EP3381023A1 - Procédé de diagnostic d'un capteur de véhicule automobile - Google Patents
Procédé de diagnostic d'un capteur de véhicule automobileInfo
- Publication number
- EP3381023A1 EP3381023A1 EP16801190.6A EP16801190A EP3381023A1 EP 3381023 A1 EP3381023 A1 EP 3381023A1 EP 16801190 A EP16801190 A EP 16801190A EP 3381023 A1 EP3381023 A1 EP 3381023A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- infrastructure
- remote server
- sensor
- note
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
Definitions
- the present invention relates generally to driving aids for motor vehicles.
- It relates more particularly to a method for diagnosing a motor vehicle sensor.
- the first problem is that the infrastructures deteriorate over time, for example because of the weather conditions, their exposure to the sun, and the number of cars rolling on them. It is therefore necessary to monitor their condition to replace them before they are no longer readable.
- the second problem is that sometimes the sensors have malfunctions.
- a displacement of the sensor relative to its support can affect the quality of the detection of the infrastructure of the road without being easily detectable. Dust adhered to the lens of a sensor can also affect the quality of the detection.
- the present invention proposes a statistical method for diagnosing the good operating state of the sensors.
- a method for diagnosing a motor vehicle sensor which comprises steps in which:
- the calculator identifies an infrastructure and assigns an effective score, which is relative to the degree of visibility of this infrastructure
- the remote server acquires a reference note which is assigned to said infrastructure and which is relative to the degree of visibility of this infrastructure
- the invention takes advantage of the fact that the remote server has a database in which are stored notes assigned to the infrastructure, according to their visibility. The invention then proposes to compare this note with a note that the calculator itself has calculated based on the difficulties it has had to interpret the road infrastructure.
- step b) the remote server transmits the reference note to the computer and, in step c), the operating state of the sensor is determined by the computer;
- step a) the computer sends to the remote server a request containing an identifier of the identified infrastructure and / or the geographical coordinates of the motor vehicle and, in step b), the remote server acquires the reference note associated with said infrastructure, taking into account said identifier and / or said geographical coordinates;
- step a a step of transmitting the effective score to the remote server and a step of calculation by the remote server of a new reference note according to said effective score;
- said calculation step is implemented only if the difference between the effective score and the reference score is less than a predetermined threshold
- steps b) and c) are implemented for only part of the infrastructures identified by the calculator;
- step b) there is provided a step of determining an indicator relating to the meteorological conditions and / or dazzle of the sensor, and steps b) and c) are implemented only when said indicator is on satisfactory meteorological and / or glare conditions;
- step b) prior to step b), there is provided a step of determining the time of day, and steps b) and c) are implemented only when the time is within a specified interval;
- step a there is provided a step of determining an indicator relating to the weather conditions and / or glare conditions of the sensor and / or the time of day, and the reference note acquired by the remote server is a function of the value of said indicator.
- Figure 1 is a schematic perspective view of a motor vehicle driving on a road and a server remote from this road.
- the motor vehicle 10 is here a car with four wheels 1 1.
- it could be a motor vehicle comprising two or three wheels, or more wheels.
- this motor vehicle 10 comprises a frame which supports including a powertrain 12 (namely a motor and means for transmitting torque from the engine to the drive wheels), body elements and cabin elements.
- a powertrain 12 namely a motor and means for transmitting torque from the engine to the drive wheels
- the motor vehicle 10 also comprises an electronic control unit (or ECU, of the English “Electronic Control Unit”), here called calculator 14.
- ECU electronice control unit
- This calculator 14 comprises a processor and a storage unit, for example a rewritable non-volatile memory or a hard disk.
- the storage unit notably stores computer programs comprising instructions whose execution by the processor enables the computer to implement the method described below.
- the computer 14 is connected to different equipment of the motor vehicle 10.
- the motor vehicle 10 comprises at least one sensor 1 6, 17 and communication means 18. It also comprises a geolocation means 15.
- the motor vehicle 10 is equipped with several sensors adapted to acquire information relating to road infrastructure.
- the motor vehicle 10 thus comprises a camera 1 6 which is located at the front of the vehicle and which is oriented forward, so that it can acquire images of the infrastructure of the road 100.
