FR2936479A1 - CONTROL METHOD AND DRIVING ASSISTANCE SYSTEM THEREFOR - Google Patents

Abstract

The invention relates to a control method for a driver assistance system embedded in a vehicle (1), said system comprising: - at least one camera (3a, 3b, 3c, 3d, 3e, 3f, 3g, 3h ) for capturing video streams from the vehicle environment (1), - a control unit (5) for generating a three-dimensional scene according to a predefined viewpoint comprising: • a three-dimensional representation (9) of the vehicle (1), and at least one image obtained from the captured video streams, and a control input touch screen (7). According to the invention, said method comprises the following steps: - a control trajectory (15) is entered on said touch screen (7), - a command associated with said trajectory (15) is generated for modifying said scene. The invention also relates to a driving assistance system for implementing such a method.

Description

The present invention relates to a control method in an on-board driving assistance system in a motor vehicle, and to a driving assistance system for driving the vehicle. implementation of 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 detecting vehicles, pedestrians or obstacles in the so-called dead corner zones. In the prior art, 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 prior art has the following disadvantages: the images displayed on the screen are fixed and can not be modified by the user to better visualize a specific area of the vehicle environment, moreover, this representation is complex and can interfere with the proper understanding of the vehicle environment and thus interfere with a vehicle user to park for example. This representation is therefore not intuitive and requires training of the user in such a driver assistance display of the prior art. This is particularly a problem for rental vehicles. In fact, the user of a rental vehicle for a short time does not have the time to adapt to such a driver assistance display to be able to use it rapidly during the first time. -2- without being deconcentrated. The invention therefore aims to overcome the disadvantages of the prior art by providing more intuitive driver assistance systems. To this end, 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, a unit control system for generating a three-dimensional scene according to a predefined viewpoint comprising: a three-dimensional representation of the vehicle, and at least one image obtained from the captured video streams, and a control input touch screen, characterized in that said method comprises the following steps: a control trajectory is entered on said touch screen, a command associated with said trajectory is generated to modify said scene.

The control method according to the invention may further comprise one or more of the following characteristics, taken separately or in combination: the control associated with said trajectory makes it possible to vary the point of view of said scene, said trajectory is carried out by one or more of the user, said method comprises a step in which the control path is compared to a set of predetermined control paths so as to determine the associated control to vary the viewpoint, the control path is associated with the control path. at least one command selected from the group of commands comprising: a command for moving the scene in translation, a command for moving the scene in rotation, a command for moving the scene in inclination, the control path associated with a command to zoom The invention also relates to an on-board driving assistance system in a motor vehicle comprising: at least one camera for capturing video streams of the vehicle environment, a unit of control for generating a three-dimensional scene according to a predefined viewpoint comprising: a three-dimensional representation of the vehicle, and at least one image obtained from the captured video streams, and a control input touch screen, characterized in that said system comprises at least one means adapted to enter a control path of a user on said touch screen so as to define a command associated with said input 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 system further comprises means for displaying the three-dimensional scene generated according to a point of view, said touch screen and the display means have a common reference frame, said touch screen comprises a transparent or translucent film and said touch screen is disposed above the display means, said system comprises: a front camera arranged at the level of from the center of the front bumper of the vehicle, and pointing downwards and above the horizon, two side cameras, each of which is arranged at an outside rear view mirror of the vehicle, and directed downwards. vehicle, and a rear camera disposed at the center of the rear window of the vehicle and directed down the vehicle and over the horizon. The present invention thus enables the user to act on the intuitively displayed images without being limited by predefined views. Other features and advantages of the invention will emerge from the following description, given by way of example, without limitation, with reference to the accompanying drawings, in which: FIG. 1 illustrates a vehicle equipped with an assistance system 2 shows schematically a driving assistance system, FIGS. 3a to 3c show an example of virtual screens making it possible to generate a scene. FIG. FIG. 4 represents an example of a three-dimensional scene generated according to the invention, FIGS. 5a to 5f show examples of control trajectories in the driver assistance system of FIG. 1, FIG. the steps of a control method according to the invention. In Figure 1, there is shown a vehicle 1 equipped with a driving aid system. Referring to FIGS. 1 and 2, this driving assistance system comprises: a plurality of cameras 3a-3h for capturing video streams of the vehicle environment, a control unit 5 for generating a three-dimensional scene according to a predefined viewpoint, and a control input touch screen 7 of a user. The driver assistance system comprises a set of cameras 3, at the front, rear and on the sides. At the front, one can provide: two front cameras 3a, 3b, arranged on the sides of the front bumper of the vehicle 1, 20 each being directed substantially towards an associated side and forward, a camera 3f located at the front the rearview 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 forward.

