FR3051056A1 - DEVICE AND METHOD FOR DETERMINING THE POSITION OF A VEHICLE, AND DEVICE FOR DRIVING ASSISTANCE COMPRISING SUCH A POSITION DETERMINING DEVICE - Google Patents

Abstract

The invention relates to a device for determining the position (10) of a vehicle (1) with respect to a traffic lane (2), comprising: - a first sensor (12) adapted to acquire a first signal (S1) representative of the presence of an element (3) identifying a lateral edge of this traffic lane in a detection field (120) of the first sensor, and - a second sensor (11 A) adapted to acquire a second signal (S2A ) representative of the passage of the vehicle on an audible warning band (4). According to the invention, the position determining device further comprises a calculation unit (13) programmed to determine a lateral position of the vehicle with respect to said traffic lane, as a function of the first signal and the second signal. An associated method is also disclosed, as well as a driver assistance device comprising such a position determining device.

Description

Device and method for determining the position of a vehicle, and driving assistance device comprising such a position determining device

Technical field to which the invention relates

The present invention relates to a device for determining the position of a vehicle with respect to a traffic lane.

It relates more particularly to such a device comprising: - a first sensor, adapted to acquire a first signal representative of the presence of an element locating a lateral edge of this traffic lane, in a detection field of the first sensor, and - a second sensor, adapted to acquire a second signal representative of the passage of the vehicle on an audible warning band.

It also relates to an associated method of determining the position of a vehicle, and a driving assistance device comprising such a position determination device.

It applies particularly interestingly in a motor vehicle.

Technological background

Many road traffic routes are now delimited by elements arranged along them, such as marking lines on the ground, guardrails, parapets or delineating poles.

It is known to provide a motor vehicle with a front camera and, by image processing captured by it, to detect such an element, identifying an edge of the lane used by the vehicle, for example to determine a distance separating the vehicle from the edge of this lane.

The edge of some traffic lanes, especially on the motorway, also has a sound warning band. Such a sound warning band is formed of reliefs arranged at regular intervals along this lane, or recesses made at regular intervals along it. The passage of a vehicle wheel on this audible warning band generates an audible signal indicating to a driver of the vehicle that he rolls on this band.

It is known to equip a motor vehicle with a sensor, such as a microphone, for detecting a passage of the motor vehicle on such a sound warning band.

Object of the invention

In this context, the present invention proposes a device for determining the position of a vehicle with respect to a taxiway as defined in the introduction, further comprising a calculation unit programmed to determine a lateral position of the vehicle relative to said traffic lane, depending on the first signal and the second signal.

Thanks to the invention, the determination of this lateral position is advantageously more accurate than if only one of the first and second signals was taken into account to determine this lateral position. Determining this position, based on signals acquired by several different sensors equipping the vehicle, introduces a redundancy which also improves the reliability of this determination. Other nonlimiting and advantageous features of the position determining device according to the invention are as follows: the calculation unit is furthermore programmed to detect the passage of the vehicle over the sound warning band, on the basis of the second signal, and for determining the lateral position of the vehicle according to the detection of the passage of the vehicle on the audible warning band; the calculation unit is furthermore programmed to determine a lateral position of the audible warning band with respect to the vehicle following the detection of the passage of the vehicle on the audible warning band, and to determine the lateral position of the vehicle depending on the lateral position of the audible warning band; the calculation unit is programmed to determine that said lateral position of the audible warning band is equal, at the moment of detection of the passage of the vehicle on the audible warning band, to a predetermined position; the calculation unit is furthermore programmed to determine a level of overlap of the vehicle with respect to the audible warning band, based on the second signal, and to determine the lateral position of the audible warning band according to this level of overlap; the second sensor being disposed at one of the left or right sides of the vehicle (for example a motor vehicle), the calculation unit is furthermore programmed to determine which of the sides, left or right, of the vehicle, passes on the audible warning band, and to determine the lateral position of the audible warning band according to the side of the vehicle passing over the audible warning band; the calculation unit is furthermore programmed to determine the lateral position of the audible warning band, at a time subsequent to the instant of detection, by an integration calculation of a lateral speed of the vehicle from the moment of detection; detection until this later moment; the calculation unit is furthermore programmed to determine a position of the element locating the lateral edge of this lane, with respect to the vehicle, by processing the first signal, and to determine the lateral position of the vehicle with respect to said traffic lane, depending on the position of this element; the processing of the first signal is carried out taking into account the detection of the passage of the vehicle on the audible warning band; the processing of the first signal is carried out taking into account the lateral position of the audible warning band; the processing of the second signal is carried out taking into account the position of said element; the calculation unit is furthermore programmed to determine, on the basis of the second signal, that the audible warning band corresponds to a given type of audible warning band, among several predetermined predetermined types of audible warning band; ; - The position determination device further comprises a third sensor, adapted to acquire a third signal representative of the passage of the vehicle on a sound warning band; - The second and third sensors being respectively disposed at two opposite sides of the vehicle, the calculation unit is programmed to determine the lateral position of the vehicle further function of the third signal; said element comprises a marking line on the ground; the first sensor comprises an image sensor; and the second signal is representative of a vertical difference between the vehicle and the taxiway. The invention also proposes a driver assistance device comprising a position determination device as described above, in which the calculation unit is furthermore programmed to control vehicle reaction means in order to trigger a controllable functionality, depending on the lateral position of the vehicle. The invention also proposes a method for determining the position of a vehicle with respect to a traffic lane, comprising a step of determining a lateral position of the vehicle relative to said lane of traffic, by a calculation unit, in function: of a first signal, acquired by a first sensor, representative of the presence of an element locating a lateral edge of this traffic lane, in a detection field of the first sensor, and a second signal, acquired by a second sensor, representative of the passage of the vehicle on a sound warning band.