- the motor vehicle 10 also comprises two LIDAR sensors (acronym for the term “light detection and ranging”, ie “detection and localization by light”), which are presented here in the form of two laser remote sensors 17. These two laser remote sensors 17 are located at the front of the vehicle and are oriented in oblique directions, so that they can determine the shape of the infrastructure of the road 100, on both sides of the motor vehicle.
- Such a laser remote sensor is well known to those skilled in the art, it will not be described in detail here. It will simply be stated that this is a remote measurement system, the operation of which is based on the emission of a beam of light by a transmitter and on the analysis of the properties of the beam of light reflected by the obstacle to its transmitter.
- a LIDAR sensor is able to detect a foreign body on the road, such as a tire left on the road or a fallen branch on the road. It is also able to detect snow on the road.
- the vehicle has more LIDAR sensors, for example located on the sides and at the rear of the vehicle.
- the sensors could be different. These could include SONAR or RADAR sensors. They could be placed differently on the vehicle, for example to acquire images of the road in rear view of the vehicle.
- the geolocation means 15 is provided for determining the position of the vehicle and / or the infrastructure targeted by the sensors 1 6, 17.
- the geolocation means is formed by an antenna adapted to communicate with these geolocation modules.
- the geolocation means 15 is formed by a GPS antenna, making it possible to determine the geographical coordinates of the motor vehicle 10.
- the geolocation means may also possibly use the signals emitted by the sensors 1 6, 17 to determine more finely the position of the motor vehicle 10 on the road 100 (on which traffic lane it is, to what distance of each infrastructure it is ).
- the communication means 18 is designed to communicate with a remote server 50 via a relay antenna 51. It is more specifically here designed to connect to a mobile network that includes including said relay antenna 51 and a connection gateway to a public network (eg the Internet).
- the remote server 50 is then also connected to the public network so that the computer 14 of the motor vehicle 10 and the remote server 50 can enter into communication and exchange data via the mobile telephone network.
- This remote server 50 stores here a database register comprising a plurality of records each associated with a road infrastructure of the automobile network.
- Each record then stores an identifier of this infrastructure, as well as the geographical coordinates of this infrastructure and at least one note relating to the state of this infrastructure.
- the note could have been recorded in the database by an operator responsible for monitoring the state of the infrastructure. Such an operator will then be used to drive on the roads, to observe the state of the infrastructures and to assign them a note (which he then records in the corresponding record of the database register).
- each record will include not one but several notes relating to the state of this infrastructure. These notes will have been previously communicated to the remote server by motor vehicles automatically monitoring the state of the infrastructure. The communication protocol of these notes will be well described later in this presentation.
- the remote server 50 is then able to calculate a reference note N0 relating to the state of each infrastructure, for example by determining the average of the notes stored in the recording.
- the motor vehicle 10 is shown in Figure 1 as rolling on a road 100 having different infrastructures 101, 102, 103, 104.
- this road 100 has two ways of circulation 105 separated from each other by a continuous line 101.
- the lateral edges of this road 100 are formed by the shoulder 104.
- Discontinuous lines 102 mark the position of these shoulders 104.
- a road sign 103 is also shown on the edge of the road 100.
- the invention then relates to a method implemented by the computer 14 of the motor vehicle 10 and by the remote server 50 to diagnose the operating state of each sensor 16, 17 of a motor vehicle 10.
- the invention proposes to verify that the sensor detects the infrastructure of the road in the same way as other vehicles traveling on the road 100. Otherwise formulated, the invention proposes to verify that the note affects the calculator 14 of the vehicle to each infrastructure (depending on whether it considers this infrastructure in good condition or not) substantially corresponds to the reference note N0 stored in the remote server 50.
- the diagnostic method comprises three main stages, of which:
- a second step b) during which the remote server 50 searches in its database the record corresponding to said infrastructure 101, 102, 103, 104 and then determines the reference note N0 assigned to this infrastructure 101, 102, 103, 104, and
- a third step c) during which the actual score N1 and the reference note N0 are compared to deduce an operating state of the sensor 1 6, 17.
- the camera 1 6 acquires an image of the road 100 on which each of the infrastructures, namely the traffic sign 103, the continuous line 101 and the broken lines 102, appear.
