FR3052905A1 - METHOD AND DEVICE FOR ASSISTING TO ALERT VEHICLES FROM THE PROHIBITED PRESENCE OF A PERSON ON A CIRCULATION PATH - Google Patents

Abstract

One method provides assistance for a vehicle (VA) traveling on a taxiway (VC). This method comprises a step in which, in the event of detection of a person at a place of this taxiway (VC), it is determined whether there is a prohibition of presence of persons on this taxiway (VC), and in the affirmative, at least the vehicle (VA) transmits a message signaling the prohibited presence of this person at this point of this taxiway (VC), so that this vehicle (VA) take into account.

Description

The invention relates to vehicles, possibly of automobile type, and more specifically to the assistances which are intended to facilitate the driving of such vehicles. on taxiways.

It should be noted that the invention concerns not only vehicles with exclusively manual steering, but also partially or fully autonomous vehicles.

Some traffic routes, such as highways and so-called "fast" lanes, are prohibited to the movement of people on foot (or pedestrians), because of the dangerousness caused by the high speed of the vehicles they host.

In order to protect people who are forced to leave their vehicle following a breakdown of the latter, there are usually only rails (or guardrails) security that are installed along the aforementioned lanes. However, in case of breakdown some people do not take shelter behind the guardrails, either because they can not do it, or because they forget to do it. The lives of those who remain on the emergency stop strip near their vehicle are in danger. It is recalled that the life expectancy of a pedestrian in an area such as an emergency stop band is thirty minutes.

Certain roads are equipped with billboards to indicate the presence of a pedestrian downstream. But this offers drivers of vehicles only very inaccurate information on the exact location of this pedestrian. In addition, since the spacing between such panels is generally (very) important, pedestrians often report that they are (very) far from their own location, and therefore some drivers may forget the information displayed.

In addition, there are assistance devices capable of detecting a risky situation on the taxiway on which their vehicle is traveling, and of signaling this risky situation to vehicles traveling behind them. But this signaling remains very sketchy. In addition, such assistance devices are unable to discriminate the traffic lanes on which pedestrians are allowed to circulate, traffic lanes on which pedestrians are prohibited from driving. As a result, they will frequently report risky situations on traffic lanes on which pedestrians are allowed to move, so that after some time drivers no longer take into account their risk status reports. The purpose of the invention is in particular to improve the situation.

It proposes for this purpose a method, for offering assistance for a clean vehicle to circulate on the traffic lanes, and comprising a step in which, in the event of detection of a person in a place of a lane of traffic, it is determined whether there is a ban on the presence of persons on that lane of traffic, and if so, at least this vehicle shall be transmitted by airwaves indicating the prohibited presence of that person to that person. where the vehicle takes it into account if it is traveling on that lane upstream of that location.

Thanks to the invention, the vehicle is not informed directly and accurately of the location of the person detected downstream, provided that the latter is not allowed to walk, which avoids any false alarm.

The assistance method according to the invention can comprise other characteristics that can be taken separately or in combination, and in particular: in its step, the person can be detected with means of environmental analysis embedded in vehicles running on the taxiway, and / or with means of environmental analysis installed near the taxiway, and / or by comparison of a position of the person, provided by communicating electronic equipment transported by that person, with geographical positions defining the taxiway; in its step, the message can be transmitted by means of a communication network and / or a radio network and / or at least one information station located near the radio channel. traffic and / or a communication module of at least one other vehicle circulating, or having just circulated, in the vicinity of the place; in its step, it is possible to determine whether there is a ban on the presence of people on the taxiway by analyzing information representative of the latter and stored in a map database of at least one other vehicle traveling on the taxiway, and / or by analysis of data representative of the behavior of at least one other vehicle traveling on the taxiway, and / or by analysis of data acquired by at least one other vehicle traveling on the taxiway and representative of the latter, and / or by analysis of information representative of the traffic lane and provided by a communication network and / or a radio network and / or at least one information station located near this lane; - In its step, upon receipt of the message, the vehicle can determine if it is located upstream of the place, and, if so, can alert his driver by means of a sound message broadcast via loudspeakers that he understands and / or a text message displayed on at least one screen that he understands; in its stage, the message can at least be transmitted by wave at least to the vehicles circulating on the taxiway upstream of the place, as well as possibly to at least one information station located near the track of circulation. The invention also proposes an assistance device intended to equip a vehicle capable of running on traffic lanes and comprising a communication module capable of exchanging data by means of waves, and arranged when this vehicle is traveling on a road. traffic lane and has detected a person at a location in the traffic lane, to determine if there is a prohibition on the presence of persons on that lane and, if so, to wave, to at least one other vehicle traveling on this lane upstream of this place, a message indicating the prohibited presence of this person at this point of this lane The invention also proposes a vehicle , possibly of automotive type, suitable for running on traffic lanes, and comprising a communication module suitable for exchanging data by way of Wave and an assistance device of the type shown above. Other features and advantages of the invention will appear on examining the detailed description below, and the accompanying drawing, in which the single figure schematically and functionally illustrates a traffic lane on which clean vehicles to put implementing an assistance method according to the invention, and comprising an emergency stop strip on which is immobilized a vehicle beside which is located a pedestrian. The invention aims in particular to provide an assistance method for a vehicle VA, and an associated DA assistance device.

