FR3057096A1 - METHOD AND SYSTEM FOR ASSISTING THE DRIVING OF A NON-PRIORITY VEHICLE (S) IN THE PRESENCE OF A PRIORITY VEHICLE - Google Patents

Abstract

Method for assisting the driving of a non-priority carrier motor vehicle (VO) traveling on a road comprising at least two traffic lanes (VC1, VC2), characterized in that it consists, from the messages received by the communication module (MCN) of the carrier vehicle (VO) in a first step (41), to calculate the provisional trajectory of the carrier vehicle (VO) and those of the other non-priority vehicles (V1 to V3) in the immediate environment of the carrier vehicle (VO), in a second step (42), to calculate the position and the real-time trajectory of the priority vehicle (VP) in the reference frame of the carrier vehicle (VO), in a third step (43), from the results calculations of the first and second stages (41, 42), to evaluate whether the carrier vehicle (VO) must deviate its trajectory to allow the priority vehicle (VP) to pass, in a fourth step (44), to calculate possible trajectories for the v carrier vehicle (VO) in order to deflect the trajectory of the carrier vehicle (VO) from that of the priority vehicle (VP) and, in a fifth step (45), to propose to it one or more possible trajectories (TV01, TV02) of deflection, according to the trajectories of the other vehicles (V1 to V3).

Description

Holder (s): PEUGEOT CITROEN AUTOMOBILES SA Société anonyme.

Extension request (s)

Agent (s): PEUGEOT CITROEN AUTOMOBILES SA Public limited company.

METHOD AND SYSTEM FOR AIDING THE DRIVING OF NON-PRIORITY VEHICLE (S) IN THE PRESENCE OF A PRIORITY VEHICLE.

FR 3 057 096 - A1

Method for assisting in driving a non-priority carrier vehicle (VO) traveling on a road comprising at least two lanes of traffic (VC1, VC2), characterized in that it consists, from messages received by the communication module (MCN) of the carrier vehicle (VO) in a first step (41), in calculating the forecast trajectory of the carrier vehicle (VO) and those of other non-priority vehicles (V1 to V3) in the immediate environment of the vehicle carrier (VO), in a second step (42), in calculating the position and the trajectory in real time of the priority vehicle (VP) in the frame of reference of the carrier vehicle (VO), in a third step (43), from the results of the calculations of the first and second stages (41,42), to assess whether the carrier vehicle (VO) must deviate from its trajectory to allow the priority vehicle (VP) to pass, in a fourth stage (44), to calculate possible trajectories for the v carrier vehicle (VO) in order to deflect the trajectory of the carrier vehicle (VO) from that of the priority vehicle (VP) and, in a fifth step (45), to offer it one or more possible trajectories (TV01, TV02) of deviation, according to the trajectories of other vehicles (V1 to V3).

TV01.TV02 PIC

ZA ZA i

METHOD AND SYSTEM FOR DRIVING AID FOR NON-PRIORITY VEHICLE (S) IN THE PRESENCE OF A PRIORITY VEHICLE

The invention relates to non-priority vehicles, possibly of the automotive type, circulating in autonomous mode or not, and more precisely the devices and methods which make it possible to help drivers to drive them in the presence of a priority vehicle.

When non-priority vehicles and a priority vehicle are traveling on the same road, and the warning devices, first aural (strident siren) then visual (lights and beacon) of the latter, are in operation, it is often it is difficult for drivers of non-priority vehicles to determine where the priority vehicle is located and therefore how they should react all the more when the traffic is heavy.

In order to improve the situation, it has been proposed, in particular in document EP2186076A, a method making it possible to estimate a future trajectory of the priority vehicle as a function of information representative of the non-priority vehicles located in front of it and of the environment around of these, then transmit by definition a definition of this estimated future trajectory to non-priority vehicles. The future trajectory

0 estimated can then be viewed by a schematic representation of the traffic lanes of the road taken and schematic representations of some of the non-priority vehicles located in front of the priority vehicle, on a screen present in non-priority vehicles.

