FR3061887A1 - ON-VEHICLE SYSTEM FOR A VEHICLE, SYSTEM AND METHOD FOR INTERACTIVE CONTROL OF A PARKING MANEUVER OF A VEHICLE. - Google Patents

Abstract

An on-board vehicle system (20) includes a wireless communication module (26) and a control module (21) for a parking maneuver of the vehicle. The wireless communication module (26) is adapted to receive information (PHY) related to a physiological parameter of a user and the control module (21) is adapted to control the stopping of the maneuver if the information ( PHY) received does not check a predetermined criterion. A system and method for interactive control of a parking maneuver of a vehicle is also disclosed.

Description

© Agent (s): VALEO COMFORT AND DRIVING ASSISTANCE.

(54) ON-VEHICLE SYSTEM FOR VEHICLES, SYSTEM AND METHOD FOR INTERACTIVE CONTROL OF A PARKING MANEUVER OF A VEHICLE.

FR 3,061,887 - A1 (57) an on-board system for a vehicle (20) comprises a wireless communication module (26) and a control module (21) for a parking maneuver of the vehicle.

The wireless communication module (26) is designed to receive information (PHY) linked to a physiological parameter of a user and the control module (21) is designed to control the stopping of the maneuver if the information ( PHY) received does not meet a predetermined criterion.

A system and method for interactive control of a parking maneuver of a vehicle are also described.

Vehicle on-board system, system and method for interactive control of a vehicle parking maneuver

Technical field to which the invention relates

The present invention relates to the interactive control of autonomous parking maneuvers.

It relates more particularly to an on-board system for a vehicle, a system and a method for interactive control of a parking maneuver of a vehicle.

Technological background

Certain motor vehicles are equipped with an on-board system capable of performing a parking maneuver of the vehicle autonomously, that is to say without the driver of the vehicle having to intervene on the driving members of the vehicle.

It is even envisaged that the driver can follow this maneuver from outside the vehicle, for example by controlling the smooth running of the maneuver using an electronic device communicating with the on-board system by means of wireless communication. .

Indeed, even if the on-board system controls the vehicle's driving members so as to perform the parking maneuver, it is generally provided that the user can initiate the maneuver, then stop it before its end if necessary, for example at by means of a user interface of the aforementioned electronic device.

In this context, it has also been provided that the driver is required to perform a predetermined action on the electronic device in order to explicitly show his wish to continue the maneuver, failing which the maneuver is interrupted.

Object of the invention

The present invention provides an on-board system for a vehicle, comprising a wireless communication module and a module for controlling a vehicle parking maneuver, characterized in that the wireless communication module is designed to receive information related to a physiological parameter of a user and in that the control module is designed to control the stopping of the maneuver if the information received does not meet a predetermined criterion.

The autonomous parking maneuver is thus automatically stopped as soon as, for one reason or another, the information linked to the physiological parameter as received by the on-board system is not in accordance with this predetermined criterion.

The control module is for example designed to transmit, if the information received does not verify said predetermined criterion, a stop command to a control unit of a powertrain of the vehicle and / or an actuation command to a vehicle brake system control unit.

The wireless communication module is for example designed to receive at least one instruction from an electronic device worn by the user; the control module can then be designed to control the parking maneuver of the vehicle according to the instruction received. The user can thus remotely control (by means of the electronic device) the maneuvering of the vehicle.

Alternatively, the maneuver could be controlled from the passenger compartment of the vehicle, for example by interaction with a user interface located in this passenger compartment.

The invention also provides an interactive control system for a parking maneuver of a vehicle, comprising such an on-board system and an electronic device such as the aforementioned electronic device, which can be worn by the user.

According to other optional features (and therefore non-limiting):

- the electronic device includes a biometric sensor;

- the electronic device is designed to produce said information according to biometric data delivered by the biometric sensor;

- the electronic device comprises a means of attachment to the body of the user;

- the electronic device is a connected bracelet;

- the electronic device is paired (for example by means of a wireless link) with an electronic device;

- This electronic device includes a biometric sensor delivering biometric data;

- the electronic device or electronic device is designed to produce said information according to the biometric data delivered by the biometric sensor;

- The electronic device comprises a means of attachment to the body of the user;

- the electronic device is a connected bracelet.

