FR3039120A1 - METHOD AND DEVICE FOR DRIVING A VEHICLE CLOSE TO AN INTERSECTION - Google Patents

Abstract

A device (DA) helps to drive a first vehicle (V1) arriving near an intersection with a priority lane on which a second vehicle (V2) transmitting messages carrying information external representative of its current position, at least one previous position and its current speed. This device (DA) comprises control means (MCT) responsible for estimating the future trajectory of the first vehicle (V1) according to internal information and a future trajectory of the second vehicle (V2) as a function of the external information received, then determine if there is a risk of collision with the second vehicle (V2) taking into account the estimated future trajectories and current speeds of the first (V1) and second (V2) vehicles, then, if so, to trigger the activating a braking device of the first vehicle (V1) to allow passage of the second vehicle (V2).

Description

The invention relates to vehicles, possibly of automobile type, and more specifically to the devices and methods that make it possible to help drive such vehicles. BACKGROUND OF THE INVENTION

When a first vehicle arrives near an intersection with a traffic lane (possibly on a roundabout or possibly a level crossing), it is common for its driver to be forced to give priority to other vehicles traveling on that road. traffic lane, so called priority.

When the angle at the intersection between the priority taxiway and the taxiway on which the first vehicle is traveling is congested, for example because of the presence of a vehicle (parked or moving) or a building, it often happens that the driver of the first vehicle can not see if a second vehicle is about to arrive at that intersection. In this case, the driver of the first vehicle can either cautiously cause a significant slowdown of the latter (by pressing the brake pedal) to be able to stop it in case a second vehicle occurs, or cause a slight slowdown the first vehicle but may not be able to stop it in case a second vehicle occurs.

It has certainly been proposed to equip vehicles with detection devices, including radar or cameras or scanning lasers, to detect obstacles in front of them and to warn their drivers. However, these detection devices can only detect objects that are located in their field of view, and therefore are unable to assist the drivers when they arrive at an intersection where the priority lane is at least partially masked.

It has also been proposed that the vehicles shall exchange short-range waves of information representative of their respective current positions and speeds. But this information is only intended to warn the driver of the presence of another vehicle near his, and, by the time the driver responds, moreover correctly, it is often too late. The invention is therefore particularly intended to improve the situation.

It proposes for this purpose a method, intended to help drive a first vehicle, and comprising a step in which, when the first vehicle arrives with a speed in progress near an intersection with a priority lane on which circulates a second vehicle transmitting by waves messages with so-called external information and which are representative of its current position, at least one previous position and its current speed: the first vehicle estimates its future trajectory according to so-called internal information and a future trajectory of the second vehicle according to the external information received, - then the first vehicle determines if there is a risk of collision with the second vehicle given the estimated future trajectories and current speeds of the first and second vehicles, - then, if so, the first vehicle activates a spare braking system it understands to reduce its current speed and pass the second vehicle.

Thanks to the external information provided by the second vehicle and to its own internal information, the first vehicle can determine, without any detection system, if there is a real risk of collision with a second invisible vehicle arriving at the same intersection as him, but on a priority lane, and therefore, if so he can immediately activate his braking device without intervention of his driver.

The method according to the invention can comprise other characteristics that can be taken separately or in combination, and in particular: the first vehicle can estimate its future trajectory as a function of at least one internal information representative of an activation state in the course of change of direction indicators that it comprises, and, in the presence of an activation state signaling a will to turn in a traffic lane parallel to the second priority lane, may activate its braking device if its current speed is greater than a predefined threshold; - In the absence of risk of collision with the second vehicle, the first vehicle can activate hazard warning lights that it understands to signal a potential danger; - In case of determining a risk of collision with the second vehicle, the first vehicle can emit by airwaves an alert message for alerting at least the second vehicle. The invention also proposes a help device, intended to help drive a first vehicle, and comprising control means arranged, when their first vehicle arrives with a speed in progress near an intersection with a priority lane. on which circulates a second vehicle emitting by waves messages containing information said external and which are representative of its current position, at least one previous position and its current speed: - to estimate the future trajectory of the first vehicle according to said internal information of the latter and a future trajectory of the second vehicle according to the external information received, - then to determine if there is a risk of collision with the second vehicle given the estimated future trajectories and the speeds of the first and second vehicles, and then, if so, to start it activates a braking device of the first vehicle to induce a reduction of its current speed and allow the passage of the second vehicle.

