Classifications

• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
  • B60W30/095—Predicting travel path or likelihood of collision
• • 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
  • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
  • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
  • B60W40/09—Driving style or behaviour
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
• • G—PHYSICS
  • G08—SIGNALLING
  • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
  • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
  • G08B21/02—Alarms for ensuring the safety of persons
  • G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
• • G—PHYSICS
  • G08—SIGNALLING
  • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
  • G08B3/00—Audible signalling systems; Audible personal calling systems
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
  • B60W2050/143—Alarm means
• • 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
  • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
  • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
  • B60W2420/403—Image sensing, e.g. optical camera
• • 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
  • B60W2540/00—Input parameters relating to occupants
  • B60W2540/22—Psychological state; Stress level or workload
• • 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
  • B60W2540/00—Input parameters relating to occupants
  • B60W2540/26—Incapacity
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/80—Spatial relation or speed relative to objects
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2554/00—Input parameters relating to objects
  • B60W2554/80—Spatial relation or speed relative to objects
  • B60W2554/801—Lateral distance
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences

Definitions

• Detection system for a motor vehicle for signaling with a sounding scene a lack of vigilance of the driver in the presence of an immediate danger
• the invention relates to safety systems for motor vehicles and more particularly to systems designed to limit the risks associated with driving in a state of reduced vigilance of the driver of the vehicle.
• Systems for detecting a decrease in driver vigilance exist. These systems can for example be linked to a micromotion monitoring at the driver 's steering wheel, to an image analysis of the visual expressions of the driver' s face, to sensors in the seat monitoring the points of support of the body and more particularly to the driver's head.
• alerts are foreseen for the attention of the driver such as for example a visual display at the dashboards, a tactile alert in the form of a vibration at the level of the vo lant or the seat , or an acoustic signal such as a ringing tone.
• a detection system detects that the vehicle is leaving its lane, the system emits three levels of alert, an optical alert level, a level acoustic alert and a vibration alert level at the seat or steering wheel.
• warning systems warn, for example, that the driver is in a state of distraction by an audible signal accompanied by a display of a "pause recommended" message, for example by displaying a small cup coffee.
• the patent application EP 20 42 398 proposes to emit an audible signal or a light signal at the moment when a surveillance system detects that the vehicle is leaving its lane or detects that the driver is performing an inappropriate action in a lane change context. Warning modalities proposed in these embodiments may be ignored by the driver if the latter, in a state of reduced consciousness, is not already monitoring his dashboard, or may increase the confusion of the driver if he does not remember what type of alarm is connected to the ringtone he hears. The alert may cause sudden movements that may further alter the trajectory, for example in the case of vibrations that would awaken the driver with a start of his micro-sleep.
• the aim of the invention is to propose a detection system that interacts with the driver so as to make the driver aware of his lack of vigilance effectively.
• the system can further provide the driver with information that helps him to respond appropriately to potential hazards to the vehicle and its passengers.
• the invention proposes a system for detecting a lack of vigilance on the part of a driver of a motor vehicle, comprising a first monitoring unit capable of evaluating whether the driver 's vigilance is greater than or not at a threshold of vigilance, and comprising at least a second monitoring unit configured to identify at least one type of danger related to the trajectory and / or the environment of the vehicle.
• the detection system further comprises at least two separate speakers.
• the system further includes a sound stage generator adapted to control the at least two loudspeakers so as to simulate a sound from a mobile virtual sound source relative to the driver's seat, the sound stage generator being configured to simulate a mobile virtual source sound stage when the level of alertness detected is below the threshold and a hazard of a given type is identified.
• the system may further include a sound selection unit configured to combine two different sound scenes with two different types of hazard, the sound stage generator being configured to simulate the virtual sound source selected by the selection unit.
• the sound pattern selected may simulate a virtual sound source approaching the vehicle substantially from the obstacle.
• the sound stage generator is connected to at least three separate loudspeakers, including at least one loudspeaker on the right and one loudspeaker on the left of the driver's seat, at least two of the at least three loudspeakers being further spaced apart. following the direction of travel of the vehicle.
• the second monitoring unit may be configured to detect a trajectory deviation greater than a threshold, and to detect a sign of trajectory deviation, and the sound selection unit may be configured to associate with this trajectory deviation.
• a threshold a sound stage whose virtual sound source is located either to the right or to the left of the vehicle according to the sign of deviation of trajectory.
