Classifications

• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
  • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
  • G06F3/04845—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
  • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
  • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
  • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
  • B60K35/211—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays producing three-dimensional [3D] effects, e.g. stereoscopic images
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
  • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
  • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
  • B60K35/22—Display screens
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
  • B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
• • 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
  • B60W50/10—Interpretation of driver requests or demands
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
  • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
  • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
  • G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
  • B60K2360/143—Touch sensitive instrument input devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
  • B60K2360/143—Touch sensitive instrument input devices
  • B60K2360/1438—Touch screens

Definitions

• the present invention relates to a control method in an on-board driving assistance system in a motor vehicle, and a driving assistance system for implementing such a method.
• Motor vehicles are increasingly equipped with driver assistance systems, for example, the generation of audible or visual alerts in case of imminent dangerous situation (for example: exceeding of limit, obstacle %) or the detection of vehicles, pedestrians or obstacles in so-called blind spot areas.
• driver assistance systems for example, the generation of audible or visual alerts in case of imminent dangerous situation (for example: exceeding of limit, obstacle 8) or the detection of vehicles, pedestrians or obstacles in so-called blind spot areas.
• a driver assistance display method for a motor vehicle makes it possible to display, on a first part of a screen of the dashboard of the vehicle, all the images produced by four simultaneously. cameras projected on the ground to allow a bird's eye view of the immediate environment of the vehicle, itself being materialized by its image in plan view; and displaying on a large scale, on a second portion of the dashboard screen, simultaneously with the previous display, a complete view of one or more images as directly produced by the one or more cameras.
• this representation is complex and can disrupt the understanding of the vehicle environment and thus interfere with a vehicle user to park for example.
• the invention therefore aims to overcome the disadvantages of the prior art by providing more intuitive driver assistance systems.
• the subject of the invention is a control method for an on-vehicle driving assistance system, said system comprising:
• At least one camera for capturing video streams of the vehicle environment
• control unit for generating a three-dimensional scene according to a predefined viewpoint comprising:
• a screen for displaying the three-dimensional scene characterized in that said method comprises the following steps:
• control method according to the invention may further comprise one or more of the following characteristics, taken separately or in combination:
• said method comprises a step in which the control trajectory is compared with a set of predetermined control trajectories so as to determine the associated command to make vary the point of view,
• control trajectory is associated with at least one command chosen from the group of commands comprising: a command for translational movement of the scene, a command for moving the scene in rotation, a tilt displacement command for the possible scene because the generated scene is three-dimensional, which makes it possible to define different angles of view,
• control path is associated with a command for zooming
• said trajectory is carried out by a user's finger for commands for moving in rotation or translation of the three-dimensional scene, said path is made by several fingers of the user for tilting or zooming commands of the three-dimensional scene.
• the invention also relates to an on-board driving assistance system in a motor vehicle comprising: at least one camera for capturing video streams from the vehicle environment, a control unit for generating a three-dimensional scene according to a predefined viewpoint including:
• At least one image obtained from the captured video streams, and a display screen of the generated three-dimensional scene characterized in that said system comprises at least one means adapted to capture a control path of a user on a tactile surface integrated in the display screen so as to define a command associated with said entered trajectory to vary the point of view of said scene.
• the driving assistance system according to the invention may further comprise one or more of the following features, taken separately or in combination:
• said touch surface comprises a transparent or translucent film
• said system comprises:
• a rear camera located at the center of the rear window of the vehicle and facing down from the vehicle and over the horizon.
