FR3084044A1 - METHOD AND DEVICE FOR ASSISTING THE DRIVING OF A VEHICLE, BY CONTEXTUAL DISPLAY OF FRONT PANORAMIC IMAGES. - Google Patents

Abstract

A method makes it possible to assist the driving of a vehicle (V1) traveling on a road, analyzing the environment in front of it in order to detect obstacles close to it, and comprising a camera (CV) acquiring panoramic images of the environment in front of him and a screen (EA) displaying these panoramic images. This method comprises a step in which, in the event of the vehicle (V1) moving forward and detecting at least one obstacle in front of it and close to it, it is determined whether the current speed of the vehicle (V1) is lower than a first speed threshold, and if so, the panoramic images are displayed at least partially on at least part of the screen (EA) if the driver of the vehicle (V1) agrees.

Description

METHOD AND DEVICE FOR ASSISTING THE DRIVING OF A VEHICLE, BY CONTEXTUAL DISPLAY OF FRONT PANORAMIC IMAGES.

The invention relates to land vehicles, possibly of the automobile type, and more specifically assistance (or assistance) in driving such vehicles.

Certain vehicles, generally of the automobile type, include an assistance device helping their driver to perform maneuvers by displaying on a screen, generally that of a central handset, “panoramic” images of his environment provided by at least one camera. (rear, front or side).

Here, the term "panoramic image" means an image of an area not far from the vehicle and with a wide field.

Sometimes this type of assistance device (possibly ADAS ("Advanced Driver Assistance System")) provides panoramic images to which are added, in a top view, a materialization of the vehicle or of its estimated future trajectory.

Currently, the display of rear panoramic images is triggered automatically when the reverse gear is engaged, while the display of the front panoramic images is triggered automatically only when the vehicle shifts from reverse to forward or when the driver so requests by selecting (optionally by touch) an option, generally in a submenu displayed on the screen of the central instrument panel. This display of the front panoramic images is then stopped after a predefined time delay or if a predefined speed threshold is exceeded.

The operating mode described above proves to be well suited to "classic" parking (or parking) maneuvers, that is to say carried out during parking in a niche, on the cob or in battle starting with a reverse gear. automatically activating the display of rear panoramic images, then continuing with a forward gear automatically activating the display of front panoramic images.

However, when the maneuvers start in forward, for example when parking on the cob or in battle or when entering a narrow parking lot or garage or when driving in a narrow lane or driveway, this mode is found to be unsuitable. Indeed, the driver is forced to manually activate the display of front panoramic images by selecting an option in a sub-menu (frequently "far" and therefore requiring several actions and continuous observation of the screen), even then that he is carrying out his maneuvers and therefore needs to mobilize his attention to them. This situation is all the more penalizing because the vehicle is wide and / or the obstacles imposing, because it makes it more difficult to maneuver in narrow infrastructures, such as for example some old car parks or small alleys or alleys.

The invention therefore aims in particular to improve the situation.

To this end, it proposes in particular a method intended to assist the driving of a vehicle traveling on a road, analyzing the environment in front of it in order to detect obstacles close to it, and comprising a camera acquiring panoramic images of the environment located in front of him and a screen displaying these panoramic images at least partially.

This assistance process is characterized by the fact that it includes a step in which, in the event of the vehicle moving forward and detecting at least one obstacle in front of it and close to it:

- it is determined whether a current speed of the vehicle is less than a first selected speed threshold, and

- if so, the panoramic images are displayed at least partially on at least part of the screen if the driver of the vehicle agrees.

This contextual display allows the driver to avoid having to search in a (distant) submenu displayed on the screen for an option to activate the display of front panoramic images, even while he is in the process of to perform maneuvers and therefore needs to mobilize his attention to them.