It should be remembered that the invention concerns both vehicles with exclusively manual driving and partially or fully autonomous vehicles.

In the following, it is considered, by way of non-limiting example, that the vehicles VA, VA 'are of automotive type. This is for example cars. But the invention is not limited to this type of vehicle. It concerns indeed any type of vehicle that can travel on land traffic routes.

Diagrammatically and functionally represented in the single figure a VC circulation lane comprising two parts A and B, dedicated to the circulation of vehicles VA, VA ', and an emergency stop band BA. Here, first VA 'and second VA vehicles travel on the part A, the second VA being placed upstream of the first VA', and a third vehicle VI is immobilized at a place of the emergency stop band BA very slightly downstream of the place where the first vehicle VA 'is located at the moment considered.

For example, this taxiway VC is a highway having its emergency stop band BA delimited on its outer side (here on the right) by a guardrail (or guardrail) security GS. But it could also be a so-called "fast track", for example. In all cases, it is a lane on which the movement of people on foot (or pedestrians) is prohibited.

Both vehicles VA and VA 'here both comprise a DA assistance device, according to the invention. But this is not obligatory. Indeed only the first vehicle VA 'could comprise a DA assistance device for a reason explained below. It will be noted that this assistance device DA constitutes, possibly and at least partially, what the person skilled in the art calls an ADAS device ("Advanced Driver Assistance System").

In the example shown non-limitatively in the single figure, each DA assistance device is implanted in a CA computer of a vehicle VA, VA ', possibly providing at least one other function. But he could understand a calculator. Therefore, a DA assistance device can be realized in the form of software modules (or computer or "software"), or circuits or electrical or electronic components (or "hardware"), or a combination circuits or electrical or electronic components and software modules.

In order for the invention to be implemented, it is necessary that at least the second vehicle VA comprises a communication module MC capable of exchanging messages by means of waves with other communication modules fitted to other vehicles or a communication network or a radio network or at least one information station SI located near the taxiway VC. Note that in the case of exchanges with another vehicle or an information station, the communications are preferably by short-range waves, for example using the Car2X wireless communication standard (G5) or Bluetooth or WiFi or 5G or Near Field Transmission (NFT).

In the example shown in non-limiting manner in the single figure, the first vehicle VA 'also comprises a communication module MC capable of exchanging messages by means of waves with other communication modules fitted to other vehicles or a network. communication network or a radio network or at least one information station SI located near the taxiway VC. We will understand the reason later.

As mentioned above, the invention proposes a method of assistance intended, in particular, to make it possible to inform the second vehicle VA of the presence of a person (or pedestrian) PI on a taxiway VC where the pedestrian traffic is prohibited.

An assistance method, according to the invention, comprises a step in which, in the event of detection of a person PI at a place of a taxiway VC, it is determined whether there is a prohibition of the presence of persons ( or pedestrians) on this VC lane.

Here, a person (or pedestrian) PI is present next to the third vehicle VI which is immobilized, and has been detected.

This detection can be done by any means known to those skilled in the art. Thus, it can be done in the process step with means of analysis of the environment MA which are embedded in vehicles (such as for example the first VA ') circulating on the taxiway VC, and / or with means for analyzing the environment MA 'which are installed near the taxiway VC, and / or comparing a current position of the detected person PI, provided by a communicating electronic equipment transported by this person (PI), with geographical positions defining the taxiway VC.

The analysis means MA, embedded in a vehicle (here VA 'or VA), may, for example, include ultrasonic sensors and / or at least one camera and / or at least one scanning laser and / or at least one a radar or lidar.

The analysis means MA 'are for example part of, as illustrated without limitation, an information station SI which is located close to the traffic lane VC and which is part, for example, of the infrastructure of the company to which the VC taxiway belongs (or manages). They may, for example, include ultrasonic sensors and / or at least one camera and / or at least one scanning laser and / or at least one radar or lidar.

In any case, the analysis means MA and MA 'must at least be capable of detecting the presence of a person PI on the taxiway VC, and the relative position of this person PI relative to their vehicle VA' , VA or SI information station. It will be understood that knowledge of this relative position and of the current position of the vehicle VA ', VA (for example provided by an on-board navigation aid device) or of the information station SI makes it possible to determine with precision the position of the place where the PI person is located at the moment of detection.