The optional features presented above in terms of device can be applied to the method which has just been presented.

Detailed description of an example of realization

The following description with reference to the accompanying drawings, given by way of non-limiting examples, will make it clear what the invention consists of and how it can be achieved.

In the accompanying drawings: - Figure 1 shows schematically, seen from above, a vehicle equipped with a position determining device implementing the teachings of the invention; FIG. 2 schematically represents the main steps of a position determination method implementing the teachings of the invention; FIG. 3 shows schematically, in more detail, a first embodiment of step c) of the method of FIG. 2; and FIG. 4 diagrammatically represents, in more detail, a second embodiment of step c) of the method of FIG. 2.

FIG. 1 diagrammatically shows the main elements of a position determination device 10 implementing the teachings of the invention.

This position determination device 10 is adapted to be installed in a vehicle 1, here a vehicle 1 automobile, to determine a position of the vehicle 1 automobile relative to a traffic lane 2 it borrows.

This traffic lane 2 is here delimited on the right side by a marking line on the ground 3, as well as by a sound warning band 4. This sound warning band 4 is here distinct from the ground marking line 3. This sound warning band could also be confused with the ground marking line.

On another section of road than that shown in FIG. 1, the traffic lane used by the vehicle may be lined on the left rather than the right side by a sound warning band, or be lined at the same time with the vehicle. left side and right side by such a band.

The sound warning band 4 is formed of reliefs arranged at regular intervals along this lane, or recesses made at regular intervals along it.

It is carried out here in accordance with a regulation relating to road signs in the geographical area where this lane 2 is located. It therefore has predetermined dimensional and / or shape characteristics. The value of the interval separating the reliefs, or hollows, of this sound warning band is in particular equal to the value, or to one of the values recommended by said regulation for this interval.

The characteristics of this audible warning band 4 may depend on the nature of the limit that it materializes. For example: - when this sound warning band 4 separates a traffic lane from an emergency stop band, it may, like a discontinuous ground marking line, be formed of a sequence of segments, each having a succession of reliefs or recesses arranged regularly along this segment, these segments being separated from each other by intervals without relief or hollow (longer than the interval separating two successive reliefs of a same segment), - whereas when it separates two traffic lanes intended to be traversed in opposite directions, separated by an uncrossable continuous type marking line, it may comprise an uninterrupted succession of reliefs or depressions arranged at regular intervals from each other.

As explained above, the audible warning band 4 thus corresponds to a given type of audible warning band, among several predetermined predetermined types of audible warning tapes.

The position determination device 10 comprises a first sensor 12, adapted to: a) acquire a first signal S1 representative of the presence of an element marking a lateral edge of the traffic lane 2 in the detection field 120 of the first sensor 12.

Here, by the term "side edge" of the traffic lane 2, designates, for example, a boundary separating the road on which this lane is traced from a side aisle along this road. The lateral edge of this lane may also designate a limit, for example a mark line on the ground, between the lane used by the motor vehicle and another lane or parking lane that runs along the taxiway. 2 borrowed by the vehicle. The element identifying the lateral edge of the traffic lane 2 may comprise in particular a marking line on the ground, a guardrail, a parapet or even one or more delineating posts.