The assistance method according to the invention may include other characteristics which can be taken separately or in combination, and in particular:

- in its stage, it is possible to immediately and automatically display the panoramic images at least partially on at least part of the screen in the event of agreement given by the driver during a configuration of preliminary panoramic display;

- in its stage, after having determined that the current speed was lower than the first speed threshold and in the absence of agreement given by the driver during a prior panoramic display configuration, one can display on the screen a dedicated image representative of a panoramic display request, and in the event of agreement given by the driver for this panoramic display, the panoramic images can be displayed at least partially on at least part of the screen;

> in its stage, the dedicated image can be displayed for a predefined duration as long as the driver has not given his agreement for the panoramic display;

- in its stage, a first speed threshold of between 5 km / h and 10 km / h can be used;

- in its stage, it is possible to stop displaying the panoramic images when at least one event chosen from a display duration greater than a predefined duration occurs, a current speed of the vehicle greater than a second speed threshold, a taxi stop of the vehicle, a start of movement of the vehicle in reverse, activation of a parking brake of the vehicle, and a stop of operation of a powertrain of the vehicle;

> the second speed threshold can, for example, be between 10 km / h and 15 km / h;

in its stage, it is possible to add to the panoramic images at least one marking associated with at least one detected obstacle and / or a line embodying an estimated trajectory coming from the vehicle.

The invention also provides a computer program product comprising a set of instructions which, when executed by processing means, is capable of implementing the assistance method described above to assist the driving of 'a vehicle traveling on a road.

The invention also provides an assistance device intended to equip a vehicle traveling on a road, analyzing the environment in front of it in order to detect obstacles close to it, and comprising a camera acquiring panoramic images of the environment located in front him and a screen displaying these panoramic images at least partially.

This assistance device is characterized by the fact that it includes a processor which, in the event of the vehicle moving forward and detecting at least one obstacle in front of it and close to it:

- determines whether a current speed of the vehicle is lower than a first selected speed threshold, and

- if so, triggers the display of panoramic images at least partially on at least part of the screen if the driver of the vehicle agrees.

The invention also provides a vehicle, possibly of the automobile type, capable of traveling on a road, analyzing the environment in front of it in order to detect obstacles close to it, and comprising a camera acquiring panoramic images of the environment located in front him, a screen displaying these panoramic images at least partially, and an assistance device of the type presented above.

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

- Figure 1 schematically and functionally illustrates a vehicle traveling on a first portion of a road, equipped with environmental observation means, analysis circuits and an exemplary embodiment of an assistance device according to the invention, and preparing to turn in a second portion of this road, and

FIG. 2 schematically illustrates an example of an algorithm implementing an assistance method according to the invention.

The object of the invention is in particular to propose an assistance method, and an associated assistance device DA, intended to allow assistance for driving a V1 vehicle traveling on a road, by contextual display of panoramic images. before during low-speed maneuvers and if the driver agrees.

In what follows, it is considered, by way of nonlimiting example, that the vehicle V1 is of the automobile type. This is for example a car. However, the invention is not limited to this type of vehicle. It concerns in fact any type of land vehicle which can circulate on land traffic lanes.

There is schematically and functionally shown in FIG. 1 a vehicle V1 traveling on a first portion PR1 of a road comprising a second portion PR2 extending the first (PR1) at right angles and on which two vehicles V2 park.

This vehicle V1 notably comprises means for observing its environment MO, analysis circuits CA, a camera CV acquiring panoramic images of the environment located at least in front of it, a display screen EA, and an example of realization of a DA assistance device according to the invention.

The observation means MO are responsible for acquiring data representative of the environment which is located in front of the vehicle V1 and at least partially on the two front lateral sides of the latter (V1). This information data must at least allow the CA analysis circuits to detect obstacles in front of and near the vehicle V1 (V1).

For example, the observation means MO may comprise at least one camera installed in a front part of the vehicle (for example on the windshield PB or on the interior mirror) and / or ultrasonic sensors and / or at least one radar or a lidar installed in a front part of the vehicle (for example in the bumper or front bumper). For example, the observation means MO may include sensors making it possible to detect obstacles which are not immediately in front of the vehicle V1 but slightly on its sides. It can be a medium or long range camera with a relatively narrow field which will detect obstacles on the sides of the trajectory or the CV camera, or ultrasonic sensors or radars, in particular radars so-called corner.

As mentioned above, the analysis circuits CA are arranged so as to analyze the environmental data which are acquired by the observation means MO in order to determine information representative of obstacles located in front of the vehicle V1 and close to the latter (V1). In the example illustrated without limitation in FIG. 1, the obstacles detected are the two vehicles V2 which park at the entrance to the second portion of road PR2 on which the vehicle V1 will soon circulate.