The invention finally proposes a method for interactive control of a parking maneuver of a vehicle, characterized by the following steps:

- reception, by a wireless communication module of an on-board system in the vehicle, of at least one instruction from an electronic device carried by a user,

- command of a parking maneuver of the vehicle by a control module of the on-board system according to the instruction received,

- control, by the control module, of stopping the parking maneuver if information related to a physiological parameter of the user does not meet a predetermined criterion.

Detailed description of an exemplary embodiment

The description which follows with reference to the appended drawings, given by way of nonlimiting examples, will make it clear what the invention consists of and how it can be carried out.

In the accompanying drawings:

- Figure 1 shows a first example of an interactive control system for a parking maneuver of a vehicle;

- Figure 2 shows an example of a method implemented in the context of the system of Figure 1;

- Figure 3 shows a second example of an interactive control system for a parking maneuver of a vehicle; and

FIG. 4 represents an example of a method implemented within the framework of the system of FIG. 3.

Figures 1 and 3 respectively represent two examples of a system for controlling a parking maneuver of a vehicle, here a motor vehicle.

In these two examples, the on-board system 20, 120 enabling this maneuver is of the same type, as described now.

Such an on-board system 20, 120 comprises an electronic control unit 21, 121, a control unit 23, 123 of the vehicle steering system, a control unit 24, 124 of the powertrain of the vehicle, a control unit 22, 122 of a brake system, an obstacle detection system 25, 125, a user interface 27, 127 (typically located in the passenger compartment of the vehicle and comprising for example a screen, possibly touch screen), and a communication module wireless 26, 126.

The control unit 23, 123 makes it possible to vary the orientation of the steering wheels of the vehicle, without intervention of the driver on the steering wheel of the vehicle.

The control unit 24, 124 is adapted to control in particular the engine speed and the gear ratio engaged, without operator intervention.

The control unit 22, 122 is designed to actuate vehicle brakes on command of the electronic control unit 21, 121, as indicated below.

The obstacle detection system 25, 125 may for example comprise a sensor of the ultrasound, radar, sonar or lidar type; this obstacle detector 25, 125 can be located at the front of the vehicle to determine the distance between this sensor and the obstacle closest to the front of the vehicle, or located at the rear of the vehicle to determine the distance between this sensor and the obstacle closest to the rear of the vehicle, or even located on one side of the vehicle to determine the distance between this sensor and the obstacle closest to this side of the vehicle. The obstacle detection system 25, 125 communicates obstacle detection information to the electronic control unit 21, 121, for example in the form of a distance between the vehicle and a detected obstacle.

The obstacle detection system 25, 125 can comprise, in addition or as a variant, at least one video camera, for example a video camera located at the front of the vehicle to acquire an image of the area located at the front of the vehicle, and / or a video camera located at the rear of the motor vehicle to acquire an image of the area located at the rear of the vehicle, and / or a video camera located on each side of the vehicle (for example in the exterior mirrors ) to acquire images of the areas on each side of the vehicle. The obstacle detection system 25, 125 can in this case communicate the aforementioned images to the electronic control unit 21, 121, in continuous flow.

It is noted that light sources, possibly separate from the headlights of the vehicle, can be provided alongside at least some of the aforementioned video cameras to enable the area filmed by each video camera to be illuminated.

The electronic control unit 21, 121 comprises a processor 28, 128 and a storage unit 29, 129, for example a rewritable non-volatile memory or a hard disk.

The storage unit 29, 129 stores in particular data used within the framework of the method described below, in particular a cryptographic key K.

The storage unit 29, 129 also stores computer program instructions whose execution by the processor 28, 128 allows the implementation by the electronic control unit 21, 121 of its operation described in the present application patent, and in particular of one of the methods described below with reference to FIGS. 2 and 4.

The electronic control unit 21, 121 is in particular adapted to control, as a function of the data (for example images and / or distances) received from the obstacle detection system 25, 125, the control unit 23, 123 for controlling the vehicle steering, and the control unit 24, 124 for controlling the speed of the vehicle, without intervention of the driver on these driving members, in order to carry out the automatic parking of the vehicle.

The wireless communication module 26, 126 makes it possible to establish wireless communication (here for example of the Bluetooth type) with an electronic device 10, 110 and thus to exchange data between the electronic control unit 21, 121 and this electronic device 10, 110, as described below.