In the road configuration shown diagrammatically in FIG. 1, the first signal S1 is more precisely representative of the presence of the aforementioned ground marking line 3 in its detection field 120.

The first sensor 12 comprises for example an image sensor, such as a video camera or a digital camera. In this case, the first signal S1 comprises one or more images acquired by this image sensor.

The first sensor 12 may also comprise a lidar (according to the acronym "Llght Detection And Ranging"), or a radar, the first signal S1 then corresponding for example to an echo signal or to a set of signals echoes acquired by the first sensor 12.

By detection field 120 of the first sensor 12 is meant the region of the space in which the aforementioned element can be detected by means of the first sensor 12. For example, when the first sensor 12 is made in the form of a sensor of images, this detection field corresponds to the field of vision of this image sensor, that is to say to the region of the space whose image is captured (that is to say acquired) by this image sensor.

The first sensor 12 is adapted to be installed in the vehicle 1 so that its detection field 120 extends in front of the automobile vehicle 1 by including at least a portion of the taxiway 2 taken by the vehicle 1 located in front of the vehicle 1. this one (as shown in Figure 1).

The first signal S1, which the first sensor 12 is adapted to acquire, is representative not only of the presence of said element in the detection field 120 of this sensor, but also of a position of this element with respect to the first sensor 12, and therefore, in practice, compared to the vehicle 1 automobile.

When the first sensor 12 is made in the form of an image sensor, this position can for example be deduced from a position and a size of an image of this element within the image or images. acquired by this image sensor.

The position determining device 10 also comprises a second sensor 11A, and here a third sensor 11B, each of the second and third sensors 11A, 11B being adapted to: b) acquiring, respectively, a second signal S2A and a third signal S2B, representative of the passage of the vehicle 1 automobile on an audible warning band, such as the audible warning band 4 which borders the driving lane 2.

In the road configuration shown diagrammatically in FIG. 1, the second signal S2A is more accurately representative of the passage of the automobile vehicle 1 on the audible warning band 4 which extends along the right edge of the traffic lane 2.

Each of the second and third sensors 11A, 11B may for example comprise a microphone, for capturing a sound signal, either at the interior of a passenger compartment of the vehicle 1, or outside of this cabin.

Each of the second and third sensors 11A, 11B may also comprise an accelerometer, the signal S2A, S2B acquired by this sensor then being representative of the acceleration of the vehicle in a vertical direction and / or in one or more horizontal directions.

Each of the second and third sensors 11A, 11B may also comprise a linear displacement sensor adapted to equip one of the vehicle suspension and damping systems 1 to measure elongation and / or compression. Each of the second and third sensors 11A, 11B may also comprise a pressure sensor delivering a signal representative of the hydraulic pressure in such a damping system.

Each of the second and third sensors 11A, 11B can also be adapted so that, respectively the second signal S2A and the third signal S2B, is representative of a vertical difference between the vehicle 1 and the traffic lane 2.

In this case, each of the second and third sensors 11A, 11B may for example be in the form of an ultrasonic sensor, or an optical device, for measuring a distance between the vehicle frame 1 and the track 2, for example in a direction approximately perpendicular to the traffic lane 2. One of the second and third sensors 11A, 11B can also be implemented by means of a LIDAR allowing a determination of a profile. the surface of taxiway 2 used by the vehicle 1.

Each of the second and third sensors 11A, 11B is adapted here to be disposed at one of the left or right sides of the vehicle 1.

In the position of use, the third sensor 11B is then disposed at one side (left or right) of the vehicle 1 opposite the side (left or right) at which is disposed the second sensor 11 A.

Each of the second and third signals S2A, S2B is then further representative of the fact that the side of the vehicle passing over the audible warning band is the one at which the sensor delivering this signal is installed.

In practice, each of the second and third sensors 11A, 11B is for example disposed near one of the wheels 20A, 20B of the vehicle, for example for one at the front right wheel 20A, and for the other at the front left wheel 20B. This arrangement is interesting because the vibrations of the vehicle 1 caused by the passage of one of these wheels 20A, 20B on the audible warning band have a maximum amplitude in the vicinity of this wheel.