Furthermore, in the example illustrated without limitation in FIG. 1, the analysis circuits CA are part of a computer CAL which is on board the vehicle V1. But it is not compulsory. Indeed, CA analysis circuits could include their own computer or be distributed in (or understand) several computers dedicated to several different functions. Consequently, the CA analysis circuits can be produced in the form of a combination of electric or electronic (or "hardware") circuits or components and software (or computer or even "software") modules.

The CV camera is responsible for acquiring panoramic images of the environment which is located at least in front of the V1 vehicle. It therefore has a shallow depth of field (area not far from vehicle V1) but a wide angle to observe a wide field. For example, and as illustrated without limitation in FIG. 1, this camera CV can be installed in the radiator grille of the vehicle V1, or possibly in the front bumper (or bumper).

It will be noted that the camera CV may possibly be part of the means of observation MO.

The screen EA can, for example, be part of the central handset CC which is installed in or on the dashboard PDB of the vehicle V1, as illustrated without limitation in FIG. 1. Alternatively, the screen EA could be part of the vehicle dashboard V1 or be a part of the windshield PB located in front of the driver and onto which images are projected by a head-up display device. It is advantageous if the EA screen is touch (or digital).

As mentioned above, the invention proposes in particular an assistance method intended to assist the driving of the vehicle V1 by its driver when it is traveling on a road.

This assistance method can be at least partially implemented by the assistance device DA which for this purpose comprises at least one processor PR, for example of digital signal (or DSP ("Digital Signal Processor")), possibly associated at least one memory.

In the example illustrated without limitation in FIG. 1, the assistance device DA is part of the computer CAL which also includes the analysis circuits CA. But it is not compulsory. Indeed, the DA assistance device could include its own computer. Consequently, the DA assistance device can be produced in the form of a combination of electrical or electronic circuits or components and software modules.

It should be noted that the DA assistance device is possibly of the ADAS ("Advanced Driver Assistance System") type.

The assistance method according to the invention comprises a step 10-80, which can be broken down into sub-steps. An example of an algorithm implementing an assistance method according to the invention is schematically illustrated in FIG. 2. It notably shows the abovementioned substeps, to which we will return later.

In step 10-80 of the assistance method, one (the processor PR) determines within the vehicle V1 whether the latter (V1) is traveling in forward gear and whether the analysis circuits CA have detected at least one obstacle in front vehicle V1 and close to it (V1). If these first two conditions are met, one (the processor PR) determines whether the current speed v (V1) of the vehicle V1 is less than a first speed threshold s1 chosen.

If the last condition is fulfilled (i.e. v (V1) <s1), and therefore in the affirmative, we (the processor PR) display the front panoramic images, acquired by the camera CV, at least partially over at least part of the EA screen if the driver of vehicle V1 agrees.

It will be understood that it is the processor PR which triggers the display of the parts of at least the front panoramic images on at least part of the EA screen.

Thanks to the invention, if the driver has given his agreement for the display of the front panoramic images, these are automatically displayed on the EA screen in order to facilitate the maneuvers of the vehicle V1 by the driver. There is thus a contextual display which makes it possible to avoid the driver having to search in a (distant) sub-menu displayed on the EA screen for an option for activating the display of front panoramic images, then even that he is carrying out maneuvers and therefore needs to mobilize his attention on these. This results in a simplification of, and a reduction in access time to, the display of front panoramic images for maneuvers which do not start with a reverse gear, and therefore a reduction in the risks of small shocks to the bodywork during maneuvers. As a variant, this avoids having to install in the vehicle V1 (for example in the dashboard PDB) a control member, dedicated to activating the display of front panoramic images, and the cabling and the associated electronics.

The driver can give the agreement in two different ways described below.

In a first way, in step 10-80, the front panoramic images can be displayed immediately and automatically at least partially on at least part of the EA screen in the event of agreement given by the driver during a configuration of '' previous panoramic display. It will be understood that this first way requires that the driver has previously selected the automatic activation of the display of front panoramic images in a sub-menu for configuration of the vehicle V1, for example accessible via the screen EA and a human / machine (possibly part of the latter (EA) when it is of tactile type). The advantage conferred by this first way lies in the fact that the driver no longer has to give his consent once he has achieved the above configuration.