• the sound scene associated with the trajectory deviation preferably includes a sound that simulates a virtual sound source approaching the vehicle.
• the sound scene associated with the trajectory deviation can also include, preferably following the sound simulating a virtual sound source approaching the vehicle, a noise likely to evoke a noise of the vehicle against an obstacle.
• the second monitoring unit may be configured to detect another oncoming vehicle of the equipped vehicle, and the sound selecting unit may be configured to associate with that approach of another vehicle, a sound scene simulating a sound source. virtual approaching the front of the equipped vehicle.
• the second monitoring unit can be configured to identify a different hazard depending on whether the vehicle in the opposite direction is in the same lane as the vehicle equipped with the system, or not to identify a hazard if the vehicle is in a lane. different.
• the selection unit is configured to associate with this approach of another vehicle, in the same way as the equipped vehicle, a sound stage comprising a noise likely to evoke a collision between two vehicles.
• the loudspeakers are preferably installed in the vehicle so that at least two loudspeakers are at least 50 centimeters apart from one another so as to obtain a stereophonic effect.
• the system comprises at least four loudspeakers, two of which are located on the right and one on the left of the driver 's seat, in front of the driver' s seat or at its level, and two loudspeakers located on the left. one on the right and the other on the left with respect to the driver 's seat, and staggered towards the rear of the vehicle with respect to the first two loudspeakers.
• the system is thus configured to attract the attention of the driver, when the vigilance of the driver is relaxed, on the direction of correction of trajectory that could impose on the driver while he refocuses his attention on the environment of the driver. vehicle.
• the system thus allows the driver to react more quickly in a manner relevant to the immediate danger.
• the obstacle in the direction of which the vehicle is moving may be an immovable obstacle with respect to the roadway, for example a shaft, or may be an obstacle that is movable relative to the roadway, for example a vehicle coming in the opposite direction of the vehicle. equipped, or a vehicle approaching from the high speed rear of the equipped vehicle.
• substantially from the obstacle is meant that the virtual sound source seems to approach the driver substantially in the same direction as the relative direction of approach of the obstacle vis-à-vis the driver.
• the speed of approach of the virtual sound source may be different, for example faster, than the relative speed of approach of the obstacle. This enables the driver to become more aware of the relative direction of approach of the hazard and the direction of course correction that could be adapted.
• a detection system 1 equips a vehicle 2 comprising a seat 3 intended to receive a driver 4.
• a driver 4 when a driver 4 is installed on the seat 3, it is in the field of a camera 7 for monitoring the attitude of the driver, actuates a vo lant 8 of the vehicle, acts on motion sensors 6 imp lantés in the seat 3 of the vehicle.
• the sensors 6, and the camera 7, or more generally at least one sensor adapted to the postural, behavioral or physiological monitoring of the driver, are connected to a driver behavior monitoring module 11b, which issues a first estimate. vigilance "on the level of vigilance of the driver.
• the vehicle 2 is also equipped with a camera 9 for monitoring the roadway 16 on which the vehicle rolls and any obstacles 1 7 found in particular on the roadway.
• the vehicle can also be equipped with one or more radars 1 0 for detecting obstacles near the vehicle, for example a vehicle that would approach too far from the rear of the equipped vehicle, or an obstacle that would be at the 2.
• the vehicle 8 is here equipped with at least one sensor making it possible to measure steering wheel angle variations imposed by the driver.
• the speed sensor 8, and the camera 9, or more generally at least one monitoring sensor of at least one conduct mode of the driver, are connected to a driver monitoring action module 11a.
• This monitoring module monitors how the driver interacts with the vehicle, for example this module of surveillance monitors the micro-movements of the aircraft, and / or monitors the regularity of the trajectory and / or its suitability for the pavement layout. Physiological monitoring procedures and behavioral monitoring methods of the driver to assess the level of vigilance of the driver are known.
• the module i i a and the module 11 b are part of a first monitoring unit 1 1, which based on the analyzes of the modules l i a and 1 1b, emits a variable "vigil" reflecting an estimated level of vigilance of the driver.
• the modules 11a and 11b can process the variables of the physiological sensors and the variables of the driving action sensors independently, or can provide intermediate variables re-analyzed jointly by the monitoring unit 11. This variable crosses a threshold when the level of vigilance of the driver becomes unsatisfactory.
• the variable "Vigil" can be of the Boolean type, or it can be a continuous variable to which a threshold can be attributed expressing a level of vigilance of the driver.