- the laser remote sensors 17 make it possible for them to determine the shape and the position of the shoulders 104.
- the sensors equipping the motor vehicle 10 could acquire more information (including the presence of a pothole on pavement), but for the sake of clarity, only this information will be considered here.
- the computer 14 uses the signals it receives from these sensors 16, 17 to determine an effective rating N1 relating to the state of each infrastructure 101, 102, 103, 104 of the road 100.
- the computer 14 uses the image acquired by the camera 16 and the shapes seen by the laser remote sensors 17 in the following manner.
- An identifier is assigned to each type of infrastructure, in order to facilitate its identification. This identifier will preferably be chosen according to the type of infrastructure. Thus, one could foresee to assign the identifier # 101 to all the continuous lines, the identifier # 102 to all the discontinuous lines, the identifier # 103 to all the warning signs containing a symbol "danger", and the ID # 104 at all the verges.
- the calculator 14 will then assign an effective score N1 to each of the identified infrastructures.
- This actual score N1 may be expressed as a degree of probability that the infrastructure has been identified or in any other form that can be envisaged.
- the effective score N1 will be determined as follows.
- the computer 14 determines the width variations of the continuous line 101. Then, if the width of this continuous line 101 varies, which means that the continuous line 101 is probably degraded, it affects the readability of the continuous line 101 a reduced effective note N1 (for example equal to 1). Otherwise, it assigns a high effective score N1 (for example equal to 2 or 3).
- the calculator 14 determines the variations of widths and length of each line of discontinuous lines 102. Then, if the width or length of these lines varies, which means that the corresponding broken line 102 is probably degraded, it affects the readability of discontinuous line 102 an effective note N1 reduced (for example equal to 1). Otherwise, it assigns a high effective score N1 (for example equal to 2 or 3).
- the computer 14 determines the symbol displayed on the traffic sign 13. If it does not does not achieve this meaning that the symbol is partially erased or hidden by the vegetation), it affects the readability of the sign 13 a reduced effective note N1 (for example equal to 0). In the opposite case, and according to the degree of certainty of the recognition of the symbol, it affects an effective note N1 superior (for example equal to 1, 2 or 3).
- the calculator 14 finally determines the variations in distances between the discontinuous lines 102 and the shoulders 104 and it identifies the irregularities of these shoulders 104. Then, if these distances vary and / or if the shoulders 104 are irregular, which means that the shoulders 104 are probably degraded, it affects on the shoulders 104 an effective note N1 reduced (for example equal to 0 or 1). Otherwise, it assigns a higher effective score N1 (for example equal to 2 or 3).
- the computer 14 sends to the remote server 50 a request for the latter to transmit the reference note N0 associated with each infrastructure 101, 102, 103, 104.
- This request contains the identifier of each of the infrastructures 101,
- the geolocation means 15 may also contain other data, including the direction of movement of the vehicle on the road (obtained through the positions of the vehicle successively recorded by the geolocation means 15) or the traffic lane 105 on which the vehicle is traveling, here the left lane (obtained thanks to the image acquired by the camera 16).
- This data enables the remote server 50 to identify the infrastructures seen by the sensors 16, 17 and thus to find in its database register the records corresponding to these infrastructures. Then, the remote server 50 determines the reference notes NO associated with these infrastructures 101, 102, 103, 104, here by averaging the notes stored in each record found.
- the computer 14 determines, for each infrastructure, the difference ⁇ between the deference grade NO and the effective score N1 (in absolute value).
- the computer deduces a malfunction of the sensor. It then stores in its storage unit an error code, which will allow a technician to visualize this fault.
- the computer deduces that the sensor is working correctly.
- the computer can store in its storage unit the differences ⁇ successively calculated for a sensor, and observe the evolution of this difference ⁇ . Then, if it finds an increasing evolution of this difference ⁇ , it can deduce a slight malfunction of the sensor. It can also anticipate the moment at which the sensor will be considered deficient, so as to predict when it will be necessary to replace it.
- this transmission step can be done during the second step, when the computer transmits to the remote server 50 a request.
- the remote server 50 can store this effective note N1 in the record associated with the infrastructure in question, so as to complete its database.