However, if this method makes it possible to have information on the position of the priority vehicle, it does not give advice on the trajectory to be followed by all the non-priority vehicles to let the priority vehicle pass. Thus, it often happens that drivers of non-priority vehicles do not know how to react in the presence of the estimated future trajectory of a priority vehicle behind them. They can even

0 unintentionally cause a traffic jam if each driver does not move his vehicle in the right direction.

Each driver may then need many seconds before understanding the correct maneuver to perform in order to smooth the circulation of the priority vehicle.

The invention therefore aims in particular to improve the situation.

To this end, it notably proposes, according to a first aspect of the invention, a method of assisting in driving a non-priority carrier motor vehicle traveling on a road comprising at least two lanes of traffic and comprising at least one module. communication capable of exchanging messages by wave with at least one other vehicle equipped with the same communication module circulating in the immediate environment of the carrier vehicle and / or with an information station.

Said method is characterized in that it consists, from the messages received by the communication module of the carrier vehicle:

- in a first step, to calculate the forecast trajectory of the carrier vehicle and those of other non-priority vehicles in the immediate environment of the carrier vehicle;

- in a second step, to calculate the position and the trajectory in real time of the priority vehicle in the repository of the carrier vehicle;

- in a third step, from the results of the calculations in the first and second steps, to assess whether the carrier vehicle must deviate from its path

0 to let the priority vehicle pass;

- in a fourth step, calculating possible trajectories for the carrier vehicle in order to deviate the trajectory of the carrier vehicle from that of the priority vehicle; and

in a fifth step, to offer him one or more possible deviation trajectories 25, as a function of the trajectories of the other vehicles.

According to one characteristic, the method consists, at the end of the third step, in signaling to the driver of the carrier vehicle of the imminent approach to the priority vehicle and the degree of discomfort from the current trajectory of the carrier vehicle on the trajectory of the priority vehicle .

0 According to another characteristic, to indicate to the driver of the carrier vehicle of the imminent approach to the priority vehicle and the degree of discomfort of the current trajectory of the carrier vehicle on the trajectory of the priority vehicle, it consists in displaying at least one pictogram representative of '' an alert in the driving field of vision of the driver of the carrier vehicle, whether or not associated with an audible alert.

According to another characteristic, it consists in a sub-step of the fifth step, in calculating a virtual image representative of the possible path or paths and in displaying it in the driving field of vision of the driver of the carrier vehicle.

According to another characteristic, the image consists of pictograms and / or fixed or animated directional symbolic arrows.

According to another characteristic, the virtual image is superimposed on the driving field of vision of the driver of the carrier vehicle by an augmented reality technique.

According to another characteristic, the communication module is able to receive:

- a message containing information on the presence of a priority vehicle in the environment close to the carrier vehicle and its trajectory with an indication of the degree of discomfort of the carrier vehicle on the priority vehicle;

- a message containing the dynamic characteristics of other non-priority vehicles present in the environment close to the carrier vehicle;

- a message containing information on the external environment of the carrier vehicle.

The present invention proposes, according to a second aspect of the invention, a driving assistance system for a non-priority carrier motor vehicle traveling on a road comprising at least two lanes of traffic; said carrier vehicle comprising a communication module capable of exchanging messages by wave with at least one other non-priority vehicle equipped with the same communication module and / or with an information station, characterized in that it includes a set of modules comprising a module for calculating the forecast trajectory of the carrier vehicle and those of other vehicles in the immediate environment of the carrier vehicle, a module for calculating the position and the trajectory in real time of the priority vehicle in the repository of the carrier vehicle, a module for determining the degree of hindrance of the trajectory of the carrier vehicle over that of the priority vehicle, a module for calculating the possible trajectories for the carrier vehicle as a function of the trajectories of the other non-priority vehicles in order to facilitate the movement of the priority vehicle, and a module for rendering alert information and of possible trajectories in the field of vision of the driver of the carrier vehicle.

According to another characteristic of the system, the module for rendering alert information and possible trajectories comprises means io for calculating a virtual image capable of being projected onto a transparent surface large enough to cover at least the whole field width. of vision necessary for driving the carrier vehicle.