In the embodiment of FIG. 1, the electronic device 10 is a connected bracelet (or a connected cuff) worn by the user (here the driver).

Such an electronic device 10 comprises a means (not shown) for attaching to the body of the user (here a bracelet or a band for attachment to the wrist or arm of the user), a processor 12, a memory 13 ( for example a rewritable non-volatile memory), a wireless communication module 16, a touch interface 14 (here produced in the form of a push button) and a biometric sensor 18.

The memory 13 stores data used in the context of the operation of the electronic device 10, in particular in the context of the method described below with reference to FIG. 2, in particular the cryptographic key K already mentioned, also stored in the memory 29 of the electronic control unit 21. This cryptographic key K can be stored in the memory 13 during the manufacture of the electronic device 10 (for example when this electronic device 10 is specifically designed to cooperate with the on-board system 20 of the vehicle), or, alternatively, downloaded into memory 13 during the use of the electronic device 10 (for example via the wireless communication module 16).

The memory 13 also stores computer program instructions whose execution by the processor 12 allows in particular the implementation by the electronic device 10 of this same process (FIG. 2).

The wireless communication module 16 makes it possible to establish wireless communication (here of the Bluetooth type as already indicated) with the wireless communication module 26 of the vehicle, through which the processor 28 of the electronic control unit 21 and the processor 12 of the electronic device 10 can exchange data, in particular as explained below.

The biometric sensor 18 is designed to measure a physiological parameter of the user (for example the driver as already indicated), here the user's cardiac activity. The biometric sensor 18 thus delivers biometric BIO data representative of the measured values of this physiological parameter.

The processor 12 is connected to the touch interface 14 and can thus determine information INSTR indicative of the state (activated / not activated) of the touch interface

14. As described below, the automatic parking maneuver of the vehicle will effectively be carried out only when the driver activates the touch interface (that is to say, in practice pushes the push button), while the driver is in the vehicle. or outside of it.

Alternatively, instead of using a touch interface, one could use electrodes carried by the electronic device 10 (in particular when this electronic device is a connected cuff), in contact with the skin of the user, and which deliver electrical signals representative of gestures made by the user. The INSTR information is in this case determined on the basis of these electrical signals (the automatic parking maneuver of the vehicle then being carried out or interrupted depending on the gestures of the user).

The processor 12 also receives the biometric data BIO delivered by the biometric sensor 18 and can thus determine PHY information linked to the physiological parameter mentioned above. This information indicates, for example, whether the biometric biometric data received correspond to a normal value of the physiological parameter measured or to an abnormal value (which may be due either to a physiological problem of the user, or to the fact that the electronic device 10 has detached from the user's arm). As a variant, this PHY information could indicate whether the biometric data BIO delivered by the biometric sensor 18 correspond or not to prerecorded biometric data (for example in memory 13) characteristic of the user (here of the driver).

We now describe with reference to FIG. 2 an example of a process implemented by the system of FIG. 1.

This process begins at step E2 to which the driver requests (via the user interface 27, for example by selecting a particular icon on the touch screen of the user interface 27) the initiation of a parking procedure for the vehicle.

The electronic control unit 21 (precisely the processor 28) receives this request (in practice by detecting the selection of the icon on the touch screen of the user interface 27) and therefore controls the implementation of the following steps .

The processor 28 controls in particular in step E4 the connection (by means of the wireless communication modules 16, 26) of the on-board system 10 and of the electronic device 10 (connection shown as step E6 at the level of the electronic device 10).

This connection is optionally accompanied by authentication of the electronic device 10 by the electronic control unit 21 (or even mutual authentication between the electronic device 10 and the electronic control unit 21).

In the example described here, this authentication is carried out using the cryptographic key K stored both in the memory 29 of the electronic control unit 21 and in the memory 13 of the electronic device

10. The electronic control unit 21 transmits for example to do this (via the wireless communication module 26) a challenge (or challenge according to the Anglo-Saxon name) to the electronic device 10, which transmits in return a response formed by a combination (typically using a cryptographic algorithm) of the challenge and the cryptographic key. The response allows the electronic control unit 21 (which can perform the same combination) to verify that the electronic device 10 stores the cryptographic key K.

Alternatively, another authentication method may be used, for example based on a public key infrastructure.