• the first monitoring unit 11 is part of an electronic control unit 15 further comprising a second monitoring unit 12, a sound selection unit 13 and a sound stage generator 14.
• the camera 9 and the radar 10 can be further connected to the second monitoring unit 12 for monitoring the trajectory and the environment of the vehicle, for example to monitor the conformity of the trajectory with respect to the course of the roadway .
• the unit can verify that the vehicle 's trajectory is in a "safe" trajectory envelope that may be wider than the trajectory envelope indicating good driver vigilance.
• the vehicle environment may include obstacles or vehicles detected at the front or rear of the vehicle for example by the camera 9 or the radar 10.
• the vehicle 2 is locatable in space by a longitudinal axis X corresponding to the direction of movement of the vehicle, a transverse axis Y which is also a horizontal axis and a vertical axis Z.
• the vehicle here comprises four loudspeakers 5a, 5b, 5c and 5d, which are preferably distributed so that at least three loudspeakers are spaced two by two in an XY plane, so that simulate virtual sources moving in different directions in this XY pane relative to the vehicle.
• These loudspeakers may have multiple functions, for example may have a usual function of broadcasting a vehicle sound system, being connected to a radio, an audio recording player, and / or a device hands free for ordiphone. If the loudspeakers are greater than two, they can be equally distributed at different heights relative to the driver and can simulate a mobile virtual source also with respect to a vertical Z axis.
• the second monitoring unit 12 transmits a variable - for example Boolean - "danger” to the attention of a sound stage generator 14 which also receives the variable "vigil” reflecting the state of vigilance of the driver 4.
• the Boolean variable “Danger” indicates whether any danger has been detected.
• the monitoring unit 12 also transmits one or more "danger type” variables to the sound selection unit 13 which consults a sound database 19 and sends "sound type” data to the sound scene generator 14. to generate a particular sound scene depending on the type of danger.
• the monitoring unit 12 may, for example, emit a group of Boolean variables "danger type", ie one variable per type of danger (deviation of trajectory to the left, deviation of trajectory to the right, vehicle approaching from the rear, obstacle at the front of which approaches the vehicle %), or can for example emit a single whole variable, each value of the variable being associated with a particular type of danger.
• variable "vigil” decreases when the driver's vigilance decreases, but of course equivalent embodiments are possible with a variable “vigil” that increases when the driver's vigilance deteriorates.
• the variable "vigil” can also be a boolean.
• the sound stage generator 14 uses the "sound type" variable or variables that the sound selection unit 13 transmits to it.
• a certain reason for its warning is therefore assigned according to the detected danger, and this reason is used, or not, according to the level of vigilance of the driver.
• this pattern is only assigned when the driver has a state of alertness below the programmed vigilance threshold.
• the sound stage generator 14 sends sound signal instructions as a function of the time cons, cons2, cons3, cons4 respectively to the four loudspeakers 5a, 5c, 5d, 5b so as to produce a sound stage pattern associated with the detected danger.
• the patterns defined by the four setpoints cons1, cons2, cons3, cons4 differ in their phase and / or intensity so as to generate stereophonic sound and create the illusion for the driver of a virtual sound source moving relative to to the driver.
• the driver perceives the sound stage as a message distinct from the other sources of noise present around him, distinct from other point-source sound messages, or even distinct from stereophonic background music.
• the mere fact of issuing messages of different types as coming from virtual sources each positioned differently relative to a pilot or a driver allows the pilot or the driver to better extract each message from the context of the background sound that surrounds it.
• the corresponding signal can only stand out more from the background.
• Stereophonic means a sound which, for a person in a given place, here for a person seated in the driver's seat 3, seems to come from a virtual sound source located at a point in space that does not does not necessarily correspond to the position of one of the loudspeakers, this virtual sound source being able to move in space thanks to the control by the sound stage generator 14, phase shifts between the different sound patterns and between the volumes of the different sound patterns emitted by each of the loudspeakers 5a, 5b, 5c, 5d.
• sound scene here is also meant a displacement of the virtual sound source.
• virtual sound source we mean the point of the space from which the sound should be emitted, to produce the same sound reproduction vis - à - vis the driver; if the sound was emitted by a real point source instead of being emitted by the various loudspeakers of the vehicle.