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 a horizontal angle of view of 170 °), and allow to see down vehicle 1 and above the horizon. At the rear, one can provide: - a rear camera 3c, arranged for example in the handle of the trunk of the vehicle 1, BRT0298FR (SFR5139) 2936479 -5- or at the level of the license plate, to see to the bottom of the vehicle 1 and above the horizon, and / or a rear camera 3h above the rear window or at the third brake light of the vehicle 1, allowing to see down the vehicle 1 and above of 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 °). In addition, one can provide two side cameras 3d, 3e, respectively arranged at the exterior mirror on each side of the vehicle. These side cameras 10 3d, 3e can have a very wide angle (for example 110 ° horizontal angle of view), and point downwards. The vehicle 1 comprises one or more cameras as described above. In the rest of the description, an example is chosen in which 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. Furthermore, the 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: at least one image obtained from the captured video streams, and a representation three-dimensional 9 of the vehicle (Figures 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 shown on the FIG. 3b, comprising: a transverse axis X directed from the left to the right of the three-dimensional representation 9, 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.

In order to generate this three-dimensional scene, the control unit 5 comprises, by way of example, processing means configured to generate virtual screens 11a to 11e representative of a solid angle observed respectively by the cameras 3a. at 3rd of the vehicle. These virtual screens I l to lie are shown in hatched lines in Figures 3a to 3c.

As can be seen in FIGS. 3a and 3b, the shape of the virtual screens 11a, 11b, 11c associated respectively with 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. With regard to the side cameras 3d and 3e (FIG. 3c), it is chosen to associate virtual screens l ld and Il e representative of a ground image. 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 associated with it so as to generate the three-dimensional scene. In addition, according to an exemplary embodiment, the virtual screens 11a-lie 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 11 a-1 also move simultaneously with the three-dimensional representation 9.

The images provided by the cameras 3a-3e are thus dynamically integrated with the virtual displays 11a-11e with a deformation representative of the perspective according to which they will be seen by the user, according to the predetermined point of view. Thus a point of view of the scene is defined by the orientation of the three-dimensional scene and by the virtual screens.

By predefined point of view is meant an initial point of view not selected by the user that is automatically displayed when the driver assistance system is started, or a point of view determined automatically by the system. assistance with driving according to a particular event such as an obstacle detection in the vehicle environment or a maneuver of the vehicle such as parking. For example, when the user reverses, the view of the environment at the rear of the vehicle is selected. The driver assistance system may then include a display means 13 of 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 of better understand 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 furthermore comprises means adapted to enter a control trajectory of a user on the touch screen 7 and processing means configured to interpret the control path entered on the touch screen so as to generate an associated control for modifying the three-dimensional scene. 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 translational movement of the three-dimensional scene displayed on the display means 13. A touch screen is understood to mean a screen comprising a film sensitive to a pressure of one or several supports.

According to one particular embodiment, the display means 13 and the touch screen 7 have a common reference frame, so that a control trajectory 15 made on an area of the touch screen 7 causes a change of point of view of the portion of the three-dimensional scene displayed at the corresponding area of the display means 13. For example, when the control path 1: 5 is made at the top left of the touch screen 7, the portion of the scene displayed at the top left of the display means 13 changes point of view. The touch screen 7 may also comprise a transparent or translucent film and be disposed above the display means 13 of 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. For better optimization, the touch screen 7 and the display means 13 can be chosen of the same size. In addition, the control path can be achieved with a stylus or with one or more fingers of the user. When the user realizes a control trajectory with a finger or a stylus, the film of the touch screen 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 displacement of the support on the sensitive film forming a control trajectory, 10 to trigger an associated control to vary the point of view of the three-dimensional scene. For this, there are for example sensors using pressure-sensitive resistors, also known as the FSR sensor for "Force Sensing Resistor". When the user realizes a control trajectory with several fingers, 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. In this case, the film of the touch screen 7 comprises multiple support sensors 20 configured to simultaneously detect pressures 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. Examples of displacements defining control trajectories made by the user are cited: a circular displacement made by a first finger of the user while a second finger of the user remains fixed (FIG. 5a), a rectilinear movement made by several fingers of the user in substantially parallel directions (FIGS. 5b, 5c, 5d), rectilinear displacements made by two fingers of the user along opposite directions (FIG. 5e). circular movements made by two fingers of the user in the same direction of rotation (Figure 5i). Furthermore, a control trajectory 15 may for example be associated with: a command for translational movement of the scene, a command for moving the scene in rotation, a command for tilting the scene, or a command for zoom in According to an exemplary embodiment, a control trajectory defined by a circular displacement (FIG. 5a) is associated with a control of the rotation of the scene around an axis of rotation substantially parallel to the vertical axis Z. In this case, the angle made by the user on the touch screen 7 is associated with a rotation angle of the three-dimensional scene, and the direction of the control trajectory 15 is associated with a direction of rotation of the three-dimensional scene. .

In a variant, a control path 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, allowing to move to a two-dimensional view of the scene. This two-dimensional view represents for example a so-called bird view.