The determination of the existence of a prohibition of presence of persons on the taxiway VC can be done by any means known to those skilled in the art. Thus, it can be done in the process step: by analysis of information representative of the taxiway VC and stored in a map database of at least one other vehicle (for example the first VA ') flowing on taxiway VC, and / or - by analysis of data representative of the behavior of at least one other vehicle (for example the first VA ') traveling on taxiway VC, and / or - by analysis of data acquired by at least one other vehicle (for example the first VA ') traveling on the taxiway VC and representative of the latter (VC), and / or - by analyzing information representative of the taxiway VC and provided by a communication network and / or a radio network and / or at least one information station located near this VC traffic lane.

In the first case mentioned above, the other vehicle uses its DA assistance device to determine if there is a prohibition of presence of persons on this VC taxiway by analyzing the information representative of the taxiway VC and stored in its seat. cartographic database. In the example shown in non-limiting manner in the single figure, the first vehicle VA 'is equipped with a DA assistance device and can therefore perform this type of determination in cooperation with the database, possibly after having itself detected the PI pedestrian. But he could also have been informed of the presence of the PI pedestrian by a vehicle located downstream and / or by the information station SI.

In the second case mentioned above, the other vehicle can use its DA assistance device to determine if there is a prohibition of presence of people on this VC taxiway by analyzing data representative of its behavior, such as its speeds. and / or its accelerations and / or trajectories over a predefined time interval that has just ended. It will be understood that in France, when a vehicle has been driving for some time at speeds that are close to 130 km / h, it means that it is on a highway. Similarly, and still in France, when a vehicle has been driving for some time at speeds that are close to 110 km / h, it means that it is on a fast track. But the data representative of the behavior of a vehicle can also be transmitted by waves to another vehicle or an information station SI located in its vicinity, or to a communication network to a server . In this case, it is this other vehicle or this information station SI or this server which determines whether there is a prohibition, for example by means of a DA assistance device.

In the third case mentioned above, the other vehicle can use its DA assistance device to determine if there is a prohibition of presence of persons on this VC taxiway by analyzing data acquired by its analysis means MA in its environment and representative of this VC traffic lane. It will be understood that the analysis of acquired images can in particular to detect traffic signs and GS guardrails that are characteristic of traffic lanes on which pedestrians are not allowed to walk. But the data can be acquired by a vehicle or a SI information station and then transmitted by wave to another vehicle or a SI information station located in its vicinity, or to a communication network, to destination of a server. In this case, it is this other vehicle or this information station SI or this server which determines whether there is a prohibition, for example by means of a DA assistance device.

In the fourth case mentioned above, the other vehicle can use its DA assistance device to determine if there is a prohibition of presence of persons on this VC taxiway by analyzing information representative of the taxiway VC and provided by a communication network and / or a radio network and / or at least one information station SI located near this VC circulation lane. This information may, for example, be a speed limit, or an indication of the type of taxiway, or a direct signaling of a local ban on pedestrian traffic. But the information can also be transmitted by waves by a vehicle or a server to an information station SI. In this case, it is this information station SI which determines whether there is a prohibition, for example by means of a DA assistance device.

When an assistance device DA determined that there was no prohibition of presence of persons on the taxiway VC where the detection of the pedestrian PI was carried out, it does not take into account this detection.

On the other hand, when it was determined that there was a prohibition on the presence of persons on taxiway VC where PI pedestrian detection was carried out, at least the second VA vehicle is transmitted by message indicating the presence of the prohibited PI person at the location of this taxiway VC, so that the second vehicle VA takes it into account if it circulates on this taxiway VC upstream of this place.

Thus, the second vehicle VA (at least) is informed directly and accurately where a pedestrian PI downstream, provided that the latter (PI) is not allowed to walk on foot . This helps prevent false alarms.

As indicated above, the transmission of the message depends on the type of the communication module MC which is embedded in the second vehicle VA. Therefore, it can be done by means of a communication network and / or a radio network and / or at least one information station located near the taxiway VC and / or a radio station. communication module MC of at least one other vehicle (for example the first VA ') flowing or having just circulated, in the vicinity of the place where the pedestrian PI has been detected.

Furthermore, this transmission is preferably performed by the system which determined the traffic ban. Therefore, it can be performed by the communication module MC of a vehicle (for example the first VA ') located downstream of the second vehicle VA, or by the communication module MC' of a information station SI which is located near the VC traffic lane, or by a server in a communication network or radio network.