• the present invention therefore allows the user to act on the images displayed intuitively without being limited by predefined points of view.
• FIG. 1 illustrates a vehicle equipped with a driving assistance system according to the invention
• FIG. 2 schematically represents a driving assistance system
• FIGS. 3a to 3c represent an example of virtual screens making it possible to generate a three-dimensional scene
• FIG. 4 represents an example of a three-dimensional scene generated according to the invention
• FIGS. 5a to 5f show examples of control paths in the driving assistance system of FIG. 1;
• FIG. 6 illustrates the steps of a control method according to the invention.
• this driver assistance system comprises:
• a plurality of cameras 3a-3h for capturing video streams of the vehicle environment, a control unit for generating a three-dimensional scene according to a predefined point of view, and
• the driver assistance system comprises a set of cameras 3, at the front, rear and on the sides. At the front, we can provide:
• a camera 3f located at the rear view mirror of the vehicle directed substantially towards the front, or a front camera 3g located for example at the logo of the vehicle 1, directed substantially forwards.
• the front cameras 3a and 3b, 3f, or 3g may have an opening angle of 60 ° or wide angle (for example 110 ° horizontal angle of view) or very wide angle (for example at an angle of view horizontal 170 °), and allow to see down vehicle 1 and above the horizon.
• an opening angle of 60 ° or wide angle for example 110 ° horizontal angle of view
• very wide angle for example at an angle of view horizontal 170 °
• a rear camera 3c arranged for example in the handle of the trunk of the vehicle 1, or at the level of the license plate, making it possible to see towards the bottom of the vehicle 1 and above the horizon, and / or - a rear camera 3 hours above the rear window or at the third brake light of the vehicle 1, allowing to see down the vehicle 1 and more above the horizon that the rear camera 3c.
• the rear cameras 3c, 3h may have a large opening angle (for example with a horizontal angle of view between 110 ° and 170 °).
• the vehicle 1 comprises one or more cameras as described above.
• the set of cameras 3 equipping the vehicle 1 comprises the front cameras 3a, 3b, the rear camera 3c, and the side cameras 3d, 3e.
• control unit 5 comprises at least one processing means configured to generate a three-dimensional scene according to a predefined point of view, the three-dimensional scene comprising:
• a three-dimensional representation 9 of the vehicle (FIGS. 3a to 3c), for example in the form of a closed line representing the outline of the vehicle 1 or alternatively in the form of a parallelepiped, this three-dimensional representation being arranged according to an orthogonal reference represented in FIG. 3b, comprising:
• a longitudinal axis Y directed from the front to the rear of the three-dimensional representation 9, and a vertical axis Z directed from the bottom to the top of the three-dimensional representation 9.
• control unit 5 comprises for example processing means configured to generate virtual screens 11a to Ile representative of a solid angle respectively observed by the cameras 3a to 3e of the vehicle.
• These virtual screens 1 to I are represented in hatched lines in the figures
• the shape of the virtual screens 11a, 11b, 11c, associated respectively with the front cameras 3a, 3b and rear 3c, is representative of the perspective in which they will be seen by a user of the vehicle, for example the driver.
• the control unit 5 then makes it possible to project an image obtained from the video streams captured by the cameras 3a to 3e in a virtual screen 11a to associated island so as to generate the three-dimensional scene.
• the virtual screens 1 Ia-I are in the same frame as the three-dimensional representation 9, that is to say that if the three-dimensional representation 9 moves during the display of the three-dimensional scene for example following a command to modify the scene, the virtual screens 1 Ia-I also move simultaneously with the three-dimensional representation 9.
• the images provided by the cameras 3a-3e are thus dynamically integrated with the virtual screens 1a-1a with a deformation representative of the perspective according to which they will be seen by the user, according to the predetermined point of view.
• a point of view of the scene is defined by the orientation of the three-dimensional scene and by the virtual screens.
• a predefined viewpoint is an initial point of view that is not selected by the user and that is automatically displayed when the driver assistance system is started, or a point of view determined automatically by the system. driving assistance according to a particular event such as an obstacle detection in the environment of the vehicle or a maneuver of the vehicle like parking. For example, when the user is reversing, the environmental point of view at the rear of the vehicle is selected.
• the driving assistance system may then include means for displaying the generated three-dimensional scene enabling the user to visualize this three-dimensional scene so as to have a real notion of the environment of his vehicle and thus better apprehend the vehicle in its environment when it performs for example a tricky maneuver such as park his vehicle.