The signal acquired by each of the second and third sensors 11A, 11B is then more accurately representative of the passage of the corresponding wheel 20A, 20B (at which this sensor is disposed) on a sound warning band.

Here, the second sensor 11A is mounted more precisely in the vicinity of the right front wheel 20A, while the third sensor 11B is mounted near the left front wheel 20B.

Each of the second and third sensors 11A, 11B may be adapted to acquire a signal representative of an overlap level of the vehicle 1 with respect to the audible warning band over which it passes.

When the vehicle 1 passes over the audible warning band, a greater or lesser proportion of the width of this band may be located under the vehicle 1, in particular under one of the wheels of the vehicle.

This proportion is lower when the vehicle is slightly flush with the sound warning band than when one of the wheels of the vehicle rolls its full width on this band.

The level of overlap of the vehicle 1 with respect to the audible warning band is representative of the proportion of the width of the audible warning band located under the vehicle 1. It thus provides an additional indication relating to the position of this band by relative to the vehicle 1.

This level of overlap can for example be deduced from the amplitude of either the second S2A or the third signal S2B, depending on the side of the vehicle passing on the audible warning band.

In a variant not shown of this position determination device, the third sensor is omitted.

In another variant, also not shown, the position determining device may comprise more than two sensors, as described above, each adapted to acquire a signal representative of the passage of the motor vehicle on a sound warning band.

The position determination device 10 also comprises a computing unit 13, adapted to receive in particular the first and second signals S1, S2A, and here, as the third signal S2B.

According to a particularly remarkable characteristic, the computing unit 13 is programmed to: c) determine a lateral position of the vehicle POS vehicle relative to the taxiway 2 that it borrows, according to the first signal S1 and the second signal S2 .

The taking into account of the first signal S1 and the second signal S2A makes it possible to determine the lateral position of the POS vehicle advantageously more accurately and more reliably than if only one of the first and second signals S1, S2A were taken into account for this purpose.

The accuracy of determination of the lateral position of the vehicle POS, when carried out on the basis of the first signal S1 alone (which is recalled that it can correspond for example to an image of the road environment facing the vehicle), can in particular depend heavily on the road configuration and the weather conditions in which the vehicle is located 1.

Depending on the situation in which the vehicle is located, the first signal S1 may even be insufficient, when used alone, to determine the lateral position of the car POS vehicle. Taking into account the second signal S2A then advantageously makes it possible, in such a situation, to nevertheless determine the lateral position of the POS vehicle.

The lateral position of the vehicle POS relative to the taxiway 2 that it follows corresponds to a position of the vehicle 1 in a direction approximately perpendicular to the mean direction, longitudinal, presented by this lane 2 at the level of vehicle 1, or at a longitudinal direction defined by the vehicle.

The lateral position of the vehicle POS may correspond, for example, to the lateral position of one of the lateral edges, right or left, of the vehicle 1, relative to the corresponding edge of the traffic lane 2 (or, in an equivalent manner, to the position of this edge of the taxiway relative to the vehicle).

Here, the computing unit 13 is programmed to determine the lateral position of the vehicle POS in further function of the third signal S2B.

In the case where the position determination device 10 comprises more than two sensors adapted to acquire a signal representative of the passage of the motor vehicle on a sound warning band, the control unit can be programmed to determine the lateral position of the vehicle according to all the signals delivered by these sensors.

According to a first embodiment, the calculation unit 13 can be programmed more precisely for, in step c) (see FIG. 3): - to merge, during a substep FUS, the first, second, and here third signals S1, S2A, S2B for producing merged data DF, and then determining, during a sub-step DET, the lateral position of the vehicle POS by processing these merged data DF.

The substep FUS for fusing the first, second, and here third signals S1, S2A, S2B may comprise, for example, an estimate of a level of precision associated with each of these signals, an analysis of similarities between these signals, and then a fusion of these signals taking into account all of these parameters. The calculation unit 13 can be programmed to then carry out the processing of the merged data DF using, for example, a learning algorithm, for example an artificial neural network or a Bayesian network, or by means of a statistical method such as the 'Independent Component Analysis' ('Independent Component Analysis').

According to another embodiment, the calculation unit 13 can be programmed to determine the lateral position of the vehicle POS by directly processing, that is to say without prior fusion, the first, second, and here third signals S1, S2A, S2B, for example by one of the methods of determination mentioned above.