Note that when a system (vehicle, information station or server) has a DA assistance device having determined the traffic ban, it is the latter (DA) that triggers the transmission by way of wave (by the communication module MC or MC 'of his system), to at least the second vehicle VA located upstream of the place where the pedestrian PI has been detected, a message indicating the prohibited presence of the latter (PI) at this location.

It will also be noted that in the method step, the message can at least be transmitted at least to the vehicles VA traveling on the taxiway VC upstream of the place where the pedestrian PI has been detected, as well as possibly to at least one information station SI located near the taxiway VC. The number of systems (vehicle or information station) to which the message is transmitted depends in fact at least on the type of wave transmission used and the scope of this transmission. It will be understood that when an information station IF receives such a message, it will retransmit it to vehicles traveling on taxiway VC. Likewise, when a vehicle traveling on the taxiway VC receives such a message, it can retransmit it to other vehicles traveling on the same taxiway VC.

Note also that in the method step, upon receipt of the message, the second vehicle VA determines if it is located upstream of the reported location, and, if so, it can alert his driver by means of an audio message broadcast via loudspeakers that it understands and / or a text message displayed on at least one screen that it includes (for example in the central handset and / or in the instrument panel handset). Such a message (sound and / or text) may, for example, be of the type "Attention, presence of a pedestrian on your lane at a distance of X meters". This alert is performed at least when the second vehicle VA is exclusively manual or partially autonomous.

If the second vehicle VA is fully autonomous, it is not obliged to alert its driver. In this case, it is indeed at least the device that is in charge of the autonomous driving of the second vehicle VA which must be alerted so that it takes into account the information, for example by adapting its speed accordingly and / or passing from part A of taxiway VC, to part B of the latter (VC).

Claims (10)

1. A method of assisting a vehicle (VA) adapted to circulate on taxiways (VC), characterized in that it comprises a step in which, in the event of detection of a person at a location of a taxiway (VC), it is determined whether there is a prohibition of the presence of persons on the taxiway (VC), and, if so, at least one of said vehicles (VA) is transmitted message indicating the presence of said person at said location of this traffic lane (VC), so that said vehicle (VA) takes it into account if it circulates on this lane (VC) upstream of said location. 2. Method according to claim 1, characterized in that in said step said person is detected with means for analyzing the environment (MA) embedded in vehicles (VA ') circulating on said taxiway (VC), and / or with means of environmental analysis installed near said taxiway (VC), and / or by comparison of a position of said person, provided by communicating electronic equipment carried by this person, with geographical positions defining said taxiway (VC). 3. Method according to one of claims 1 and 2, characterized in that in said step is transmitted by waves said message by means of a communication network and / or a radio network and / or at least one information station located near said traffic lane (VC) and / or a communication module (MC) of at least one other vehicle (VA ') circulating, or having just circulated, in the vicinity of said place. 4. Method according to one of claims 1 to 3, characterized in that in said step it is determined whether there is a prohibition of presence of people on said taxiway (VC) by analyzing information representative of the latter ( VC) and stored in a map database of at least one other vehicle (VA ') traveling on said taxiway (VC), and / or by analysis of data representative of the behavior of at least one other vehicle (VA) ') traveling on said taxiway (VC), and / or by analyzing data acquired by at least one other vehicle (VA') traveling on said taxiway (VC) and representative thereof (VC), and / or by analysis of information representative of said traffic lane (VC) and provided by a communication network and / or a radio network and / or at least one information station located near this traffic lane (VC). 5. Method according to one of claims 1 to 4, characterized in that in said step, on receipt of said message, said vehicle (VA) determines if it is located upstream of said location, and, if so, alert its driver by means of an audio message broadcast via loudspeakers that he understands and / or a text message displayed on at least one screen that he understands. 6. Method according to one of claims 1 to 5, characterized in that in said step is transmitted by waves said message at least to vehicles (VA) flowing on said taxiway (VC) upstream of said location. 7. The method of claim 6, characterized in that in said step is transmitted by waves said message to at least one information station located near said taxiway (VC). 8. Assistance device (DA) for a vehicle (VA ') adapted to circulate on taxiways (VC) and comprising a communication module (MC) capable of exchanging data by wave, characterized in that that it is arranged, when said vehicle (VA ') circulates on a taxiway (VC) and that it has detected a person at a place of the latter (VC), to determine if there is a prohibition of presence on this lane (VC) and, if so, to initiate transmission by wave to at least one other vehicle (VA) traveling on that lane (VC) in upstream of said place, a message indicating the prohibited presence of said person at said location of this taxiway (VC). 9. Vehicle (VA ') able to circulate on taxiways (VC) and comprising a communication module (MC) capable of exchanging data by wave, characterized in that it furthermore comprises a device for assistance (DA) according to claim 8. 10. Vehicle according to claim 9, characterized in that it is automotive type.