Once the connection has been established between the electronic control unit 21 and the electronic device 10, the parking maneuver can begin: the operation of the processor 28 enters a loop in step E10 described now.

The processor 28 determines in step E10 if the maneuver is complete.

If so, the process ends in step E12 (which is obviously not the case during the first passage in step E10).

If not, the process continues in step E16 by the reception, by the processor 28 and via the wireless communication module 26, of data coming from the electronic device 10.

These data (emitted by the electronic device 10 in the step noted E14 in FIG. 2) include in particular the INSTR information indicative of the state (activated / not activated) of the touch interface 14 and the PHY information linked to the physiological parameter of the user (and already mentioned above).

The processor 28 can thus determine in step E18 whether the information INSTR indicative of the state of the touch interface 14 indicates an activation of the touch interface 14 (in practice pressing the push button), which constitutes as already indicated an instruction for the effective implementation of the autonomous parking maneuver.

If not, the method loops to step E16 awaiting new data received from the electronic device 10.

If so, the method continues at step E20 where the processor 28 determines whether the information PHY linked to the physiological parameter of the user satisfies a predetermined criterion, that is to say for example if the information linked at the physiological parameter conforms to expected information.

If not, the process continues at step E22 at which the maneuver is interrupted (or does not start in the case where step E24 has not been carried out beforehand). Provision can then be made for the autonomous parking maneuver to be definitively interrupted and for the driver to regain control of the vehicle in order to eventually complete the desired parking maneuver. Alternatively, the interruption of the autonomous parking maneuver may only be temporary. Operation continues for example in this case at step E16 awaiting new data from the electronic device 10.

If the processor 28 determines in step E20 that the PHY information linked to the physiological parameter of the user (received from the electronic device 10 via the wireless communication modules 16, 26) indicates a normal state, the method continues at step E24.

During this step E24, the electronic control unit 21 performs a (short) part of the autonomous maneuver: the electronic control unit 21 controls the control units 23, 24 according to the information received from the detection system d obstacle 25. Specifically, the information received from the obstacle detection system 25 is processed to allow the electronic control unit 21 to determine the position of the parking space and the position of any obstacles, then the unit control electronics 21 determines on this basis the control commands to be sent to the control unit 23 (to control the direction of the vehicle) and to the control unit 24 (to control the advance or the backward movement of the vehicle), then optionally to the control unit 22 (to activate the brakes, for example when the part of maneuver envisaged at this iteration of step E24 is carried out).

Once this part of the maneuver has been completed, the process loops to step E10 in order to determine whether the maneuver is complete (step E10) and, if not, to verify that the conditions for continuing the maneuver (steps E18 and E20 already described ) are verified.

The process which has just been described thus makes it possible to carry out the autonomous parking maneuver only as long as the touch interface 14 is activated (which indicates the intention of the user to carry out this maneuver) and as long as the biometric sensor 18 measures normal values of the physiological parameter being monitored (here cardiac activity).

On the other hand, if the touch interface 14 is no longer activated or the biometric sensor 18 measures abnormal values of the physiological parameter, the autonomous parking maneuver is interrupted. It is noted that the autonomous parking maneuver is also interrupted if the communication between the electronic device 10 and the on-board system 20 is faulty (since the electronic control unit 21 does not in these cases receive the INSTR, PHY data allowing, a once verified in steps E18 and E20, the continuation of the maneuver in step E24).

In the embodiment of FIG. 3, the electronic device 110 is a user terminal (for example a smartphone or smart phone, in accordance with the English expression smartphone commonly used); as explained below, this user terminal 110 is paired (via a wireless link) with a connected bracelet 130 worn by the user (for example the driver).

The user terminal 110 includes a processor 112, a memory

113 (e.g. rewritable non-volatile memory), user interface

114 (here a touch screen, or, as a variant, a screen coupled to a keyboard), a wireless communication module 116 and a wireless link module 117.

The user terminal 110 here further comprises a module 115 for communication on a mobile telephone network.

The memory 113 stores data used in the context of the operation of the user terminal 110, in particular in the context of the method described below with reference to FIG. 4.

The memory 113 also stores computer program instructions whose execution by the processor 112 allows in particular the implementation by the user terminal 110 of this same process (FIG. 4).