- the remote server 50 can obtain a large amount of notes assigned to each infrastructure, which will refine the value of the reference note N0.
- the remote server 50 records this effective note N1 only if the weather conditions are good enough or if the sensor 1 6, 17 is not dazzled by the sun or by any light source or if it's still daylight.
- the calculator can determine the value of a weather indicator (1 if sunny, 2 if cloudy, 3 if snow, ...) and the value of a glare indicator (1 if dazzled, 0 otherwise ), and to transmit these values to the remote server 50, so that it records the effective note N1 only if these values are satisfactory (for example if it does not rain or snows, if it does not there is no fog and if the sensor is not dazzled). It can also be provided that the effective score N1 is recorded only if it is still daylight in the place where the vehicle is located (taking into account the time and times of sunrise and sunset in the place where it is located. the vehicle).
- the remote server 50 always records the effective note N1 in its database, whatever the weather conditions and glare and whatever the time, but that it associates this effective rating N1 with the meteorological and glare conditions encountered and on time. More precisely, the remote server 50 will be able to store the actual score in a sub-record corresponding to the meteorological conditions encountered, to the degree of glare of the sensor and to the fact that it is day or night. In this variant, the request transmitted by the computer 14 to the remote server 50 will include the aforementioned indicators.
- the reference note NO returned by the remote server 50 to the computer 14 will be equal to the average of the notes stored in the sub-recording corresponding to the meteorological and / or lighting conditions (day or night) and / or glare encountered by the vehicle.
- the second and third steps of the aforementioned diagnostic method may be implemented for each detected infrastructure or at each time step.
- the second and third steps may be performed less often.
- They may for example be performed at regular intervals (for example once a day, or after each start of the vehicle).
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1561263A FR3044150B1 (fr) | 2015-11-23 | 2015-11-23 | Procede de diagnostic d'un capteur de vehicule automobile |
PCT/EP2016/078602 WO2017089428A1 (fr) | 2015-11-23 | 2016-11-23 | Procédé de diagnostic d'un capteur de véhicule automobile |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3381023A1 true EP3381023A1 (fr) | 2018-10-03 |
Family
ID=55361677
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16801190.6A Pending EP3381023A1 (fr) | 2015-11-23 | 2016-11-23 | Procédé de diagnostic d'un capteur de véhicule automobile |
Country Status (4)
Country | Link |
---|---|
US (1) | US10339801B2 (fr) |
EP (1) | EP3381023A1 (fr) |
FR (1) | FR3044150B1 (fr) |
WO (1) | WO2017089428A1 (fr) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7008217B2 (ja) * | 2018-03-28 | 2022-01-25 | パナソニックIpマネジメント株式会社 | 異常報知装置、車両、異常報知方法、及び、プログラム |
CN108919780A (zh) * | 2018-06-29 | 2018-11-30 | 深圳市元征科技股份有限公司 | 汽车故障远程诊断方法及相关设备 |
JP7382791B2 (ja) | 2019-10-30 | 2023-11-17 | 株式会社日立製作所 | 異常判定装置、車両支援システム |
CN115966066B (zh) * | 2023-03-15 | 2023-06-23 | 中国安全生产科学研究院 | 一种矿山车辆安全运行监测预警方法、装置和系统 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5551236B2 (ja) * | 2010-03-03 | 2014-07-16 | パナソニック株式会社 | 道路状況管理システム及び道路状況管理方法 |
US9060164B2 (en) * | 2012-09-12 | 2015-06-16 | Xerox Corporation | Intelligent use of scene and test pattern analyses for traffic camera diagnostics |
-
2015
- 2015-11-23 FR FR1561263A patent/FR3044150B1/fr active Active
-
2016
- 2016-11-23 EP EP16801190.6A patent/EP3381023A1/fr active Pending
- 2016-11-23 US US15/778,382 patent/US10339801B2/en active Active
- 2016-11-23 WO PCT/EP2016/078602 patent/WO2017089428A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
FR3044150A1 (fr) | 2017-05-26 |
WO2017089428A1 (fr) | 2017-06-01 |
US10339801B2 (en) | 2019-07-02 |
FR3044150B1 (fr) | 2017-12-29 |
US20180350233A1 (en) | 2018-12-06 |
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