In a second way, in step 10-80, when (the processor PR) has determined that the current speed v (V1) is lower than the first speed threshold s1 and that, in addition, the driver has not given its agreement during a prior panoramic display configuration, a dedicated image representative of a front panoramic display request can be displayed on the EA screen. For example, this dedicated image may include an icon on which is inscribed "panoramic display activation" or an image or a pictogram understandable by all and requiring no translation (such as a top view of the vehicle V1 with a beam displaying the field of vision of a camera at the front of it).

This dedicated image automatically displayed eliminates the need for the driver to search in a submenu for the option to activate the display of front panoramic images.

If the driver has given their agreement for this front panoramic display, the front panoramic images are displayed at least partially on at least part of the EA screen.

For example, if the EA screen is touch-sensitive, it suffices for the driver to touch the dedicated image displayed with a finger so that the processor PR understands that the driver agrees to activate the display of front panoramic images. . This allows activation to be very simple, very quick and does not take the attention of the driver.

It will be understood that it is the PR processor which triggers the display of the dedicated image and then of the front panoramic images on at least part of the EA screen.

Note that in step 10-80, the dedicated image can be displayed for a predefined duration as long as the driver has not agreed to the front panoramic display. Consequently, if the driver gives his agreement before the expiration of this predefined duration (or time delay) or if the predefined duration (or time delay) ends without the driver's agreement, the dedicated image is no longer displayed . In the first alternative, the front panoramic images are immediately displayed, while in the second alternative, no front panoramic image is displayed.

For example, one can use a first speed threshold s1 of between 5 km / h and 10 km / h. Thus, one can for example use a first speed threshold s1 equal to 10 km / h.

Note also that in step 10-80, you can stop displaying the panoramic images before when at least one particular event occurs. It will be understood that it is the PR processor which triggers the stopping of the display of the front panoramic images.

This particular event inducing the end of the display of front panoramic images can, for example, be chosen from a display duration greater than a predefined duration, a current speed v (V1) of the vehicle V1 greater than a second threshold. speed s2 (i.e. v (V1)> s2), vehicle taxiing V1, vehicle traffic V1 begins to reverse, activation of vehicle parking brake V1, and powertrain operation (or GMP) of vehicle V1. One can indeed imagine, for example, that there is more priority information to display than the front panoramic images.

For example, you can use a predefined duration between 20 seconds and 40 seconds.

Also for example, a second speed threshold between 10 km / h and 15 km / h can be used. Thus, one can for example use a second speed threshold s2 equal to 15 km / h.

Also for example, it is possible to detect the start of the circulation of the vehicle V1 in reverse when the reverse gear is engaged.

Preferably, the stop of operation of the GMP is considered to be a particular event when it occurs after the ignition of the vehicle V1 is cut off. This avoids taking into account a temporary stop of the GMP triggered by an on-board stop and start control device, due to a very low speed v (V1).

It will also be noted that in step 10-80, it is possible to add to the front panoramic images at least one marking associated with at least one detected obstacle (here one of the vehicles V2 parked in the second portion of the road PR2) and / or a line embodying the estimated future trajectory of the vehicle V1. It will be understood that it is the processor PR which determines each marking to be added to each front panoramic image and which triggers are added to the latter with a view to its display in an inlaid or superimposed manner. On the other hand, the estimated future trajectory of the vehicle V1 is determined by another device on board the vehicle V1 or else by the analysis circuits CA, but it is the processor PR which determines the position of the trajectory in each panoramic image before to display.

For example, a marking can consist of a line, possibly highlighted or flashing, and surrounding an obstacle or following the contour of an obstacle. But it can also be a sign placed next to an obstacle difficult to cross or pass and drawing attention to this obstacle, possibly accompanied by a text message providing driving advice.

It will also be noted, as illustrated without limitation in FIG. 1, that the vehicle V1 can also include a navigation aid device DAN which precisely knows its current position, and therefore can inform the assistance device DA of its arrival near at least one fixed obstacle or a narrow area listed in the road map it uses. In this case, the processor PR of the assistance device DA can, for example, automatically trigger the display of the front panoramic images on the screen EA or else offer this display to the driver by displaying the dedicated image.