The wireless communication module 116 makes it possible to establish wireless communication (here of the Bluetooth type as already indicated) with the wireless communication module 126 of the vehicle, through which the processor 128 of the electronic control unit 121 and processor 112 of the user terminal

110 can exchange data, in particular as explained below.

The wireless link module 117 makes it possible to establish a wireless link with the connected bracelet 130 (precisely with a corresponding wireless link module 137 of the connected bracelet 130). Although this wireless link module 117 is shown here separate from the wireless communication module 116, these two modules could in practice be produced by the same electronic circuit.

The electronic bracelet 130 comprises a means (not shown) for attaching to the body of the user (here a bracelet for attaching to the wrist of the user), a microcontroller 132, the wireless link module 137 already mentioned and a biometric sensor 138.

The biometric sensor 138 is designed to measure a physiological parameter of the user, here the user's cardiac activity. The biometric sensor 138 thus delivers biometric BIO data representative of the measured values of this physiological parameter.

This biometric biometric data is received by the microcontroller 132 which can then transmit this biometric data to the processor 112 of the user terminal 110 via the wireless link established between the wireless link modules 117, 137.

The processor 112 can thus determine PHY information linked to the aforementioned physiological parameter of the user (typically the driver as already indicated). As for the embodiment of FIG. 1, this information indicates for example whether the biometric biometric data received correspond to a normal value of the physiological parameter measured or to an abnormal value (which may be due to either a physiological problem of the user , or to the fact that the connected bracelet 130 has been detached from the user's arm).

As a variant, the PHY information linked to the physiological parameter could be determined in the same way within the microcontroller 132 and transmitted to the processor 112 via the wireless link established between the wireless link modules 117, 137.

The processor 112 also manages the user interface 114 and can thus determine whether the user presses on a particular region of the screen, which is here interpreted as an instruction to confirm the continuation of the autonomous parking maneuver, such as described below.

The processor 112 can thus produce, depending on whether the user's finger is detected or not in this particular region, support information INSTR or faulty support information.

According to a possible variant, the user interface 114 is able to measure the support force of the user (for example in a given region of the screen) and the processor 112 then produces the support information INSTR if the measured support force is greater than a predetermined threshold and the support fault information if the support force is less than this threshold.

According to another variant (possibly combinable with the previous variant), the support detection is carried out not on the user interface 114 of the user terminal 110, but on a user interface (for example a touch screen, not shown) of the connected bracelet 130. In this case, it is the pressing on this screen of the connected bracelet 130 which is considered as an instruction to continue the autonomous parking maneuver.

We now describe with reference to FIG. 4 an example of a process implemented by the system of FIG. 3.

It is considered here that the user terminal 110 is already connected (via the wireless communication modules 116, 126) to the electronic control unit 121 and has already authenticated itself with the electronic control unit 121, for example according to processes such as those described above in the context of Figure 2.

The method shown in FIG. 4 thus begins at step E100 by the initiation of the procedure for maneuvering the vehicle to park autonomously, for example following the selection of a dedicated icon by the user (for example the driver) on the user interface 114 of the user terminal 110.

Following this step (and until the end of the autonomous parking maneuver), the user terminal 110 sends (almost continuously, that is to say periodically and / or regularly in practice) data to the electronic control unit 121 (via the wireless communication modules 116, 126), in particular the PHY information linked to the physiological parameter of the user and the support information INSTR (or lack of support) , as well as optionally fall information (possibly detected by an accelerometer, not shown, on board the user terminal 110 or in the connected bracelet 130).

The electronic control unit 121 (precisely its processor 128) then determines (step E102) whether the connection between the electronic control unit 121 and the user terminal 110 (via the wireless communication modules 116, 126) is operational.

If not, the process continues at step E110 described below (for interruption of the maneuver).

If the connection is operational, the electronic control unit 121 (precisely its processor 128) determines in step E104 whether the last data received from the user terminal 110 does indeed contain support information INSTR (indicative of a press of the user on the user interface 114 of the user terminal 110).

If not, the process continues at step E110 described below (for interruption of the maneuver).

If support information INSTR has been received from the last data received, the process continues at step E106 in which the electronic control unit 121 (precisely its processor 128) determines whether the PHY information linked to the physiological parameter of the user conforms to the expected state.