According to another characteristic, the transparent surface belongs to a head-up vision device blade sufficiently wide to cover the field of vision necessary for driving the carrier vehicle.

The method and system according to the invention have the advantage that they allow each driver of a non-priority vehicle, equipped with an inter-vehicle communication module and / or between a non-priority vehicle and an information station , to visualize the presence of a vehicle

0 priority when the latter is approaching as well as recommended trajectories so as not to hinder the movement of the priority vehicle.

Other characteristics and advantages of the invention will appear on examining the detailed description below, and the attached drawings, in which:

FIG. 1 schematically illustrates a first example of visualization of the road by a driver of a non-priority vehicle, carrying a driving assistance system according to the invention, through the windshield of the carrying vehicle,

- Figure 2 schematically illustrates a second display example

0 of the road by a driver of a non-priority vehicle, carrying a driving assistance system according to the invention, through the windshield of the carrying vehicle,

FIG. 3 schematically illustrates a third example of visualization of the road by a driver of a non-priority vehicle, carrying a driving assistance system according to the invention, through the windshield of the carrying vehicle, and

- Figure 4 schematically illustrates by an algorithm, a driving assistance method according to the invention.

The object of the invention is in particular to propose a driving assistance method and system intended to help drivers of non-priority vehicles to drive them in the presence of a priority vehicle, traveling on the same road as them. .

îo In what follows, we consider, by way of nonlimiting example, that non-priority vehicles are of the automobile type. These are for example cars. However, the invention is not limited to this type of vehicle. It concerns in fact any type of land vehicle which can carry out movements and maneuvers on the ground. Thus, it also relates to motorcycles, i5 coaches (or buses), trucks, utility vehicles, road vehicles and construction machinery.

Furthermore, it is considered in what follows, by way of nonlimiting example, that the priority vehicle is of the automobile type. For example, it is a police car. But the invention is not limited to this type of vehicle

0 priority. It indeed concerns any type of priority terrestrial vehicle capable of carrying out movements and maneuvers on the ground. Thus, it could also be a motorcycle (for example the police or the gendarmerie), a truck (for example firefighters), or an ambulance.

Figures 1 to 3 respectively illustrate what the driver sees in front of him, seated at the wheel of a non-priority vehicle which will be designated as a carrier vehicle VO, through the windshield.

We can thus distinguish, in part, the amount of the left windscreen bay, part of the dashboard and the steering wheel.

0 A road is schematically represented comprising two lanes of traffic VC1 and VC2; the carrier vehicle V0 traveling on the right lane VC1.

In Figure 1, there are shown three non-priority vehicles V1 to V3 β

traveling in front of the carrier vehicle V0, on the same lane of traffic VC1.

In the example described, a priority vehicle VP, not shown explicitly, arrives behind the carrier vehicle VO. The priority vehicle VP is referenced in FIG. 1, by a pictogram representative of its presence in the driving field of vision ZA.

Furthermore, the non-priority vehicles V1 to V3 and the carrier vehicle VO each include here a communication module MCN suitable for exchanging messages by waves. Preferably, each MCN communication module is arranged so as to send and receive information messages with a short range, for example using the Car2X (G5) or Bluetooth or WiFi or 5G wireless communication standard. In addition, each MCN communication module can optionally be connected to a non-wired communication network.

Furthermore, it is essential that the communication module MCN is of certain (at least one) of the non-priority vehicles VO, V1 to V3 is capable of transmitting messages comprising so-called internal information and representative at least of its geographic position. course and its current speed.

Note that the invention can be implemented when certain

0 non-priority vehicles do not include a communication module

MCN. In this case, the information which concerns them must be determined by non-priority vehicles VO, V1 to V3 which are equipped with an MCN communication module and / or by at least one information station SI which is installed nearby. a traffic lane. This information station (or roadside unit) SI includes an MCN communication module responsible for addressing messages by waves to vehicles which are located in its environment. It can be integrated into a road infrastructure.

As indicated above, the invention aims in particular to

0 propose a driving assistance method, and an associated system, intended to help drivers of non-priority vehicles V0, V1 to V3 to drive the latter in the presence of a priority vehicle VP.