In the example illustrated without limitation in FIG. 1, the navigation aid device DAN is part of the computer CAL which also includes the analysis circuits CA and the assistance device DA. But it is not compulsory. In fact, the DAN navigation aid device could include its own computer. Therefore, the DAN navigation aid can be realized as a combination of electrical or electronic circuits or components and software modules.

It will also be noted, as illustrated without limitation in FIG. 1, that the vehicle V1 can also include a communication module MC which can exchange messages by means of waves, in particular with other vehicles or an information station (associated with the road infrastructure on which it travels) located in its vicinity, for example according to the Car2X or V2X wireless communication standard. In this case, the communication module MC can receive messages intended to inform its vehicle V1 of its arrival near at least one fixed obstacle or a narrow area, then supply these messages to the assistance device DA. In this case, the processor PR of the assistance device DA can, for example, automatically trigger the display of the front panoramic images on the screen EA or else offer this display to the driver by displaying the dedicated image.

It will also be noted, as illustrated without limitation in FIG. 1, that the vehicle V1 may also include a CR camera acquiring panoramic images of the environment located at least behind it. In this case, the DA assistance device can automatically trigger the display of rear panoramic images in the event that the reverse gear engagement of vehicle V1 is detected.

As indicated above, an example of an algorithm implementing the assistance method according to the invention is schematically illustrated in FIG. 2.

This algorithm begins with a first substep 10 of the process step in which the processor PR performs a test in order to determine if the vehicle V1 is traveling in forward gear and if at least one obstacle has been detected by the analysis circuits. CA in front of and near vehicle V1 (V1).

If not, and therefore if at least one of these two conditions is not met, the processor PR returns to carry out the test of the first substep 10.

On the other hand, in the affirmative, and therefore if these two conditions are met, the processor PR performs in a second substep 20 another test in order to determine whether the current speed v (V1) of the vehicle V1 is lower than the first speed threshold s1 chosen.

If not, and therefore if the last condition is not met, the processor PR returns to carry out the test of the first sub-step 10.

On the other hand, in the affirmative, and therefore if this latter condition is satisfied (V1) <s1), the processor PR performs in a third sub-step 30 another test in order to determine whether the driver has previously carried out a configuration relating to display of front panoramic images.

If so, and therefore if the above configuration has been carried out, the processor PR directly performs a sixth sub-step 60 described below.

On the other hand, in the negative, and therefore if the aforementioned configuration has not been carried out, the processor PR triggers in a fourth sub-step 40 the display on the screen EA of a dedicated image representative of a request d 'panoramic display.

Then, in a fifth sub-step 50, the processor PR performs another test in order to determine whether the driver has given his agreement, for example by touching the dedicated image on the screen EA, before the expiration of a predefined duration. .

If not (and therefore in the absence of agreement), the processor PR returns to carry out the test of the first sub-step 10.

On the other hand, in the affirmative, and therefore if the driver has given his agreement for the front panoramic display, the processor PR triggers in a sixth sub-step 60 the display of the front panoramic images at least partially over at least part of the EA screen.

Then, in a seventh sub-step 70, the processor PR performs another test in order to determine whether at least one particular event (among those chosen and presented above) has occurred since the start of the display of the front panoramic images.

If not (and therefore in the absence of a particular event), the processor PR returns to perform the sixth sub-step 60 in order to continue displaying the front panoramic images.

On the other hand, in the affirmative, and therefore if a particular event has occurred, the PR processor triggers the stopping of the display of the front panoramic images on the EA screen. Then, the processor PR returns to carry out the test of the first sub-step 10.

It will also be noted that the invention also proposes a computer program product comprising a set of instructions which, when executed by processing means of electronic circuits (or hardware) type, such as for example the processor PR, is suitable for implementing the assistance method described above to assist the driving of vehicle V1 when it is traveling on a road.