The assistance device according to the invention may comprise other characteristics that can be taken separately or in combination, and in particular: its control means can be arranged to estimate the future trajectory of the first vehicle according to at least one internal information representative of a current activation state of direction change indicators of the first vehicle, and, in the presence of an activation state signaling a willingness of a driver of the first vehicle to turn in a lane of circulation parallel to the second priority traffic lane, to trigger the activation of the braking device if the current speed of the first vehicle is greater than a predefined threshold; its control means can be arranged, in the absence of risk of collision of the first vehicle with the second vehicle, to trigger the activation of hazard warning lights of the first vehicle to induce a signaling of a potential danger; its control means can be arranged, in the event of determining a risk of collision of the first vehicle with the second vehicle, to trigger a transmission by waves by the first vehicle of an alert message intended to alert at least the second vehicle. The invention also proposes a vehicle, possibly of automotive type, and comprising a communication module suitable for exchanging messages by means of waves and a device of assistance of the type of that presented above. Other features and advantages of the invention will emerge on examining the following detailed description, and the accompanying drawings, in which: FIG. 1 diagrammatically and functionally illustrates an intersection between traffic lanes on which traffic flows respectively. first and second vehicles (each equipped with a help device according to the invention), and - Figure 2 schematically illustrates an example of an algorithm implementing a help method according to the invention. The object of the invention is in particular to propose a method of assistance, and an associated assistance device DA, intended to help drive a vehicle V1 when it arrives near an intersection IV.

FIG. 1 diagrammatically shows an intersection IV between a first circulation lane VC1 on which a first vehicle V1 (in a direction represented by the arrow F1) and a second lane VC2 on which a second vehicle V2 ( following a direction materialized by the arrow F2). It will be noted that in this FIG. 1 the first traffic lane VC1 also intersects a third traffic lane VC3 on which a third vehicle V3 (in a direction opposite to the arrow F2) begins to circulate. Here, the third vehicle V3 prevents the driver of the first vehicle V1 from seeing the second vehicle V2 arrive.

In the following, we consider, by way of non-limiting example, that the vehicles V1 to V3 are all automotive type. This is for example cars. But the invention is not limited to this type of vehicle. It concerns indeed any type of land vehicle that can perform movements and maneuvers on the ground. Thus, it also concerns motorcycles, coaches, trucks, commercial vehicles and construction machinery.

As indicated above, the object of the invention is in particular to propose an assisting method intended to help drive the first vehicle V1 when it arrives near the intersection IV and that the second vehicle V2 is traveling on the second track of VC2 circulation.

It is important to note that the invention can be implemented only if the second vehicle V2 has an MCN communication module capable of exchanging messages by waves, and in particular messages containing information said external and representative of its current position, at least one previous position and its current speed v (V2). Similarly, it is essential for the first vehicle V1 to have an MCN communication module capable of exchanging messages by waves, in particular with the second vehicle V2, to receive its external information messages. It is also essential that the first vehicle V1 internally has information said internal and representative at least its current position (as well as preferably at least one previous position) and its current speed v (V1).

Preferably, each MCN communication module is arranged to transmit each information message with a short range, for example using the Car2X wireless communication standard or Bluetooth or WiFi or G5. Furthermore, each MCN communication module can be optionally connected to a wireless communication network.

The method (aid) according to the invention comprises a step that can be implemented by a DA help device implanted at least in the first vehicle V1. It will be noted that in the example shown in non-limiting manner in FIG. 1, the second vehicle V2 also has a help device DA. But this is not obligatory.

As illustrated without limitation in FIG. 1, a help device DA according to the invention comprises at least MCT control means. This assistance device DA can, as illustrated, be implanted in an on-board computer CA, which possibly provides at least one other function within its vehicle V1, V2. For example, this computer CA may be the vehicle computer V1, V2, or the ESP computer ("Programmed Electro-Stabilizer") or the calculator of the DAE ("Electronic Assisted Steering"). But in an alternative embodiment, the help device DA could constitute an on-board electronic equipment, such as a computer. Consequently, the help device DA (and in particular its control means MCT) can be realized in the form of software modules (or computer or "software"), or a combination of electronic circuits (or "hardware") and software modules.

The method, according to the invention, is implemented by the assistance device DA of the first vehicle V1 as soon as the latter (V1) detects the presence of a second vehicle V2 following receipt of a message containing information and transmitted by the MCN communication module of the latter (V2). The transmission of this external information message constitutes the sub-step referenced in the exemplary implementation algorithm of the method illustrated in non-limiting manner in FIG. 2.