According to a second embodiment, the calculation unit 13 is programmed for, during step c) (see FIG. 4): c1) detecting the passage of the automobile vehicle 1 on the audible warning band, on the base of the second signal S2A, or, here of the third signal S2B (depending on which side of the vehicle passes on the audible warning band), and c2) determining the lateral position of the vehicle POS car according to the detection of the passage of the vehicle 1 on the audible warning band.

Here, more specifically, in step c2), the computing unit 13 determines, taking into account the arrangement of the second and third sensors 11A, 11B on either side of the vehicle 1, that of the left or right sides. right, vehicle 1 passing on the audible warning band. The calculation unit 13 is programmed for example to detect the passage of the vehicle 1 on the audible warning band when the second signal S2A, or, here, when the third signal S2B (depending on the side of the vehicle that passes on the band sound warning), has an identifiable pattern, characteristic of the passage of the vehicle 1 on this sound warning band.

This identifiable pattern may for example correspond to a temporal modulation of the signal, according to a time period characteristic of the passage of the motor vehicle on a sound warning band. This characteristic time period may be a function, in particular, of the speed with which the automobile vehicle 1 progresses along the taxiway. This characteristic period is also a function of the interval separating the reliefs, or hollows, forming the sound warning band. The value of this interval generally corresponds, as explained above, to a known predetermined value. The calculation unit 13 can also be programmed to, on the basis of the second signal S2A, or, here, the third signal S2B (depending on which side of the vehicle passes over the sound warning band), to identify among several given predetermined types of audible warning tapes, the type of audible warning band over which the vehicle 1 passes. The calculation unit 13 may in particular be programmed to determine, according to the identifiable pattern detected in the second signal S2A (or in the third signal S2B), that the audible warning band over which the motor vehicle passes corresponds to a type of audible warning band intended to separate the traffic lane 2 used: - from another lane intended to be traversed in opposite directions, and separated by an insurmountable ground marking line, or - from an emergency stop band.

In addition to being programmed to detect the passage of the vehicle 1 on this audible warning band, the calculation unit 13 is here programmed to: - in the substep c1), determine a lateral position of the band of audible warning POS2 with respect to the vehicle 1 automobile, and - in the substep c2), determine the lateral position of the vehicle POS automobile according to the lateral position of the audible warning band POS2.

More specifically, the computing unit 13 is programmed to determine that the lateral position of the audible warning band POS2 is equal, at the moment of detection of the passage of the vehicle 1 on the audible warning band, predetermined position.

In practice, the passage of the vehicle 1 on the audible warning band is detected for example because one of the wheels 20A, 20B of the vehicle rolls on the audible warning band, or because the audible warning band passes under the motor vehicle, in the vicinity of the second or the third sensor 11 A, 11 B.

The detection of the passage of the vehicle 1 on the audible warning band therefore provides information relating to the positioning of this audible warning band with respect to the vehicle 1, at the instant of this detection, thus allowing the determination of the lateral position of this POS2 band.

Said predetermined position may for example be adjusted during an initial phase of adjustment of the position determination device 10, for example taking into account the geometric characteristics of the vehicle 1 such as the positions of its wheels relative to the chassis and / or taking into account the positioning of the second and third sensors 11A, 11B relative to the vehicle 1. The calculation unit 13 can be further programmed to, in the substep c2), determine the level of overlap of the vehicle 1 relative to to the sound alert band, based on the second signal S2A if the sound alert band is detected at the second sensor 11A, or on the basis of the third signal if the sound alert band is detected at the of the third sensor 11 B.

The determination of this level of overlap allows an even more precise determination of the lateral position of the sound warning band POS2 with respect to the vehicle 1.

Also, it can be predicted that said predetermined position depends on this level of overlap, so as to take into account the additional information thus obtained as to the positioning of the audible warning band with respect to the vehicle 1.

After the passage of the vehicle 1 on the audible warning band has been detected, the vehicle 1 may for example continue to roll on this band.

It can be provided that the computing unit 13 is programmed to determine that the lateral position of the audible warning band POS2 is equal to said predetermined position as long as the passage of the vehicle 1 on this band is detected (even if it is necessary to adjust this position lateral at each moment depending on the overlap level of the vehicle with respect to the audible warning band).

After the passage of the vehicle 1 on the audible warning band has been detected, the vehicle 1 can also deviate from this audible warning band, for example to go towards the middle of the taxiway 2 that he borrows.