• the direction and speed of movement of the virtual sound source, the amplitude or the frequency of sound may be modulated according to the type of danger detected, and may also be modulated according to the detection or not of a reaction of the sound source. driver to the first sound message addressed to him during the same episode of lack of vigilance.
• the sound scene selected by the unit 13 and then generated by the sound stage generator 14 may correspond to a sound coming from a virtual sound source approaching the vehicle 2 in the direction 1 8 relative displacement of the obstacle relative to the vehicle, the virtual sound source having a speed of approach relative to the vehicle 2 , equal to the approach speed of the obstacle, or greater than the latter.
• the displacement effect of the virtual sound source can furthermore be accompanied, either continuously or occasionally after a certain level of approximation of the virtual sound source, by a sound effect suggestive of a sheet noise being plastic deformation, or sound of shock, to evoke the impact of the vehicle that may occur if the driver does not react adequately.
• the virtual sound source can be placed in such a way that the driver clearly perceives that the advertised obstacle may be rather on the right or left side of the road.
• the sound selection unit 13 may select a stereophonic sound which may for example come from the of the roadway that the driver of the vehicle must be careful not to approach further.
• the sound stage can be emitted by a virtual sound source advancing from the front to the rear of the vehicle - if the vehicle is forward for example - frontally or laterally depending on the type of danger.
• the invention is not limited to the embodiments described and can be declined in many variants.
• the monitoring units 1 1, 12, the sound selection unit 1 3 and the sound stage generator 14 may be independent entities or may be grouped together in the same electronic control unit 1 5. detection of a lack of vigilance of the driver may be different from those mentioned.
• the modes of detection of dangers related to the trajectory of the vehicle and the surrounding obstacles can also vary.
• the virtual sound sources may preferably be stereophonic sounds evoking a displacement of the virtual sound source, in order to provide additional information on the direction and / or speed of approach of the danger.
• the detection of the vigilance of the driver may be based only on one or more physiological measurements, only on one or more driving mode measurements, only on the quality of the trajectory, or the detection may be performed in a mixed mode combining two or more of these detection modes.
• the modes of detection of the level of vigilance of the driver can involve fewer sensors than the described sensors, or on the contrary use additional sensors of a physio logical state of the driver (heart rate) or additional sensors of actions of the driver ( frequency and mode of intervention on the control elements of the dashboard for example).
• the sound stage generator 14 may possibly receive the same "danger type" variable as the sound selection unit 12.
• the monitoring unit 12 may emit variables indicative of the different danger towards the sound selection unit 13 and to the sound stage generator 14, and depending on the system setting, certain sound scenes can be selected without being synthesized at each selection by the generator 14. They can for example be selected for a first group of typical hazards, and can only be synthesized for a subset of these typical hazards.
• the threshold of vigilance leading to the emission of a sound stage may vary according to the type of danger identified.
• Several levels of intensity of stereophonic messages or other types of variations of a type of sound associated with a given hazard may be provided, in particular for cases where the driver does not react in such a way as to indicate a recrudescence of superior vigilance at a threshold, following the first stereophonic warning message, during an episode of lack of vigilance.
• Various sound codes can be chosen to evoke detected dangers, either from sounds suggestive of noise related to the damage that the vehicle is likely to suffer, or in the form of more symbolic noise, not correlated a priori to a particular event. , other than by the habit of the driver.
• the detection system makes it possible to warn the driver of a lack of vigilance by minimizing the possibilities of the driver to ignore the message. It also helps the driver to adapt his reactions even before the driver has time, following his recovery of vigilance, to re-analyze the situation of the vehicle in relation to its environment.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Mechanical Engineering (AREA)
• Transportation (AREA)
• Human Computer Interaction (AREA)
• Business, Economics & Management (AREA)
• Emergency Management (AREA)
• Mathematical Physics (AREA)
• Traffic Control Systems (AREA)
• Emergency Alarm Devices (AREA)
• Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
• Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

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Publications (1)

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• 2014
  • 2014-06-10 FR FR1455239A patent/FR3021913B1/fr not_active Expired - Fee Related
• 2015
  • 2015-06-08 EP EP15736545.3A patent/EP3154811A1/fr not_active Withdrawn
  • 2015-06-08 US US15/317,878 patent/US20170154533A1/en not_active Abandoned
  • 2015-06-08 JP JP2016571738A patent/JP2017526034A/ja active Pending
  • 2015-06-08 WO PCT/FR2015/051514 patent/WO2015189512A1/fr not_active Ceased

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