The driving assistance method according to the invention is illustrated by the algorithm of FIG. 4.

The method according to the invention, in a first step 41, consists in calculating the forecast trajectory of the carrier vehicle VO and those of the other non-priority vehicles V1 to V3 in the immediate environment of the carrier vehicle VO, from information received not the MCN communication module of another non-priority vehicle, of the information system SI or of information directly collected by the carrier vehicle VO itself.

It consists, in a second step 42, in calculating the position and the real-time trajectory of the priority vehicle VP in the frame of reference of the carrier vehicle VO.

It consists, in a third step 43, from the results of the calculations of the first and second steps 41, 42, in evaluating whether the carrier vehicle VO must deviate from its trajectory to allow the priority vehicle to pass

VP.

It consists, in a fourth step 44, in calculating possible trajectories for the carrier vehicle VO in order to deviate the trajectory of the carrier vehicle VO from that of the priority vehicle VP.

And it consists, in a fifth step 45, of offering him one or

0 of the possible trajectories TV01, TV02, as a function of the trajectories of the other vehicles V1 to V3.

In a step 53, succeeding step 43, the method according to the invention consists in signaling to the driver of the carrier vehicle VO of the imminent approach of the priority vehicle VP and the degree of discomfort of the carrier vehicle VO on the trajectory of the vehicle priority VP by displaying at least one PIC pictogram representative of an alert in the driver's field of vision ZA, whether or not associated with an audible alert.

An audible alert can be reproduced in one or more of the speakers of the radio system of the carrier vehicle VO. Signal strength

0 can be amplified in proportion to the approach of the priority vehicle

VP and / or appear to come from the left side of the passenger compartment if the VP arrives from the left (respectively the right) and / or be modulated according to a determined frequency to indicate to the carrier vehicle V0 that the priority vehicle VP is on the same traffic lane than him.

A synthetic voice message can also be broadcast by the radio system of the carrier vehicle VO to clearly announce the presence of a priority vehicle VP and the need or not to deviate from the trajectory of the carrier vehicle VO.

The pictogram PIC has, in the example of figure 1, the shape of a red triangle in the lower right edge of the field of vision of driving ZA, this type of symbol is generally used to warn of a danger.

The size and / or the luminous intensity of the pictogram PIC can be adapted according to the proximity and the speed of the priority vehicle VP and of its impact on the current trajectory of the carrier vehicle VO.

In a sub-step 46 of step 45, the method consists in calculating a virtual image representative of the possible trajectory (s) TV01, TV02 and in displaying them in the driving field of vision ZA of the driver of the carrier vehicle VO.

This image consists of pictograms and / or fixed or animated directional symbolic arrows which are sufficiently explicit and inciting that the driver of the carrier vehicle VO can, without ambiguity or hesitation, interpret the symbols so as to engage his

0 vehicle on the deviation path quickly and safely.

In the example illustrated, a prohibition symbol (red crossed out circle) is superimposed with the emergency stop band BAU which is a prohibited lane for the carrier vehicle VO.

Fixed or scrolling arrows of fixed or changing color 25 explicitly indicate the possible trajectories in real time: a first deviation trajectory TV01 completely taking the left lane VC2 and a second trajectory TV02 wedged to the left of the right lane VC1, against the discontinuous line separating channels VC1 and VC2.

The virtual image is superimposed on the ZA driving field of vision

0 of the driver of the carrier vehicle V0 and self-adapts to the real view of the driver by a known technique called augmented reality.

The virtual image obtained by augmented reality can be displayed on a slide of a VTH head-up vision device dedicated to augmented reality; said blade covering the driving field of vision ZA.

The image can also be displayed on a handset screen or on a central screen or even on a blade of a conventional head-up vision device with a field wide enough to cover the driving field of vision ZA.

The image can also be displayed by direct projection onto the part of the windshield corresponding to the driving field of vision ZA of the carrier vehicle V0.