It can be provided that the calculation unit 13 is then programmed to determine the lateral position of the audible warning band POS2, at a time subsequent to the instant of detection, by an integration calculation of a lateral speed of the motor vehicle from the moment of detection to this later moment.

The lateral position of the sound warning band POS2 is thus advantageously determined even when the vehicle 1 no longer rolls on it.

The lateral speed of the vehicle 1 corresponds, for example, to its speed relative to the traffic lane 2, in a direction approximately perpendicular to the mean longitudinal direction presented by this lane 2 at the level of the vehicle 1.

This lateral speed is for example estimated by the calculation unit 13 as a function of data relating to the steering angle of the vehicle and to the speed of rotation of the wheels, and / or according to data relating to the acceleration of the vehicle. 1 produced by different sensors equipping the vehicle 1 automobile.

In this second embodiment, the calculation unit is also programmed for, during step c): c1 ') determining a position of said POS1 element locating the lateral edge of the traffic lane 2 taken by the vehicle 1 by processing the first signal S1. The calculation unit 13 is then programmed to determine the lateral position of the POS vehicle as a function of the position of this element POS1.

When the first signal S1 comprises one or more images of the road environment facing the vehicle 1, the processing of the first signal S1 can be performed by means of an image analysis algorithm, based for example on a detection of areas of the image having a gradient or high brightness and / or pattern recognition. This algorithm can also rely on a method using artificial neural networks, for example. The calculation unit 13 can be programmed to process the first signal S1 taking into account the detection of the passage of the vehicle 1 on the audible warning band, in particular taking into account the lateral position of the sound warning band POS2 .

Taking into account the lateral position of the sound warning band POS2, determined elsewhere, notably makes it possible to advantageously accelerate the processing of the first signal S1, by providing a first indication of an approximate position at which said element is susceptible to be located. In the case where the first signal S1 comprises one or more images, the search for this element can for example be performed in this or these images, near a position, presumably occupied by the edge of the traffic lane, deduced from the lateral position of the audible warning band POS2. The search for this element is then advantageously faster than if it were searched for in the entirety of the image.

The accuracy of determination of the position of said POS1 element can be further improved by taking into account, in the processing of the signal S1, the lateral position of the audible warning band POS2.

In particular, it can be provided that the control unit 13 is programmed for: when the position of said POS1 element differs clearly from the lateral position of the audible warning band POS2, then modifying the characteristics of the calculation used to determine the position said element POS1 (in substep c1 ')), so that this substep determination produces a position of said element near the lateral position of the audible warning band POS2.

Otherwise formulated, the control unit 13 can be programmed to re-calibrate the method for determining the position of said POS1 element, based on the lateral position of the sound warning band POS2, when the processing of the first signal S1 leads to a position of the POS1 element identifying the edge of the lane clearly different from that of the sound warning band.

Thus recalibrate the method for determining the position of said element POS1, based on the lateral position of the audible warning band POS2, advantageously ensures the accuracy of this determination in the long term. This notably makes it possible to correct a possible variation of the orientation of the first sensor 12 with respect to the vehicle 1.

Alternatively, the computing unit may be programmed to process the second, and here the third signal, depending on the position of said determined element by processing the first signal, rather than processing the first signal as a function of the position of the first signal. audible warning band determined in sub-step d).

In this second embodiment, the computing unit 13 is programmed to then determine the lateral position of the POS vehicle (at the substep c2) by combining (that is, merging): - data D1 relating to the detection of this audible warning band, which can include in particular the lateral position of the sound warning band POS2, with - the position of said POS1 element.

As a variant, the lateral position of the vehicle POS is determined taking into account the detection of the audible warning band, directly because the position of said element is determined taking into account the detection of this audible warning band (the sub-step c2) then comprises the sub-step c1 ') described above). In this case, the lateral position of the vehicle is then determined according to the position of said element. The calculation unit 13 may for example be programmed so that, in the substep c2), the data D1 relating to the detection of the audible warning band is combined with the position of said element POS1, by estimating a level of accuracy associated with each of these data (data D1 and position POS1), by analyzing the similarities between these data, then by merging them taking into account all these parameters. The calculation unit 13 may in particular be programmed to combine the lateral position of the sound warning band POS2 with the position of said element POS1, by calculating a weighted average of these two positions to obtain an average position of the corresponding edge of the traffic lane, then determining the lateral position of the vehicle POS on the basis of this average position.