It will also be noted that in FIG. 1 the assistance device DA is very schematically illustrated with only its processor PR. This DA assistance device can take the form of a box comprising integrated circuits, or alternatively of several integrated circuits connected by wired or non-wired connections. The term integrated circuit means any type of device capable of performing at least one electrical or electronic operation. As mentioned above, this assistance device DA comprises at least one processor PR, for example of digital signal (or DSP (Digital Signal Processor)), a random access memory for storing instructions for the implementation by this processor PR of assistance process as described above, and possibly a mass memory for the storage of data intended to be kept after the implementation of the assistance process. The digital signal processor PR receives at least the information representative of obstacle (s) determined at least by the analysis circuits CA, to analyze them and possibly use them in calculations, possibly after having shaped them and / or demodulated and / or amplified in a manner known per se. The DA assistance device can also include an input interface for receiving at least the determined information, and an output interface for transmitting the results of its analyzes and possible calculations (insertion of marking (s) and trajectory line).

One or more substeps of the assistance process can be carried out by different components. Thus, the assistance method can be implemented by a plurality of processors, random access memory, mass memory, input interface, output interface and / or digital signal processor. In these situations, the DA assistance device can be decentralized, within a local network (several processors linked together for example) or a wide area network.

Claims (10)

1. A method of assisting the driving of a vehicle (V1) traveling on a road, analyzing the environment in front of it in order to detect obstacles close to it, and comprising a camera (CV) acquiring panoramic images of the environment located in front of it and a screen (EA) displaying said panoramic images at least partially, characterized in that it comprises a step (10-80) in which, in the event of movement of said vehicle (V1) in forward and detection of at least one obstacle in front of it and close to it, it is determined whether a current speed of said vehicle (V1) is less than a first chosen speed threshold, and if so, said panoramic images are displayed at least partially on at least part of said screen (EA) if the driver of said vehicle (V1) agrees. 2. Method according to claim 1, characterized in that in said step (10-80) immediately and automatically displays said panoramic images at least partially on at least part of said screen (EA) in case of agreement given by said driver during a prior panoramic display configuration. 3. Method according to claim 1 or 2, characterized in that in said step (10-80), after having determined that said current speed was lower than said first speed threshold and in the absence of agreement given by said driver during a prior panoramic display configuration, a dedicated image is displayed on said screen (EA) representative of a panoramic display request, and in the event of agreement given by said driver for this panoramic display, said images are displayed at least partially panoramic on at least part of said screen (EA). 4. Method according to claim 3, characterized in that in said step (10-80) said dedicated image is displayed for a predefined period as long as said driver has not given his agreement for said panoramic display. 5. Method according to one of claims 1 to 4, characterized in that in said step (10-80) using a first speed threshold between 5 km / h and 10 km / h. 6. Method according to one of claims 1 to 5, characterized in that in said step (10-80) one ceases to display said panoramic images when at least one event chosen from a display duration greater than a duration occurs. predefined, a current speed of said vehicle (V1) greater than a second speed threshold, a halt in the running of said vehicle (V1), a start of movement of said vehicle (V1) in reverse, activation of a parking brake of said vehicle (V1), and a stop of operation of a powertrain of said vehicle (V1). 7. Method according to one of claims 1 to 6, characterized in that in said step (10-80) there is added to said panoramic images at least one marking associated with at least one detected obstacle and / or a line materializing an estimated trajectory to come from said vehicle (V1). 8. computer program product comprising a set of instructions which, when executed by processing means, is capable of implementing the assistance method according to one of the preceding claims to assist the conduct of a vehicle (V1) traveling on a road. 9. Assistance device (DA) to assist the driving of a vehicle (V1) traveling on a road, analyzing the environment in front of it in order to detect obstacles close to it, and comprising a camera (CV) acquiring panoramic images of the environment in front of it and a screen (EA) displaying said panoramic images at least partially, characterized in that it comprises a processor (PR) which, in the event of movement of said vehicle (V1) in forward and detection of at least one obstacle in front of and near it, determines whether a current speed of said vehicle (V1) is less than a first chosen speed threshold, and if so triggers the display of said panoramic images at at least partially on at least part of said screen (EA) if the driver of said vehicle (V1) agrees. 10. Vehicle (V1) suitable for driving on a road, analyzing the environment in front of it in order to detect obstacles near it, and comprising a camera (CV) acquiring panoramic images of the environment in front of it and a screen (EA) displaying said panoramic images at least partially, characterized in that it further comprises an assistance device (DA) according to claim 9.