During the method step, the first vehicle V1 (and more precisely the control means MCT of its assistance device DA) begins (first) by estimating its future trajectory according to internal information and a future trajectory. of the second vehicle V2 according to the external information received and concerning the latter (V2). This estimate constitutes the sub-step referenced in the exemplary algorithm illustrated without limitation in FIG.

It will be understood that the MCT control means can deduce the future trajectory of the second vehicle V2 from its last current position, at least one previous position and its current speed v (V2). Similarly, the MCT control means can deduce the future trajectory of their first vehicle V1 at least from its last current position, from at least one previous position and from its current speed v (V1). They can also and possibly take into account the activation status of the indicators of change of direction (or flashing) of their first vehicle V1.

In the example shown non-limitatively in FIG. 1, the control means MCT of the first vehicle V1 deduce, on the one hand, internal information available that the latter (V1) flows along the arrow F1 on a first channel of VC1 circulation, and, secondly, external information received that the second vehicle V2 flows along the arrow F2 on a second circulation lane VC2 which is substantially perpendicular to the first VC1 circulation lane. They therefore deduce that the first V1 and second V2 vehicles will soon reach an IV intersection because their estimated future trajectories are substantially perpendicular to each other.

It will be noted that in the example shown non-limitatively in FIG. 1, a third vehicle V3 is located at the beginning of a third traffic lane VC3 which is parallel to the second traffic lane VC2 and thus prevents the driver of the first vehicle V1 to see the second vehicle V2 arrive at intersection IV. Furthermore, in this example, the second traffic lane VC2 has priority over the first traffic lane VC1, and therefore the first vehicle V1 must give priority to the second vehicle V2 if the latter (V2) reaches slightly before it or at the same time as him at the intersection IV.

Then, the first vehicle V1 (and more precisely the control means MCT of its assistance device DA) determines (s) if there is a risk of collision with the second vehicle V2 given the estimated future trajectories and speeds in course v (V1) and v (V2) of the first V1 and second V2 vehicles. This determination constitutes the sub-step referenced in the exemplary algorithm illustrated without limitation in FIG. 2.

It will be understood that there may be several cases. Indeed, the second vehicle V2 may have sufficient time to pass the intersection IV before the first vehicle V1, or the first vehicle V1 may have sufficient time to pass the intersection IV before the second vehicle V2, or the driver of the first vehicle V1 may have decided to turn at the intersection IV in the third traffic lane VC3, which does not risk, a priori, to pose a problem for the second vehicle V2, or the first V1 and second V2 vehicles may collide at intersection IV. If there is a real risk of collision (that is to say in the affirmative), the first vehicle V1 immediately activates its braking device (following a trigger decided by the control means MCT of its device. DA help), in order to reduce its current speed v (V1) and thus let the second vehicle V2 which has priority. This activation constitutes the sub-step referenced 40 in the exemplary algorithm illustrated nonlimitingly in FIG. 2.

It will be noted that in the event of determining a risk of collision with the second vehicle V2, the first vehicle V1 may possibly transmit by waves with its communication module MCN (following a trigger decided by the control means MCT of its assistance device DA), an alert message intended to alert at least the second vehicle V2 of a risk of collision at the intersection IV. This optional transmission constitutes the sub-step referenced 50 in the exemplary algorithm illustrated nonlimitingly in FIG. 2.

For example, in the absence of risk of collision with the second vehicle V2, the first vehicle V1 can activate (following a trigger decided by the MCT control means of its assistance device DA) hazard warning lights (or " warning ") that it includes to signal a potential danger at the intersection IV, including a possible vehicle that follows. This optional activation constitutes the sub-step referenced 60 in the exemplary algorithm illustrated nonlimitingly in FIG. 2.

As a variant and / or in addition, and as mentioned above, the first vehicle V1 (and more precisely the control means MCT of its assistance device DA) can estimate its (their) future trajectory as a function of at least one internal information that is representative of the current activation status of the change of direction indicators. In this case, in the presence of an activation state signaling a will of the driver of the first vehicle V1 to turn in a traffic lane (here VC3) parallel to the second priority lane VC2, the first vehicle V1 can activate its braking device (following a trigger decided by the control means MCT of its DA assistance device) if its current speed v (V1) is greater than a predefined threshold. This optional activation also constitutes the sub-step referenced 60 in the exemplary algorithm illustrated nonlimitingly in FIG. 2.