The automobile vehicle 1 may also be equipped with a driver assistance device comprising the position determination device 10 described above, in which the calculation unit 13 is further programmed to control the reaction means of the vehicle. vehicle 1, depending on the lateral position of the car POS vehicle, in order to trigger a controllable feature.

For this, the calculation unit 13 may for example be programmed for: when the lateral position of the vehicle POS vehicle shows that the distance separating (laterally) the latter from one of the edges of the taxiway 2 is lower at a given determined limit, - then control a signaling and / or alarm device, such as a warning light, to signal to a driver of the vehicle 1 the proximity of this edge of the traffic lane 2. The unit 13 may also be programmed to, depending on the lateral position of the POS vehicle, control an actuator such as a brake assist system, or an emergency braking system, or a power steering system, in order for example to avoid a road exit of the vehicle 1 automobile. The audible warning band detected by the device then plays a role of virtual guard, whose lateral position is taken into account by the calculation unit to control the vehicle 1.

This provision is particularly useful especially when the vehicle 1 is an autonomous motor vehicle adapted to move on this lane 2 without intervention of the driver, or at least with a reduced intervention of the latter. The calculation unit 13 can also be programmed to control one of the actuators mentioned above, depending on the lateral position of the vehicle POS, so as to progressively bring the vehicle 1 onto a parking lane, such as a car. emergency stop lane, lining the taxiway 2 used by the vehicle 1.

FIG. 2 diagrammatically shows the main steps of a method for determining the position of a vehicle with respect to a traffic lane, implemented in the position determination device 10 described above.

This method comprises the steps a) and b) described above.

According to a particularly remarkable characteristic, this method also comprises step c), which has been described in detail above in terms of device. This step is performed after steps a) and b).

It will be recalled that during step c), the computing unit 13 determines the lateral position of the automobile POS vehicle, with respect to the taxiway 2 that it follows, as a function of: the first signal S1, representative of the presence of the element marking a lateral edge of this traffic lane 2, in the detection field 120 of the first sensor 12 and the second signal S2A, representative of the passage of the automobile vehicle 1 on the sound warning band .

During step c), the lateral position of the vehicle POS is here determined by taking into account also a third signal S2B, also representative of the passage of the vehicle 1 on a sound warning band, acquired by a third sensor 11B equipping the vehicle 1 automobile.

When the motor vehicle is equipped with more than two sensors adapted each to acquire a signal representative of the passage of the motor vehicle on an audible warning band, the control unit can be programmed to determine the lateral position of the vehicle according to the set of signals delivered by these sensors.

In a first embodiment, step c) of this method comprises, as illustrated in FIG. 3, the fusing sub-step FUS of the first, second, and here third signals S1, S2A, S2B, producing the data. merged DF mentioned above, and then - the sub-step DET for determining the lateral position of the vehicle POS by processing these merged data DF.

In a second embodiment, step c) of this method comprises, as illustrated in FIG. 4: the substep c1) (described in detail above), during which the calculation unit 13 detects the passage of the vehicle 1 on the audible warning band, on the basis of the second signal S2A, or the third signal S2B (depending on the side of the vehicle passing on the audible warning band), then - the substep c2 ) (described in detail above), during which the computing unit 13 determines the lateral position of the vehicle POS vehicle according to the detection of the passage of the vehicle 1 on the audible warning band.

The substep c1) may comprise in particular the determination of the lateral position of the sound warning band POS2 with respect to the vehicle 1, this lateral position POS2 being used subsequently in the substep c2) to determine the lateral position of the POS vehicle with respect to taxiway 2.

In this second embodiment, step c) also comprises, here, the substep c1 '), during which the calculation unit 13 determines the position of the POS1 element locating the lateral edge of the track circulation 2 borrowed by the vehicle 1, by processing the first signal S1. In the sub-step c2), the calculation unit 13 can then, as here, determine the lateral position of the vehicle POS as a function also of the position of this element POS1. The substep c2) is then executed after the substep c1 ') (and after the substep c1), as shown in FIG. 4.

The various variants and optional features of step c) previously described in terms of device can be applied to the method which has just been presented.