Among the information exchanged between non-priority vehicles and / or the information station SI via the MCN communication modules, there is information on the presence of a priority vehicle VP in the environment close to the carrier vehicle V0 and the trajectory of this with an indication of the degree of discomfort of the carrier vehicle V0 for the priority vehicle VP, and information chosen from at least the current positions of non-priority vehicles V1 to V3, their dynamic characteristics: current speed, acceleration, angle driving, yaw speed, course, change of trajectories, ..., dimensions (width and length) of non-priority vehicles V1 to V3, distances (transverse and longitudinal) separating non-priority vehicles V1 to V3 from neighboring vehicles , distances (transverse and longitudinal) separating non-priority vehicles V1 to V3 from neighboring objects or only markings (lines continuous or discontinuous) indicating the edges of the taxiways VC1, VC2 that they are using and BAU emergency stop bands, weather information, ...

It will be noted that in order for non-priority vehicles V1 to V3 to be able to determine some of the abovementioned information, they must include acquisition means (not shown) suitable for acquiring data in at least part of the area surrounding them (environment ). These acquisition means can, for example, comprise at least one camera and / or at least one scanning laser and / or at least one radar or lidar. Some of these acquisition means can acquire data representative of the current speed and / or at least one dimension of a neighboring vehicle which is not ίο equipped with MCN communication module and / or the behavior in progress of this neighboring vehicle (such as, for example, the state of activation of at least some of the signaling functions provided by its optical units (change of direction (or flashing), reversing, stop, distress (or warning)).

It will also be noted that an information station SI can possibly serve as a relay for transmitting information between a non-priority vehicle V0, V1 to V3 and the priority vehicle VP.

Any mathematical technique, known to those skilled in the art and able to estimate the future trajectory of the priority vehicle VP according to the above information, can be used here.

The communication protocol used to transmit the information, as well as to transmit the definition of the estimated future trajectory, is preferably a broadcast protocol (or “broadcast”) and in particular the protocol mentioned above “Car2X”.

The driving assistance system according to the invention comprises a set of calculation module MC comprising a calculation module for the forecast trajectory of the carrier vehicle V0 and those of the other vehicles V1 to V3 in the immediate environment of the carrier vehicle V0 , a module of

0 calculation of the position and the trajectory in real time of the priority vehicle VP in the frame of reference of the carrier vehicle V0, a module for determining the degree of hindrance of the trajectory of the carrier vehicle V0 on that of the priority vehicle VP, a module of calculation of the possible trajectories TV01, TV02 for the carrier vehicle V0, as a function of the trajectories of the other non-priority vehicles V1 to V3, in order to facilitate the circulation of the priority vehicle VP, and a module for restoring the warning information and possible trajectories in the driving field of vision ZA of the driver of the carrier vehicle V0.

These MC calculation modules can be installed in a

0 on-board computer, which possibly performs at least one other function within its non-priority vehicle. For example, this computer can be the on-board computer of a non-priority vehicle. But in an alternative embodiment, the driving assistance system could constitute on-board electronic equipment, such as for example a specific computer. Consequently, the driving assistance system (and in particular its MC modules) can (may) not be produced in the form of software modules (or computer modules or “software”), or else of a combination of electronic circuits (or "hardware") and software modules.

For convenience, reference has been made in FIGS. 1 to 3 to all of the driving aid system modules introduced above, by the same unique reference MC.

The information station SI can also include all or part io of all the modules MC.

Claims (10)