If this PHY information is not indicative of conformity, the process continues at step E110 described below (for interruption of the maneuver).

If the relative PHY information linked to the physiological parameter of the user is indicative of compliance, an optional step E107 may possibly be provided for verifying the absence of fall information (which can also be transmitted from the user terminal 110 to the electronic control unit 121 as already mentioned). As part of this possibility, the process continues in step E110 in the presence of fall information (in order to interrupt the maneuver) or in step E108 in the absence of fall information.

In the embodiments where step E107 is not used, the process continues to step E108 as soon as the PHY information linked to the physiological parameter of the user is indicative of compliance.

The electronic control unit 121 controls in step E108 the continuation of the autonomous parking maneuver: the electronic control unit 121 controls the control units 123, 124 according to the information received from the obstacle detection system 125 Specifically, the information received from the obstacle detection system 125 is processed to allow the electronic control unit 121 to determine the position of the parking space and the position of any obstacles, then the electronic control unit 5. control 121 determines on this basis the control commands to be sent to the control unit 123 (to control the direction of the vehicle) and to the control unit 124 (to control the advance or the backward movement of the vehicle).

The method then loops to step E102 to verify the new data received from the user terminal 110.

On the contrary, in step E110 mentioned above, the electronic control unit 121 controls the control units 123, 124 so as to immobilize the vehicle. The electronic control unit 121 for example transmits a stop command to the control unit 124 of the powertrain 15 and / or a brake actuation command to the control unit 122. The loop process then (also in this case) in step E102 for verification of the new data received from the user terminal 110 (which could possibly lead to the resumption of the autonomous parking maneuver).

Claims (12)

1. On-board vehicle system (20; 120), comprising a wireless communication module (26; 126) and a control module (21; 121) of a vehicle parking maneuver, characterized in that the module wireless communication (26; 126) is designed to receive information (PHY) related to a physiological parameter from a user and in that the control module (21; 121) is designed to control the stopping of the maneuver if the information (PHY) received does not satisfy a predetermined criterion. 2. On-board system according to claim 1, in which the control module (21; 121) is designed to transmit a stop command to a control unit (24; 124) of a powertrain of the vehicle if the information (PHY) received does not check said predetermined criterion. 3. On-board system according to claim 1 or 2, in which the control module (21; 121) is designed to transmit an actuation command to a control unit (22; 122) of a vehicle brake system if the information (PHY) received does not verify said predetermined criterion. 4. Embedded system according to one of claims 1 to 3, wherein the wireless communication module (26; 126) is designed to receive at least one instruction (INSTR) from an electronic device (10; 110) worn by the user and in which the control module (21; 121) is designed to control the parking maneuver of the vehicle according to the instruction (INSTR) received. 5. An interactive control system for a parking maneuver of a vehicle, comprising an on-board system (20; 120) according to one of claims 1 to 4 and an electronic device (10; 110) worn by the user. 6. The system as claimed in claim 5, in which the electronic device (10) comprises a biometric sensor (18) and is designed to produce said information (PHY) as a function of biometric data (BIO) delivered by the biometric sensor (18) . 7. The system of claim 5 or 6, wherein the electronic device (10) comprises means for attachment to the body of the user. 8. The system of claim 7, wherein the electronic device (10) is a connected bracelet. 9. The system as claimed in claim 5, in which the electronic device (110) is paired with an electronic device (130) comprising a biometric sensor (138) delivering biometric data (BIO), the electronic device (110) or the electronic device (130) being designed to produce said information (PHY) as a function of the biometric data delivered by the biometric sensor (138). 10. The system of claim 9, wherein the electronic device (130) comprises means for attaching to the body of the user. 11. The system of claim 10, wherein the electronic device (130) is a connected bracelet. 12. Method for interactive control of a parking maneuver of a vehicle, characterized by the following steps: - reception, by a wireless communication module (26; 126) of an on-board system (20; 120) in the vehicle, of at least one instruction (INSTR) from an electronic device (10; 110) worn by a user, - command of a vehicle parking maneuver by a control module (21; 121) of the on-board system (20; 120) according to the instruction (INSTR) received, - control, by the control module (21; 121), of stopping the parking maneuver if information (PHY) linked to a physiological parameter of the user does not meet a predetermined criterion. 1/2 20 10 2/2