It will be understood that in case of exceeding this preset threshold the first vehicle V1 may roll too fast to turn without the risk of colliding with the second vehicle V2.

This predefined threshold depends, for example, the type and / or weight of the first vehicle V1, and / or the granularity of the road, and / or weather conditions. By way of nonlimiting example, this predefined threshold for triggering braking may be equal to 50 km / h.

One can also and possibly use a predefined threshold to trigger the hazard lights. In this case, the latter threshold may, for example, be equal to 30 km / h. But we could choose the same threshold to trigger braking and hazard warning lights.

It is important to note that in the example described above with reference to FIG. 1, it is in the case of a so-called "right" priority which forces the driver of the first vehicle V1 to yield at the intersection IV the priority to the second vehicle V2 (in the absence of a stop sign or to give way to the second priority traffic lane VC2). But similar reasoning applies in the case of a so-called "left" priority.

Claims (10)

1. A method of assisting in driving a first vehicle (V1), characterized in that it comprises a step in which, when said first vehicle (V1) arrives with a speed in progress near an intersection with a priority circulation lane on which a second vehicle (V2) transmitting by waves messages containing information said external and representative of its current position, at least one previous position and its current speed, said first vehicle (V1) estimates its future trajectory according to so-called internal information and a future trajectory of said second vehicle (V2) as a function of said received external information, and then determines if there is a risk of collision with said second vehicle (V2) given said estimated future trajectories and said current speeds of the first (V1) and second (V2) vehicles, then, if so, activate a device braking system that it understands to reduce its current speed and pass said second vehicle (V2). 2. Method according to claim 1, characterized in that said first vehicle (V1) estimates its future trajectory according to at least one internal information representative of a current activation state of direction change indicators that it comprises, and, in the presence of an activation state signaling a will to turn in a traffic lane parallel to said second priority lane, activates said braking device if its current speed is greater than a predefined threshold. 3. Method according to one of claims 1 and 2, characterized in that in the absence of risk of collision with said second vehicle (V2), said first vehicle (V1) activates hazard lights that it includes for report a potential hazard. 4. Method according to one of claims 1 to 3, characterized in that in the event of determining a risk of collision with said second vehicle (V2), said first vehicle (V1) transmits by waveform a message warning system for alerting at least said second vehicle (V2). 5. Device (DA) for driving a first vehicle (V1), characterized in that it comprises control means (MCT) arranged, when said first vehicle (V1) arrives with a speed in progress near an intersection with a priority driving lane on which a second vehicle (V2) emitting waves transmitting messages containing information said external and representative of its current position, at least one previous position and its current speed, for estimating the future trajectory of said first vehicle (V1) as a function of said internal information of the latter (V1) and a future trajectory of said second vehicle (V2) as a function of said received external information, and then to determine if there is a risk of collision with said second vehicle (V2) taking into account said estimated future trajectories and said current speeds of the first (V1) and second (V2) vehicles , then, if so, to trigger the activation of a braking device of said first vehicle (V1) to induce a reduction of its current speed and allow the passage of said second vehicle (V2). 6. Device according to claim 5, characterized in that said control means (MCT) are arranged to estimate said future trajectory of the first vehicle (V1) as a function of at least one internal information representative of an activation state in course of indicators of change of direction of said first vehicle (V1), and, in the presence of an activation state signaling a will of a driver of said first vehicle (V1) to turn in a traffic lane parallel to said second priority driving lane, for triggering activation of said braking device if said current speed of the first vehicle (V1) is greater than a predefined threshold. 7. Device according to one of claims 5 and 6, characterized in that said control means (MCT) are arranged, in the absence of risk of collision of said first vehicle (V1) with said second vehicle (V2), for trigger the activation of hazard warning lights of said first vehicle (V1) to induce a signaling of a potential danger. 8. Device according to one of claims 5 to 7, characterized in that said control means (MCT) are arranged, in case of determining a risk of collision of said first vehicle (V1) with said second vehicle (V2). , to trigger a transmission by waves by said first vehicle (V1) of an alert message for alerting at least said second vehicle (V2). Vehicle (V1, V2) comprising a communication module (MCN) capable of exchanging messages by waves, characterized in that it further comprises a help device (DA) according to one of the claims. 5-8. 10. Vehicle according to claim 9, characterized in that it is automotive type.