1. Method for assisting in driving a non-carrying motor vehicle 5 priority (VO) traveling on a road comprising at least two traffic lanes (VC1, VC2) and comprising at least one communication module (MCN) suitable for exchanging messages by wave with at least one other equipped vehicle ( V1 to V3) of the same communication module (MCN) circulating in the immediate environment of the carrier vehicle (VO) and / or with an information station (SI), characterized in that it consists, from messages received by the communication module (MCN) of the carrier vehicle (VO): - in a first step (41), calculating the forecast trajectory of the carrier vehicle (VO) and those of other non-priority vehicles (V1 to V3) is in the immediate environment of the carrier vehicle (VO); - in a second step (42), in calculating the position and the trajectory in real time of the priority vehicle (VP) in the frame of reference of the carrier vehicle (VO); - in a third step (43), from the results of the calculations of the First and second steps (41, 42), to assess whether the carrier vehicle (VO) must deviate from its trajectory to allow the priority vehicle (VP) to pass; - in a fourth step (44), calculating possible trajectories for the carrier vehicle (VO) in order to deviate the trajectory of the carrier vehicle (VO) from that of the priority vehicle (VP); and 25 - in a fifth step (45), to offer him one or more possible trajectories (TV01, TV02) of deviation, as a function of the trajectories of the other vehicles (V1 to V3). 2. Method according to the preceding claim, characterized in that it consists, at the end of the third step (43), in signaling (53) to the driver of the vehicle 3 0 carrier (V0) of the imminent approach to the priority vehicle (VP) and the degree of embarrassment of the current trajectory of the carrier vehicle (V0) on the trajectory of the priority vehicle (VP). 3. Method according to the preceding claim, characterized in that to signal (53) to the driver of the carrier vehicle (VO) of the imminent approach to the priority vehicle (VP) and the degree of discomfort from the current trajectory of the carrier vehicle (VO) ) on the trajectory of the priority vehicle (VP), it consists 5 to display at least one pictogram (PIC) representative of an alert in the driving field of vision (ZA) of the driver of the carrier vehicle (VO), associated or not with an audible alert. 4. Method according to one of the preceding claims, characterized in that it consists in a sub-step (46) of the fifth step (45), in calculating a virtual image representative of the possible trajectory (s) (TV01, TV02) and display it in the driver's field of vision (ZA) of the driver of the carrier vehicle (VO). 5. Method according to the preceding claim, characterized in that the image consists of pictograms (PIC) and / or symbolic arrows 15 directional fixed or animated. 6. Method according to one of claims 4 or 5, characterized in that the virtual image is superimposed on the driving field of vision (ZA) of the driver of the carrier vehicle (VO) by an augmented reality technique. 7. Method according to one of the preceding claims, characterized in that 2 0 the communication module (MCN) is able to receive: - a message containing information on the presence of a priority vehicle (VP) in the environment close to the carrier vehicle (VO) and the trajectory of the latter with an indication of the degree of discomfort of the carrier vehicle (VO) on the priority vehicle (VP); 25 - a message containing the dynamic characteristics of the other non-priority vehicles (V1 to V3) present in the environment near the carrier vehicle (VO); - a message containing information on the external environment of the carrier vehicle (VO). 30 8. Driving assistance system for non-priority carrier motor vehicle (V0) traveling on a road comprising at least two lanes of traffic (VC1, VC2); said carrier vehicle (V0) comprising at least one communication module (MCN) capable of exchanging messages by wave with at least one other non-priority vehicle (V1 to V3) equipped with the same communication module (MCN) and / or with an information station (SI), characterized in that it comprises a set of modules (MC) comprising a module for calculating the forecast trajectory of the vehicle 5 carrier (VO) and those of other vehicles (V1 to V3) in the immediate environment of the carrier vehicle (VO), a module for calculating the position and trajectory in real time of the priority vehicle (VP) in the repository of the carrier vehicle (VO), a module for determining the degree of interference with the trajectory of the carrier vehicle (VO) over that of the priority vehicle (VP), a module for calculating the possible trajectories (TV01, TV02) for the carrier vehicle ( VO) as a function of the trajectories of other non-priority vehicles (V1 to V3) in order to facilitate the circulation of the priority vehicle (VP), and a module for rendering alert information and possible trajectories in the driving vision field ( ZA) of the driver of the carrier vehicle 15 (VO). 9. Driving assistance system according to the preceding claim, characterized in that the module for restoring alert information and possible trajectories, includes means for calculating a virtual image capable of being projected onto a transparent surface which is sufficiently wide to cover at 2 0 minus the entire field of vision width (ZA) necessary for driving the carrier vehicle (VO). 10. Driving assistance system according to one of the preceding claims, characterized in that the transparent surface belongs to a head-up vision device blade (VTH) sufficiently wide to cover the field 25 of vision necessary for driving (ZA) of the carrier vehicle (V0). 1/3