It is also possible to associate a control trajectory made by two fingers of the user in a rectilinear motion: downwards (FIG. 5c) to a command for translational movement towards the bottom of the three-dimensional scene while keeping the same point of view , or else to a control of rotational displacement of the scene about an axis of rotation substantially parallel to the vertical axis Z, changing the point of view of the three-dimensional scene, to the right (FIG. 5d) to a control translational movement to the right of the three-dimensional scene while keeping the same point of view, or to a control of rotational displacement of the scene about an axis of rotation substantially parallel to the longitudinal axis Y, changing the point of view of the scene BRT0298GB (SFR5139) 2936479 -10- three-dimensional. Of course, it is possible to provide in a similar manner, commands for moving the three-dimensional scene upwards and to the left. In these examples, the length of the displacement made by the user on the touch screen 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 the direction of movement of the three-dimensional scene and the direction of the control path is associated with a direction of movement of the three-dimensional scene or a direction of rotation of the three-dimensional scene.

It is also possible to associate a control path made by two fingers of the user in rectilinear displacements in opposite directions so as to create a gap between the two fingers of the user (FIG. which allows to modify the point of view of the three-dimensional scene. In this case, the spacing between the two fingers of the user on the touch surface 7 is associated with a zooming percentage before the three-dimensional scene. Of course, it is possible similarly to provide a zoom out control of the three-dimensional scene. It is also possible to associate a control trajectory made by two fingers of the user according to circular displacements in a same direction of rotation 20 (FIG. 5f) to a control of the rotational movement 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.

For this purpose, in a first step Elon enters an input command made by a user in the form of a control path on the touch screen 7. Thereafter, a command associated with the control is generated. control path to vary the viewpoint of the three-dimensional scene. The control trajectory thus allows the user to vary the point of view of the three-dimensional scene as he desires rather than by selecting a point of view among a set of points of interest. predefined view, so as to clearly visualize a specific area of the vehicle environment before making a maneuver, such as backing up or parking. In order to determine the control associated with the control path input 5 to vary the point of view, a step E3 can be provided in which the input control path 15 is compared to a set of predetermined control paths. Finally, the command associated with the control trajectory seized on the touch screen 7 is generated for a part of the three-dimensional scene, and in step E5 the 3D scene is generated and displayed in real time according to the point of view. amended. It is therefore understood that with such a method the user can act on the three-dimensional scene displayed intuitively and is not limited by predefined views of the scene.

BRT0298EN (SFR5139)

Claims (8)

REVENDICATIONS1. A control method for an on-vehicle driving aid system (1), said system comprising: at least one camera (3a, 3b, 3c, 3d, 3e, 3f, 3g, 3h) for capturing video streams of the environment of the vehicle (1), a control unit (5) for generating a three-dimensional scene according to a predefined point of view comprising: • a three-dimensional representation (9) of the vehicle (1), and • at least one image obtained from the captured video streams, and a control input touch screen (7), characterized in that said method comprises the following steps: a control trajectory (15) is inputted to said touch screen (7), generated a command associated with said path (15) for modifying said scene. 2. Method according to claim 1, characterized in that the control associated with said trajectory (15) makes it possible to vary the point of view of said scene. 3. Method according to one of claims 1 or 2, characterized in that said path (15) is formed by one or more fingers of the user. 4. Method according to any one of claims 1 to 3, characterized in that it comprises a step (E3) in which the control path (15) is compared to a set of predetermined control paths so as to determine the associated command to modify said scene. 5. Method according to any one of claims 1 to 4, characterized in that the control path is associated with at least one control selected from the group of commands comprising: a displacement control in translation of the scene, a control of rotating motion of the scene, tilt control, 3rd scene. 6. Method according to any one of claims 1 to 5, characterized in that the control path is associated with a command to achieve a zoom. 7. On-board driving aid system in an automobile vehicle (1) comprising: at least one camera (3a, 3b, 3c, 3d, 3e, 3f, 3g, 3h) for capturing video streams of the environment of the vehicle (1), a control unit (5) for generating a three-dimensional scene according to a predefined point of view comprising: • a three-dimensional representation (9) of the vehicle (1), and • at least one image obtained from the streams captured video, and a control input touch screen (7), characterized in that said system comprises at least one means adapted to capture a control path (15) of a user on said touch screen (7) of in order to define a command associated with said trajectory (15) input to vary the point of view of said scene. 15 8. System according to claim 7, characterized in that it further comprises a display means (13) of the three-dimensional scene generated according to a point of view. System according to claim 8, characterized in that said touch screen (7) and the display means (13) have a common reference frame. 10. System according to one of claims 8 or 9, characterized in that said touch screen (7) comprises a transparent or translucent film and in that said touch screen (7) is disposed above the display means (13). 11. System according to any one of claims 7 to 10, characterized in that it comprises: 25 ù a front camera (3g) disposed at the center of the front bumper of the vehicle (1), and directed towards the vehicle bottom and above the horizon, two side cameras (3d), (3e), each disposed at an exterior rearview mirror of the vehicle (1), and directed downwards of the vehicle, and 30 a rear camera (3c) disposed at the center of the rear window BRT0298FR (SFR5139) of the vehicle (1), and directed downwards of the vehicle and above the horizon. BRT0298EN (SFR5139)