according to a particular embodiment of the present invention.

In this example, an autonomous vehicle 201, also called ego vehicle, travels on a first lane 202. The direction of circulation of the first lane 202 is given by the arrow 203. An obstacle 204 is in front of the ego vehicle. The obstacle blocks the progress of the ego-vehicle 201. The ego-vehicle 201 must reverse along the trajectory 205.

The trajectory 205 arrives at a place 206 on a second lane 207 on which a vehicle 208 is traveling in the direction 209. The ego vehicle 201 is heading, in reverse, on the second lane 207 in front of the vehicle 208.

In this example, the second lane 207 is perpendicular to the first lane 202. Other configurations are possible.

The vehicle 209 cannot see the autonomous vehicle 201 because, for example, of a building 210. The impossibility of seeing the ego vehicle 201 by a driver of the vehicle 208 depends on the environment. A building can obstruct visibility as can vegetation, another vehicle, pedestrians, or any imaginable obstacle. This lack of visibility prevents vehicle 208 from anticipating its trajectory in order to avoid an accident.

A third lane 211 is adjacent to the second lane 207. A line, marking on the ground, 212 separates the second lane 207 from the third lane 211.

There schematically illustrates a method for signaling a reversing maneuver of an autonomous vehicle 201, called ego vehicle, according to a particular embodiment of the present invention.

In this example, the ego vehicle 201 comprises a driving assistance system and travels on a first lane 202 to warn a vehicle 208 traveling on a second lane 207, said ego vehicle 201 not being visible by said vehicle 208 and said ego vehicle 201 heading on said second lane 207 in front of said vehicle 208.

Step 301, DetImp, is a step of detection by sensors of said driving assistance system of an impossibility of continuing to travel in forward gear on said first lane.

Conventionally, an autonomous vehicle includes many sensors and actuators capable of perceiving the environment in front of the vehicle. Among these sensors, there is, for example, a camera, a RADRA, a LIDAR, etc. Conventional processing of the image captured by the camera determines obstacles in front of the vehicle. The same also applies to the processing of signals from RADAR and/or LIDAR.

Step 302; DetTraj, is a step of determination by said driver assistance system of a trajectory 205 in reverse, the trajectory 205 having as its destination a place 206 on said second lane 207. For example, the first lane 202 being blocked, the destination location is a location on the second lane 207 which enables the driving assistance system to circumvent the obstacle 204 without passing the lane 202.

Various means are possible to determine the trajectory 205. A first means is to use a trajectory determination module of the driving assistance system already present in the vehicle ego 201. Another means is to determine the trajectory in reverse from a recording of the trajectory of said vehicle ego before the detection of an impossibility of continuing to circulate in forward gear on said first lane. It is a question of resuming in reverse the trajectory which allowed the vehicle ego to arrive in front of the obstacle 204. For example, the driving assistance system will record, in the mass memory 104, the last 100 meters traveled by the vehicle ego before reaching the obstacle 204. The recording can be conditioned on a distance, 100 meters or any other distance, and/or on a duration, the last 10 minutes for example or any other duration.

Step 303, DetSign, is a step for determining a signal comprising information on a reversing maneuver of said ego vehicle and information on the destination location 206.

The trajectory having been determined in step 303, the destination location 206 is known.

Advantageously, the determination of the signal also includes a line crossing alert (not illustrated in the ). For example, the destination location is the third lane 211. To get there from the first lane 202, the dividing line 212 between the second and third lane must be crossed. Other configurations are possible, and other types of lines can be crossed (continuous line, zebra, etc.).

Advantageously, the determination of the signal also includes an alert for violation of a rule of conduct. To get out of an obstacle, the only solution is not to respect a rule of conduct. For example, in a one-way 202 lane 202, it is forbidden to travel in the opposite direction. It is not possible to drive in reverse. In another example, it is necessary to cross a continuous line. These examples are not limiting.

Step 304, TxSIgn, is a signal communication step by a communication system embedded in said vehicle ego.

The interest is to warn other vehicles, such as vehicle 208, which are heading in the direction of location 206 or lane 202. The object is to avoid an accident and allow other vehicles to adapt their routes and/or traffic speeds.

To do so, the signal must contain the place 206, the place where the ego vehicle 201 is going. non-compliance with traffic rules than an exceptional situation, especially if the vehicle ego is not visible. In this way, other vehicles are warned and their drivers or their driving assistance systems can adapt the trajectory in a preventive manner.

Step 305, Dep, is a step of moving said ego vehicle 201 in reverse towards the place of destination 206, the movement being controlled by the driver assistance system.

The movement is carried out with the sensors and actuators conventionally embedded in an autonomous vehicle with automatic parking functions in reverse. For example, the movement is carried out as long as a free space at the rear of the vehicle ego is determined using at least one of the sensors of a parking assistance system. Other perception and control devices are possible.

The present invention is not limited to the embodiments described above by way of examples; it extends to other variants.

Thus, an exemplary embodiment has been described above in which a signal is determined and then communicated by the ego-vehicle to other vehicles. This communication can be achieved by a telecommunications device using a telecommunications standard. The new wireless telecommunications standards include specifications dedicated to automotive applications. Thus, short-range vehicle-to-everything wireless communication channels, called V2X channels, have been specified.

A first type of V2X channel is based on Wi-Fi standards (IEEE 802.11p) and supports communications between vehicles and between vehicles and infrastructures.

A second type of V2X channel is based on cellular standards, and in particular on the 5G standard. This second type of V2X channel supports communications between vehicles, between vehicles and infrastructures or even between vehicle and cellular network. This type of channel existing in parallel with conventional cellular channels, it is notably called “sidelink”, for side link in French, or even “PC5”.

V2X communications can also be implemented by a user device.

Claims (9)

Method for signaling a reversing maneuver of an autonomous vehicle (201), called ego vehicle, traveling on a first lane (202) to warn a vehicle (208) traveling on a second lane (207), said ego vehicle (201) not being visible by said vehicle (208) and said ego vehicle (201) heading on said second lane (207) in front of said vehicle (208), said method being implemented by a driving said ego vehicle and comprising the steps of:

• Detection (301) by sensors of said driver assistance system of an impossibility to continue to travel in forward gear on said first lane (202);
• Determination (302) by said driver assistance system of a trajectory (205) in reverse, the trajectory (205) having as its destination a location (206) on said second lane (207);
• Determination (303) of a signal comprising information on a reversing maneuver of said ego vehicle (201) and information on the location (206) of destination;
• Communication (304) of the signal by a communication system on board said vehicle ego;
• Displacement (305) in reverse gear of said ego vehicle (201) towards the location (206) of destination, the displacement being controlled by the driver assistance system.

Method according to claim 1, in which the determination of the trajectory (205) in reverse gear is obtained from a recording of the trajectory of the said ego vehicle (201) before the detection of an impossibility of continuing to circulate while moving. forward on said first lane (202). Method according to one of the preceding claims, in which the first track (202) is substantially perpendicular to the second track (207). Method according to one of the preceding claims, in which the movement is carried out as long as a free space at the rear of the vehicle ego (201) is determined with the aid of at least one of the sensors of a system parking assistance. Method according to one of the preceding claims, in which the determination of the signal also comprises a line crossing warning. Method according to one of the preceding claims, in which the determination of the signal also comprises an alert for violation of a rule of conduct. Device (101) comprising a memory (102) associated with at least one processor (103) configured to implement the method according to one of the preceding claims. Vehicle comprising the device according to the preceding claim. Computer program comprising instructions adapted for the execution of the steps of the method according to one of Claims 1 to 6 when the said program is executed by at least one processor (103).