Claims (15)

1. Device for determining the position (10) of a vehicle (1) with respect to a traffic lane (2) adapted to equip the vehicle (1), comprising: a first sensor (12) adapted to acquire a first signal (11A) representative of the presence of an element (3) identifying a lateral edge of this traffic lane (2), in a detection field (120) of the first sensor (12), and - a second sensor (11A), adapted to acquire a second signal (S2A) representative of the passage of the vehicle (1) on an audible warning band (4), characterized in that the position determining device (10) further comprises a calculation unit (13) programmed to determine a lateral position of the vehicle (POS) with respect to said traffic lane (2), as a function of the first signal (S1) and the second signal (S2A). The position determining device (10) according to claim 1, wherein the computing unit (13) is further programmed to - detect the passage of the vehicle (1) on the audible warning band (4), based on the second signal (S2A), and - determining the lateral position of the vehicle (POS) according to the detection of the passage of the vehicle (1) on the audible warning band (4). The position determining device (10) according to claim 2, wherein the computing unit (13) is further programmed to: - determine a lateral position of the audible warning band (POS2) with respect to the vehicle (1) following the detection of the passage of the vehicle (1) on the audible warning band (4), and for - determining the lateral position of the vehicle (POS) according to the lateral position of the audible warning band (POS2). The position determining device (10) of claim 3, wherein the computing unit (13) is programmed to determine that the lateral position of the audible warning band (POS2) is equal at the instant of detecting the passage of the vehicle (1) on the audible warning band (4) at a predetermined position. The position determining device (10) according to one of claims 3 and 4, wherein the computing unit (13) is further programmed to: - determine a level of overlap of the vehicle (1) with respect to the audible warning band (4), based on the second signal (S2A), and for - determining the lateral position of the audible warning band (POS2) according to this level of overlap. The position determining device (10) according to one of claims 3 to 5, wherein, the second sensor (11A) being disposed at one of the left or right sides of the vehicle (1), the calculation unit (13) is furthermore programmed to: - determine which of the sides, left or right, of the vehicle (1), passes over the audible warning band (4), and to - determine the lateral position of the audible warning band (POS2) according to which side of the vehicle (1) passes on the audible warning band (4). The position determining device (10) according to one of claims 3 to 6, wherein the computing unit (13) is further programmed to determine the lateral position of the audible warning band (POS2), at a time subsequent to said detection time, by an integration calculation of a lateral speed of the vehicle (1) from the moment of detection to this subsequent moment. The position determining device (10) according to one of claims 1 to 7, wherein the computing unit (13) is further programmed to: - determine a position of the element (POS1) locating the edge lateral of this lane (2), with respect to the vehicle (1), by processing the first signal (S1), and for determining the lateral position of the vehicle (POS) relative to said lane (2), depending on the position of this element (POS1). The position determining device (10) according to claim 8, taken in accordance with one of claims 2 to 7, wherein the processing of the first signal (S1A) is performed taking into account the detection of the passage of the vehicle (1) on the warning soundtrack (4). A position determining device (10) according to claim 8, taken in accordance with one of claims 3 to 7, wherein the processing of the first signal (S1) is performed taking into account the lateral position of the audible warning band (POS2). The position determining device (10) according to one of claims 1 to 10, wherein the computing unit (13) is further programmed to determine, on the basis of the second signal (S2A), that the band sound alert (4) corresponds to a given type of audible warning band, among several predetermined predetermined types of audible warning band. 12. A position determining device (10) according to one of claims 1 to 11, further comprising a third sensor (11 B) adapted to acquire a third signal (S2B) representative of the passage of the vehicle on a strip of sound alert, and wherein, the second (11 A) and third sensors (11 B) being respectively disposed at two opposite sides of the vehicle (1), the computing unit (13) is programmed to determine the lateral position of the vehicle (POS) in addition to the third signal (S2B). 13. Position determining device (10) according to one of claims 1 to 12, wherein said element (3) comprises a ground marking line (3). 14. A driving assistance device comprising a position determining device (10) according to one of claims 1 to 13 wherein the computing unit (13) is further programmed to control the reaction means of the vehicle to trigger a controllable feature, depending on the lateral position of the vehicle (POS). 15. A method for determining the position of a vehicle (1) with respect to a traffic lane (2), characterized in that this method comprises a step of determining a lateral position of the vehicle (POS) with respect to said circulation path (2), by a calculation unit (13), as a function of: a first signal (S1), acquired by a first sensor (12), representative of the presence of a tracking element (3) a lateral edge of this circulation path (2), in a detection field (120) of the first sensor (12), and - a second signal (S2A), acquired by a second sensor (11A), representative of the passing the vehicle (1) on an audible warning band (4).