• An example of a display of such a three-dimensional scene is shown in FIG. 4.
• the driver assistance system further comprises means adapted to enter a user's control trajectory on a touch surface 7 integrated in FIG. the display screen 13 and processing means configured to interpret the control trajectory entered on the touch surface 7 of the screen 13 so as to generate an associated control for modifying the three-dimensional scene.
• the user then realizes a control trajectory directly on the part of the three-dimensional scene on which he wishes to act, which allows an intuitive use of the driver assistance system.
• the associated control for modifying the three-dimensional scene makes it possible, for example, to vary the point of view of the three-dimensional scene.
• Another example of an associated command for modifying the three-dimensional scene is a command for moving in translation the three-dimensional scene displayed on the display screen 13.
• the term "tactile surface” means a film sensitive to a pressure of one or more supports.
• the touch surface 7 may also comprise a transparent or translucent film.
• control path can be achieved by means of a stylus or by one or more fingers of the user.
• the tactile surface 7 comprises sensors configured to detect a support of a user and, depending on the force exerted, the position of the detected support and the releasing the support on the sensitive film forming a control path, triggering an associated control to vary the viewpoint of the three-dimensional scene.
• sensors using pressure-sensitive resistors, also known as the FSR sensor for "Force Sensing Resistor”.
• each finger can move clean or similar to the movement of other fingers. It is also possible to provide movements of the fingers in substantially parallel or opposite directions, or even displacements of the fingers in rotation in the same direction of rotation.
• the touch surface 7 comprises multiple support sensors configured to simultaneously detect pressure and / or movements of the fingers in several places.
• the control unit 5 is then adapted to simultaneously interpret these separate actions so as to determine the control path and thus the associated control to vary the point of view of the scene.
• control trajectory can for example be associated with:
• a control trajectory defined by a circular displacement is associated with a control of the rotation of the scene around an axis of rotation substantially parallel to the vertical axis Z.
• the angle made by the user on the touch surface 7 is associated with a rotation angle of the three-dimensional scene
• the direction of the control path is associated with a direction of rotational movement of the three-dimensional scene.
• a control trajectory made by three fingers of the user is associated with a rectilinear movement (FIG. 5b) to an inclination control of the scene with respect to an axis substantially parallel to the transverse axis X, making it possible to move to a two-dimensional view of the scene.
• This two-dimensional view represents for example a so-called bird view.
• the length of the displacement made by the user on the touch surface 7 is associated with a displacement length of the three-dimensional scene or at a rotation angle of the three-dimensional scene
• the direction of the control trajectory is associated with to the moving direction of the three-dimensional scene
• the direction of the control path is associated with a sense of moving the three-dimensional scene or to a direction of rotation of the three-dimensional scene.
• FIG. 5f to a control of rotation displacement of the scene about an axis of rotation substantially parallel to the vertical axis Z, according to a predefined angle, for example 180 °, which makes it possible to modify the point of view of the three-dimensional scene.
• Figure 6 depicts the control method for varying the point of view of the three-dimensional scene.
• a control associated with the control path is generated to vary the viewpoint of the three-dimensional scene.
• the control trajectory thus allows the user to vary the viewpoint of the three-dimensional scene as he desires rather than by selecting a point of view from among a set of predefined viewpoints, so as to clearly visualize a viewpoint. precise area of the vehicle environment before making a maneuver, such as backing up or parking.
• a step E3 can be provided in which the entered control path 15 is compared to a set of control paths. predetermined.
• step E5 the command associated with the control trajectory seized on the touch-sensitive surface 7 is generated for a part of the three-dimensional scene, and in step E5, the three-dimensional scene is generated and displayed in real time according to the modified point of view.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Theoretical Computer Science (AREA)
• Human Computer Interaction (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Automation & Control Theory (AREA)
• Closed-Circuit Television Systems (AREA)

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• 2008
  • 2008-09-30 FR FR0805362A patent/FR2936479B1/fr active Active
• 2009
  • 2009-09-30 EP EP09817299A patent/EP2377006A1/de not_active Withdrawn
  • 2009-09-30 WO PCT/EP2009/062715 patent/WO2010037795A1/fr active Application Filing

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